If a tip is not specified in the IK query the default one is added during setFromIK(). This allows validation to be used since the tip is now specified. Before it was unspecified resulting in an empty constraint that always returned true
The same setFromIK function i used from MoveIT for both multi-tip and single-tip queries, this was one of the reasons why external validation was not working for the baxter robot
Adds the constraints of the external validation relative to the global frame instead of the first link of the chain. This was another reason why external validation was not working, since the pose constraints are always added relative to the global frame.
Modfiied the baxter IK script to illustrate different uses of IK, including single tip and approximate with validation
This PR does the following: