Ft add acados planner

[c-salmi]

Adds a simple point mass acados planner.

To test:

• Install acados_template as instructed here
• Go to cd experiments/1_fabric_mpc/pointMass
• Run runner -c setup/exp.yaml -p setup/acados_mpc.yaml --render

[maxspahn]

Great work. The installation was very smooth. You can even install it by adding it to the pyproject.toml using `poetry add .

However, I realized that randomized goals cannot be respected.

runner -c setup/exp.yaml -p setup/acados_mpc.yaml --random-obst

still uses the not-randomized obstacles.

I will further investigate that.

[c-salmi]

Still did not manage to make the start, goal and obs symbolic The way to do this in acados is not yet clear to me. But it does now work with random static obstacles and goals.

The problem was in the __init__ function of the Planner class. There I used the exp.Obstacles() function of the Experiment class to get the info of the obstacles. However when random obstacles are requested, this function will not yet return the correct obstacles. Only when calling exp.Obstacles() at a later stage (like in computeAction) will it return the random obstacles.

For now I moved the initialization of the planner to the first call to computeAction.