[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/pre-commit/mirrors-clang-format: v14.0.1 → v14.0.4-1](https://github.com/pre-commit/mirrors-clang-format/compare/v14.0.1...v14.0.4-1)
- [github.com/pre-commit/pre-commit-hooks: v4.2.0 → v4.3.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.2.0...v4.3.0)

Fix script grasp_ball.py

  Resetting the problem twice discards the manipulation plugin.

fix submodule url

Upate slides

Update figures representing kinematic chains.

  add a figure about relative poses,
  improve exercise 2,
  unify notations.