Moving configs from bloom branch
PyKDL: make sure we use the same version for the libs as for the interpreter

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
PyKDL: might fix #10: PyKDL __repr__ method for Joint type generates error

It adds the kinfam_io header.

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
idea for a joint limited version of the LMA solver