Feature request

Feature description

I want to configure my controller, e.g. MPPI, to reach discrete waypoints accurately (with orientation). These waypoints are on the path (in my case they are the poses used in ComputePathThroughPoses).

Currently the only knob I have for this in the context of MPPI is the PathAlignCritic, however giving this critic too much weight limits obstacle avoidance and other critics. I don't want to reward following the whole path, I just want to reach these points accurately.
Maybe existing critics like PathAlignCritic and GoalCritic can be used ingeniously to achieve this, or maybe we need a new critic.

This is just a rough idea for now, I will update this issue with more details when I get deeper in brainstorming. Feel free to share your opinion on the ticket and potential implementation ideas already

Implementation considerations