feat: add collision-aware motion types and collision free actions

[stefanwagnerdev]

Here is an proposal on how to add the collision free motion to the actions:
It allows to add for each action a collision scene which is either checked (for Linear, P2P, JP2P) or avoided (for CollisionFreeP2P, CollisionFreeJointP2P)
What do you think?
Looks like that for the welding example (I don't use collision checks for the normal motions, but this would be possible):

                welding_actions = [
                    # First seam
                    CollisionFreePTP(
                        target=seam1_approach,
                        collision_scene=collision_scene,
                        settings=MotionSettings(tcp_velocity_limit=30),
                    ),
                    Linear(
                        target=seam1_approach,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    Linear(
                        target=seam1_start,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    Linear(
                        target=seam1_end,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    Linear(
                        target=seam1_departure,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    # Move to second seam
                    CollisionFreePTP(
                        target=seam2_approach,
                        collision_scene=collision_scene,
                        settings=MotionSettings(tcp_velocity_limit=30),
                    ),
                    # Second seam with collision checking
                    Linear(
                        target=seam2_start,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    Linear(
                        target=seam2_end,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    Linear(
                        target=seam2_departure,
                        settings=MotionSettings(tcp_velocity_limit=30, blend_radius=10),
                    ),
                    CollisionFreeJointPTP(
                        target=[0, -np.pi / 2, np.pi / 2, 0, 0, 0],
                        collision_scene=collision_scene,
                        settings=MotionSettings(tcp_velocity_limit=30),
                    ),
                ]