projection feature in viser

[mateuszwyszynski]

Currently we can upload and then visualize a trajectory of consecutive poses inside viser. Hence we can save consecutive steps of the projection algorithm and then visualize this trajectory. This was introduce with #12.

I believe it would be helpful to be able to specify a pose inside viser and then run the projection algorithm there. For example, one can choose random values on joints (already implemented) and project the respective pose onto the manifold of plausible poses. This will give us an easy way of visually evaluating the effectiveness of the projection algorithm.