Fix/parameters for positioning capsule

[cleWu03]

Summary

• Rename unclear variables
• Some updates on variable descriptions
• Check for absolute or relative values
• All params included into the body_behavior.yaml

Part of #1056 but doesnt include all the there suggested features. Would be nice to merge it soon anyway to enable working on the positioning capsule without merge conflicts in the future

Checklist

• Run pixi run build
• Write documentation
• Test on your machine
• Test on the robot
• Create issues for future work
• Triage this PR and label it

[MegaIng]

The parameters in body_behavior.yaml should be moved into a block "formation" or "positioning" so that it's clear that they belong together. This then also means "formation_include_supporter".

Also, the list of sliders and the way those values are being read out and put into the params in the debug script should be refactored to be maintainable. It's a large unmaintainable script but by tackling sections as we have to touch them we will get there ;-)