Add Ik sample with shelf model

- add ik sample using pod-lowers.l
- add pod-lowers.l euslisp model

![screenshot from 2014-11-17 20 13 25](https://cloud.githubusercontent.com/assets/493276/5068859/8ff36b26-6e96-11e4-8e25-c27e23a7f3ea.png)

(setq target (make-coords :pos #f(1000 0 800)))