Anton Weiss

### Description Setting pose for two endeffectors in a dual arm setup returns "IKConstraintSampler received dirty robot state, but valid transforms are required. Failing." Behaviour analogous to [moveit](https://github.com/ros-planning/moveit/issues/3082) ### Your...

Changed kinematics plugin to match kdl CMakeFiles and classes. Can be loaded via: `kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin`. Renamed kinematic_plugin folder to to kinematics, so it more closely matches moveits repo. Tested on...