Add `plan_to_tcp_pose_and_joint_configuration()` to `DualArmPlanner` interface

Currently the dual arm planner interface provides:
* (🦾,🦾) -> (🦾,🦾) Joints to joints
* (🦾,🦾) -> (🦾,💤) Joints to single arm joints
* (🦾,🦾) -> (💤,📐) Joints to single TCP pose
* (🦾,🦾) -> (📐,📐) Joints to dual TCP poses

However, for the cloth competition I have a use case where I want to move one arm to it's home joints, and the other arm to a TCP pose. So I would need:
* (🦾,🦾) -> (🦾,📐) Joints to joints and TCP pose
* (🦾,🦾) -> (📐,(🦾) Joitns to TCP pose and joints

I believe this is a general and valid use case, so I'm planning on adding:
* `plan_to_tcp_pose_and_joint_configuration()`
* `plan_to_joint_configuration_and_tcp_pose()`

The implementation should also be straightforward, as the `MultipleGoalPlanner` already has logic to handle this.