Fix convergence in IK solver - resolve issue #712

[wxmerkt]

• Upstreams some changes to IK solver that fix exit criteria, damping adaptation, and thus convergence
• Updates example config to remove deprecated nominal state and replace with JointPose, adds JointLimit

And most crucially:

• Reduce scaling of cost from 1e3 to 1e2. This is what resolved the issue.

@the-raspberry-pi-guy please try this - it should work

[the-raspberry-pi-guy]

@wxmerkt Ran it locally and can confirm that this has fixed the demo - thanks!

[wxmerkt]

Thanks for the confirmation. I will merge then :-)