docs: UR hardware interface guide - Dashboard & Hand Guiding controller

[SprGrf]

Description

Includes the dashboard controller example. Many TODOs and comments left inside but, as discussed, it's better to start reviewing before it gets too large.

• docs: add UR Harware Interface #323

Review guidelines

Estimated Time of Review: 15 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[bpapaspyros]

some first comments, structure looks good to me though, we can keep adding content

[bpapaspyros]

I'm ok with minor duplication here and there, I think it's quite likely people land in this page so giving a direction to the original page would make sense. That is, perhaps we link to that page, but it's ok to have the current text too

[domire8]

The reason we implemented the hand guiding controller is that the freedrive feels a bit janky sometimes, whereas the admittance control is much smoother and yields nicer trajectories/recordings

[SprGrf]

I wouldn't want to phrase it like that, seems like we are trash-talking UR.

[SprGrf]

I rephrased a bit.

[domire8]

I mean fair enough but we also had a lot of conversations with people from UR where they admitted that this is not usable and they'd like to make it better

[domire8]

I was inspired in the airplane and had a go at this. Rewrote the first part of the guide until

Run an AICA application as one node of a program

[bpapaspyros]

thanks for keeping this up. I suppose there are still some todos to be resolved, but seems on track