352 add relative moves function

[glannuzel]

4 new functions have been added :

• reachy.r_arm.translate_by(x, y, z, frame): create a goto with a target position translated by x, y, z from the last sent goal position
• reachy.r_arm.get_translation_by(x, y, z, initial_pose, frame): return a pose 4x4 translated by x, y, z from the given initial pose. If no initial_pose has been sent, use the current pose.
• reachy.r_arm.rotate_by(roll, pitch, yaw, degrees, frame): create a goto with a target position rotated by roll, pitch, yaw from the last sent goal position
• reachy.r_arm.get_rotation_by(roll, pitch, yaw, initial_pose, degrees, frame): eturn a pose 4x4 translated by roll, pitch, yaw from the given initial pose. If no initial_pose has been sent, use the current pose.

For all functions, frame can be either 'gripper' or 'robot'. Default frame is 'robot' (should it be 'gripper' instead?)

[github-actions[bot]]

☂️ Python Coverage

current status: ✅

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
830	759	91%	0%	🟢

New Files

No new covered files...

Modified Files

File	Coverage	Status
tests/units/offline/test_utils.py	100%	🟢
tests/units/online/test_advanced_goto_functions.py	100%	🟢
TOTAL	100%	🟢

updated for commit: 3100e70 by action🐍