Add more model-frame methods
remove world-frame hand/palm set methods
remove JointState::getJointRotation()

(use getRotationModelFrame() instead)
remove JointState::applyRotationDelta()

(use JointState::applyRotationDeltaInModelFrame()) instead)
FinalOrientation -> FinalOrientationInWorldFrame
remove some JointState::getHybridTransform() calls
getJointPosition -> getJointPositionInWorldFrame
remove more getHybridTransform() calls
remove JointState::getRota/PositionInWorldFrame()

instead: use getRotat/PositionInModelFrame() and do math
remove JointState::setRotation()

instead use JointState::setRotationInModelFrame()
remove JointState::_combinedRotation

instead use JointState::_rotationInModelFrame