revert but leave a code comment about the experience
much simpler test setup with just one waypoint
rfct towards standalone robot model class (the task_s should also be
turned into a virtual base class sometim soon)
Extended to a 5 DOF example robot (base + 3 DOF arm).  Kind of annoyed
by the fact that joint limits can remain locked, at least when
wiggling around the secondary. Wiggling the primary seems to be easier
on the joint limits.
Added a (simplistic) laser task to test whether we can stil achieve an
end-effector position while pointing towards a point. I thought it
would easily satisfy both tasks, but for some reason it gives up the
end effector task.  I even tried disabling joint limits again, but to
no avail. The crux may lie in the stacking of tasks [0] and [1] in
"the" algorithm.