In IK, Truncate the posture from SNOPT to the range within the posture limit if SNOPT can find the solution. This eliminates the SNOPT numerical tolerance on the posture decision variables.
Merge pull request #75 from hongkai-dai/master

RelativeQuatConstraint failure
Merge pull request #46 from hongkai-dai/FixIKPostureBounds

IK posture truncation