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Minor changes from base opt paper

Matthias Mayer requested to merge dev/base_opt into main
  • Make info-dict of proxies tensorboard compliant (success -> is_success); add debug information if solutions fail; allow to pass task and task-solver independently; feedback on why task solver fail (path, timeout, trajectory); count failed filters
  • Add context for suppressed logging and use on ik_helper
  • Handle threading vs. multiprocessing in ik_helper and ompl planner
  • TaskSolver: Try to save found paths with reduced velocity and acceleration; allow passing of filter kwargs through solve; add task solver without base change
Edited by Matthias Mayer

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