Added options what to take into account when solving ik, for example orientation, position, X, Y,...

Fixed segfault when closing widget or killing simulation in background by proper cleanup in onDisconnect function

Changed IK solver to calculate error value and return best solution even when pose seems not reachable

Removed the feature to keep camera focused on robot and replaced it by focusing camera on startup once

IK solver now checks if pose is reachable and indicates it by coloring the indicator sphere red or green after moving the manipulator

Changed tcp pose indicators to be transparent and made camera orthographic again due to camera culling problems

Added a dragger that automatically positions at current selected tcp pose and allows to solve IK for a different pose by moving it