commiting before making changes to save logs which are not to be plotted

examples/cart_pulling/MASSIVE_TODO

examples/pinocchio_math_understanding/slerp.py

python/smc/control/optimal_control/abstract_croco_ocp.py

...n/smc/control/optimal_control/croco_mpc_path_following.py

python/smc/control/optimal_control/util.py

python/smc/robots/implementations/heron.py

python/smc/robots/implementations/mobile_yumi.py

python/smc/robots/implementations/ur5e.py

python/smc/robots/implementations/yumi.py

python/smc/robots/interfaces/dual_arm_interface.py