Implementation for W4.0

Goal: acquire data for model training in w4.0.

• ROS2 runs and connection is tested (reading topics from UR through ros)
• Plan for the experiments is written down and discussed with colleagues (#-samples, #-anomalies, anomaly cases)
• code is tested for acquiring rosbags based on I/O inputs (see here)
• robot programs are created for nominal and anomalous cases

Feel free to add more bullets!