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Improved logging in ik, bugfix in ik_test and initial guesses for jacobian ik

Jonathan Külz requested to merge dev/ik_stability_and_logging into main

Introduces the following fixes and improvements:

  • A short test whether random configurations are within joint limits really
  • More details in ik logging
  • The ik test no longer uses the scipy solution as initial guess for the jacobian ik
  • Introduces a mini-search for a good initial configuration for fining an ik solution

Merge request reports

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