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Updates to the IK laboratory

Tassos requested to merge ikm_tassos_updates into master

Besides the changes you proposed in !22 (closed), I made some more changes:

  • Updated the figures so they look like everything else
  • Changed to Inverse kinematics instead of geometric
  • Updated the target poses for the pick and place with the robot
  • Updated the al5d_control class, to remove redundant check for velocity arguments (you have default values if you don't provide any).

The final bullet might break other labs where the al5d_control module is used, but I didn't have time to check right now :(

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