fix last test, remove final warnings from test compilation

The primary relevant line is the change from num_attempts=1 to num_attempts=100. It appears that all other IK/position/orientation tests use 100 except this one. This test does sometimes pass, but mostly fails unless num_attempts is at least 2. @isucan @davetcoleman any thoughts?

The other lines are simply left over cruft from previous refactors (mainly the robot_state one).