GitLab

Solve #24

[transition test] add path to kinematicConstraint obj and param to reduce size of constraints in addLimb api.
See commit 0ca10d8 in rbprm

[transition test] add a boolean argument in isDynamicallyReachable to return a different path for each phases

[transition check] add python method to test if a point is inside the kinematics constraints for the current configuration