Make using arms less confusing

[i-make-robots]

Limbs are a forest of Nodes full of dark magic. Users unfamiliar with their secrets will use them in the wrong way and experience strife.

I see a way that it should be possible to greatly simplify the task of setting up and running most Limbs without sacrificing the power and flexibility of the original system. Effectively every Node that is a child of Limb becomes a managed experience that normal users never have to look at.

In order to manage the experience Limb Node has a custom details tab.

The End effector and target selectors would also have "find" buttons. Under that would be steering controls.

Editing an arm would open a custom dialog for each type. Here is a leg.

Here is the panel for an arm of 3-6 joints.

[i-make-robots]

223 hid the motors, but really a limb user shouldn't even see the collapsible box.

[i-make-robots]

https://github.com/MarginallyClever/Robot-Overlord-App/pull/245 might help.

[i-make-robots]

260 improves ease of record and playback

[i-make-robots]

If the target is a child of the end effector, it effectively produces a constant relative velocity. Put the target on the end effector, turn it 90 degrees, and move it (0.5/4)mm forward. It will move forward at 0.5mm per rotation. Using this system you can build spiral paths for things like inserting screws.

If the target is moving towards it's own child, it produces relative acceleration. I'm not sure how that's useful yet but it's neat.

I wonder if EndEffector should become the de-facto LimbSolver. I use the Limb to drive FK. Shouldn't the IK driver live at the other end of the kinematic chain? EndEffectors can look up their parent tree, find the Limb, and register themselves. that makes jumping through the scene tree much easier, too.

Then it would be possible to make a bifurcated robot arm?

[i-make-robots]

added prograde/retrograde/etc ksp steering controls