rework IK plugins #1
Description
- simplify multitude of IK API functions
- random config sampling either in IK or RobotState, not both
- allow for axis-specific tolerances (to support underactuated robots)
- allow task-space and joint-space weighting
- support redundancy resolution
- support arbitrary constraints?
- support kinematic trees
- new reference implementation replacing KDL
- compute FK + Jacobian ourselves
- solvers: svd (with various singularity resolving options), transpose
CartesianPath
- compute path w.r.t. arbitrary reference frame
- support motions of eef1 relative to eef2