Big changes in an attempt to make the secondary task converge a bit
better when joint limits occur but leave a bit of wiggle room (even
after the primary has been fulfilled in the joint limit's null
space). And looking at the debug output, it seems there is a teeny bit
of desire to move towards a better location. But it's on the order of
1e-4 and thus way too slow.
Trying another alternative, but HEY! I shouldn't do this kind of stuff
in the middle of the night, it just occurred to me that the results I
got are already exactly what I want. The convergence of the secondary
task is just fine: due to the joint limits that I'm testing with the
optimal solution is to have the second arm parallel to the dx of the
secondary, and that's exactly what's happening.