Test velocity control on real robots

[Woolfrey]

We have tested the controller numerically in #122, but we need to validate the results on a real robot.

There are 4 possible test cases:

	Joint Control	Cartesian Control
Non-redundant	X	X
Redundant robot	X	X

Joint control mode is the same for both redundant & Cartesian. The only difference is the Cartesian control.

A good sequence would be:

1. Start from home position, move to starting configuration in joint control mode
2. Track a Cartesian trajectory in cartesian control mode
3. Move back to the home position in joint control mode.

[ssutjipto]

PXL_20240909_095100743.TS2.mp4

Here's a video of a UR10e performing a trajectory using Cartesian control.
I haven't yet recorded a sequence that uses the joint and Cartesian control mode.