Improved target reached checks by considering orientation
Optimized IK calls in order to get better and faster results
Removed robot loading code in IK state, switched to RemoteRobot::createLocalClone which is much faster
removed hard coded check for VirtualCentralGaze RobotNode from ik skill

apply a tiny velocity after the object has been grasped in ordeer to ensure that the object stays grasped

Conflicts:
	scenarios/WeissHapticSensorsUnitTest/tactile.html