utils: fix calculation of angle_distance in math/angle.h

The calculation would only get the angle-difference if both angles
were <2PI. We simply use normalize_mirror_rad for that now.
openrave: restrict 2 joint limits of Jaco model

Although those joints theoretically are circular, they are restricted
by the link constructions and cannot "wrap around" 360deg. They would
collide with a neighour link. Although those collisions are detected
by OpenRAVE planner and hence discarded as possible IK solution, we
restrict theose joint limits in the model, just to be safe. It might
save some computations and unexpected collisions as well.
jaco: add SetConstrainedMesssage to JacoBimanualInterface

If enabled, planning for bimanual manipulation will use a constraint
function to maintain the same distance between both manipulators.
This is required for asymmetric coordinated manipulation.
openrave: add model of a red ball of 20cm diameter
interfaces: add JacoInterface and JacoBimanualInterface to gitignore
skill jaco_bimanual: add parameter to enable/disable planning constraint
jaco: set control to 'cartesian' before fetchin coords from libkindrv

This is required, because cartesian coordinates are not updated while
we are in angular-control mode. As this is the case while moving, we
only fetch new cartesian coordinates if the arm is final.
jaco: add configurable options for plotting

Can now decide if we want to plot planned and currently executed
trajectories. Both plotting the manipulator position and/or the
joint positions as well.
jaco: trigger plotting of current positions in goto_threads

It is enabled when a movement is planned (excluding gripper-only
movements), and disabled when the arm is final.
jaco: fix final-check of bimanual_goto_thread

We need to use the same checking we do for regular angular targets,
just as in goto_thread. That means, we need to make it TARGET_ANGULAR,
not leave it TARGET_GRIPPER. Simple reason: TARGET_GRIPPER relies on
the controller to say "final", which compares velocities, which is
not working properly yet (driver returns joint values instead of
velocities).
openrave: fix documentation warnings
jaco: fix documentation warnings