Multiple small ik fixes
- I seem to have forgotten the joint limits when refactoring the jacobian IK. This should fix it.
- Moves the Jacobian to the joint frame (and adds a source to the jacobian IK method with mathematical background)
2024-05-08: Due to updates GitLab will be read-only for approximately half an hour and unavailable for about 15 minutes between 13:00 and 15:00.