robustness fix
better error messages
adding ik solver for groups with mimic joints
fixing initialization of joint limits
fixing joint limits issues
added position only ik
adding position only ik
moved param into private namespace inside group name
adding debug statement
adding ability to lock redundant joints for ik
minor fix
change default number of replanning attempts
work on free space updaters
minor build updates
add debug output
add some simple convenience functions
fixes for attached bodies
minor improvements to planning scene visualization
fix minor initialization error
add debug output