Name Service Precomputation

New name service available, which computes the projected volume of the robot, and performs a gradient descent to decrease the projected volume. Currently only used for my irreducible-configuration project, but maybe some parts are useful for somebody else.

Components are:
- extraction of capsules from robot geometry
- projection of capsules on y-z plane
- convex hull computation of projected capsules
- jacobian is computed based on corner points of convex hull to update configuration