yield uniform types in inverse_kinematics

[beverlylytle]

Here I've changed the ik backend features to yield the results rather than return them.

One point that is up for discussion still is that robot.inverse_kinematics returns a configuration while client.inverse_kinematics generates tuples of joint value, joint name pairs. This is confusing.

What type of change is this?

• [ ] Bug fix in a backwards-compatible manner.
• [ ] New feature in a backwards-compatible manner.
• [x] Breaking change: bug fix or new feature that involve incompatible API changes.
• [ ] Other (e.g. doc update, configuration, etc)

Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.

• [x] I added a line to the CHANGELOG.rst file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
• [x] I ran all tests on my computer and it's all green (i.e. invoke test).
• [x] I ran lint on my computer and there are no errors (i.e. invoke lint).
• [ ] I added new functions/classes and made them available on a second-level import, e.g. compas_fab.robots.CollisionMesh.
• [x] I have added tests that prove my fix is effective or that my feature works.
• [x] I have added necessary documentation (if appropriate)

[gonzalocasas]

Linked PR: https://github.com/compas-dev/compas_fab/pull/330

[gonzalocasas]

@beverlylytle it looks like this is good to go now, right? Unless you want to make any other changes to it?