Add argument for the maximum cartesian velocity in resampling the transition trajectory in sim_full_traj_maybesim
Properly handle ropes topologies that have no crossings in tps_segment_registration
- Consider reversing the rope nodes when there are no crossings
- Choose the transformation whose affine part is not a reflection as a first criterion, and then break ties with the one with lowest bending cost
- Rename the f and corr_nm that are not the final ones