Add changes that are avoiding bugs

bags/k_delta_acc1/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 6699784579
+  starting_time:
+    nanoseconds_since_epoch: 1724515646187234389
+  message_count: 136
+  topics_with_message_count:
+    - topic_metadata:
+        name: /delta
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 68
+    - topic_metadata:
+        name: /dof1/reference_angles
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 68
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - k_delta_acc1_0.db3
+  files:
+    - path: k_delta_acc1_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1724515646187234389
+      duration:
+        nanoseconds: 6699784579
+      message_count: 136
\ No newline at end of file

bags/k_delta_acc2/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 6699898398
+  starting_time:
+    nanoseconds_since_epoch: 1724515767617045047
+  message_count: 136
+  topics_with_message_count:
+    - topic_metadata:
+        name: /dof1/reference_angles
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 68
+    - topic_metadata:
+        name: /delta
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 68
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - k_delta_acc2_0.db3
+  files:
+    - path: k_delta_acc2_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1724515767617045047
+      duration:
+        nanoseconds: 6699898398
+      message_count: 136
\ No newline at end of file

bags/k_delta_acc4/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 6999858671
+  starting_time:
+    nanoseconds_since_epoch: 1724521293800191462
+  message_count: 142
+  topics_with_message_count:
+    - topic_metadata:
+        name: /delta
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 71
+    - topic_metadata:
+        name: /dof1/reference_angles
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 71
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - k_delta_acc4_0.db3
+  files:
+    - path: k_delta_acc4_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1724521293800191462
+      duration:
+        nanoseconds: 6999858671
+      message_count: 142
\ No newline at end of file

bags/k_delta_const1/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 6600930115
+  starting_time:
+    nanoseconds_since_epoch: 1724511748203377937
+  message_count: 134
+  topics_with_message_count:
+    - topic_metadata:
+        name: /delta
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 67
+    - topic_metadata:
+        name: /dof1/reference_angles
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 67
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - k_delta_const1_0.db3
+  files:
+    - path: k_delta_const1_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1724511748203377937
+      duration:
+        nanoseconds: 6600930115
+      message_count: 134
\ No newline at end of file

bags/k_delta_const2/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 7100595316
+  starting_time:
+    nanoseconds_since_epoch: 1724540909073625532
+  message_count: 144
+  topics_with_message_count:
+    - topic_metadata:
+        name: /delta
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 72
+    - topic_metadata:
+        name: /dof1/reference_angles
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 72
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - k_delta_const2_0.db3
+  files:
+    - path: k_delta_const2_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1724540909073625532
+      duration:
+        nanoseconds: 7100595316
+      message_count: 144
\ No newline at end of file

bags/velocity_const/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 7001266693
+  starting_time:
+    nanoseconds_since_epoch: 1726235924844050103
+  message_count: 71
+  topics_with_message_count:
+    - topic_metadata:
+        name: /velocity
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 71
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - velocity_const_0.db3
+  files:
+    - path: velocity_const_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1726235924844050103
+      duration:
+        nanoseconds: 7001266693
+      message_count: 71
\ No newline at end of file

bags/velocity_joints_const/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 7104028457
+  starting_time:
+    nanoseconds_since_epoch: 1729860818049739608
+  message_count: 143
+  topics_with_message_count:
+    - topic_metadata:
+        name: /velocity
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 71
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 72
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - velocity_joints_const_0.db3
+  files:
+    - path: velocity_joints_const_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1729860818049739608
+      duration:
+        nanoseconds: 7104028457
+      message_count: 143
\ No newline at end of file

bags/velocity_joints_tr/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 7009791528
+  starting_time:
+    nanoseconds_since_epoch: 1729860783871840486
+  message_count: 141
+  topics_with_message_count:
+    - topic_metadata:
+        name: /velocity
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 70
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 71
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - velocity_joints_tr_0.db3
+  files:
+    - path: velocity_joints_tr_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1729860783871840486
+      duration:
+        nanoseconds: 7009791528
+      message_count: 141
\ No newline at end of file

bags/velocity_tr/metadata.yaml

+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 6898021908
+  starting_time:
+    nanoseconds_since_epoch: 1726235888597586404
+  message_count: 70
+  topics_with_message_count:
+    - topic_metadata:
+        name: /velocity
+        type: std_msgs/msg/Float64
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 70
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - velocity_tr_0.db3
+  files:
+    - path: velocity_tr_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1726235888597586404
+      duration:
+        nanoseconds: 6898021908
+      message_count: 70
\ No newline at end of file

ros2_ws/.vscode/c_cpp_properties.json

+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/impedance_controller/include/**",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_hardware/include/**",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/external_torque_sensor_broadcaster/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/**",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/**",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_hardware/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file

ros2_ws/.vscode/settings.json

+{
+    "python.autoComplete.extraPaths": [
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_inverse_kinematik/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_inverse_kinematik/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
+        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}
\ No newline at end of file