Gripper alignment_estimation and control via DSA-sensor readouts (Gabler et.al, ICRA `22)

- added python gripper handles and interfaces for proposed paper content and experiments
- added basic sphinx-docu
- added plotting utilites and available ROS-nodes for alignment control / estimation streaming
- added example hw-configs, code-snippets, launch files and lua-driver files
- minor driver updates / bug-fixes
- added strategy selection message to ```wsg_50_msgs```
- minor updates in URDFs for simple DSA fingers

HR-Recycler pilot version

Updated DSA support

- added reading + robot control (previously either / or possible)
- frequencies up to 10Hz (stable at ~5Hz for arrays and ~7Hz for CoP only
- adjusted script and ploting utils for new setups
- allows to run script with available fingers and request