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
add buildtool depends
refactor benchmarks into lib + executable
robustness fix
change default plugin name
move benchmark gui to a separate package
using new namespace parameter in planner plugin configuration
add ability to render cones