Fixed inverse kinematics

[MarleneBusch]

Description

The main feature of this PR is the fixed inverse kinematics.

• add second kinematics reconstruction method
• add train test dataset splits for the kinematics reconstructor and surface reconstructor
• rename the motor position optimizer to aim point optimizer

Fixes #205

Type of change

• Bug fix (non-breaking change which fixes an issue)

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[github-actions]

Name	Stmts	Miss	Cover	Missing
artist\__init__.py	3	0	100%
artist\field\__init__.py	14	0	100%
artist\field\actuators.py	16	0	100%
artist\field\actuators_ideal.py	9	0	100%
artist\field\actuators_linear.py	57	0	100%
artist\field\heliostat_field.py	116	0	100%
artist\field\heliostat_group.py	52	0	100%
artist\field\heliostat_group_rigid_body.py	23	0	100%
artist\field\kinematics.py	12	0	100%
artist\field\kinematics_rigid_body.py	97	0	100%
artist\field\solar_tower.py	48	0	100%
artist\field\surface.py	22	0	100%
artist\field\tower_target_areas.py	15	0	100%
artist\field\tower_target_areas_cylindrical.py	40	0	100%
artist\field\tower_target_areas_planar.py	32	0	100%
artist\flux\__init__.py	2	0	100%
artist\flux\bitmap.py	65	1	98%	116
artist\geometry\__init__.py	4	0	100%
artist\geometry\coordinates.py	95	1	99%	290
artist\geometry\rotations.py	31	1	97%	112
artist\geometry\transforms.py	97	1	99%	346
artist\io\__init__.py	3	0	100%
artist\io\calibration_parser.py	42	2	95%	197-202
artist\io\h5_scenario_parser.py	149	5	97%	550, 554, 560, 565, 570
artist\io\paint_calibration_parser.py	66	0	100%
artist\io\paint_scenario_parser.py	193	0	100%
artist\io\stral_scenario_parser.py	42	0	100%
artist\nurbs\__init__.py	3	0	100%
artist\nurbs\surfaces.py	156	20	87%	210-241, 395, 399, 401-402, 553-554, 557-558
artist\nurbs\utils.py	24	0	100%
artist\optim\__init__.py	7	0	100%
artist\optim\aim_point_optimizer.py	164	15	91%	313-323, 473, 493, 567-574, 580, 631-640
artist\optim\kinematics_reconstructor.py	256	230	10%	115-142, 174-197, 228-310, 343-411, 446-751, 786-1074
artist\optim\loss.py	85	1	99%	545
artist\optim\regularizers.py	24	0	100%
artist\optim\surface_reconstructor.py	220	12	95%	761-769, 878-896
artist\optim\training.py	67	2	97%	32, 181
artist\raytracing\__init__.py	4	0	100%
artist\raytracing\blocking.py	283	9	97%	378, 380, 552-555, 592-593, 722, 737, 975
artist\raytracing\geometry.py	91	0	100%
artist\raytracing\heliostat_ray_tracer.py	142	1	99%	176
artist\raytracing\sampling.py	29	0	100%
artist\scenario\__init__.py	4	0	100%
artist\scenario\h5_scenario_generator.py	83	30	64%	117-141, 153-161, 185, 192-197, 215-218
artist\scenario\scenario.py	94	2	98%	215, 434
artist\scenario\surface_generator.py	89	0	100%
artist\scene\__init__.py	5	0	100%
artist\scene\light_source.py	11	0	100%
artist\scene\light_source_array.py	28	0	100%
artist\scene\rays.py	7	0	100%
artist\scene\sun.py	43	0	100%
artist\util\__init__.py	56	18	68%	101-135
artist\util\config.py	203	0	100%
artist\util\constants.py	305	0	100%
artist\util\env.py	110	23	79%	89-91, 186-228, 308
artist\util\indices.py	322	0	100%
artist\util\type_registry.py	11	0	100%
TOTAL	4271	374	91%

[codecov]

Codecov Report

❌ Patch coverage is 56.44699% with 152 lines in your changes missing coverage. Please review.
✅ Project coverage is 91.24%. Comparing base (a5785f7) to head (2dd8497).

Files with missing lines	Patch %	Lines
artist/optim/kinematics_reconstructor.py	5.06%	150 Missing ⚠️
artist/optim/aim_point_optimizer.py	87.50%	1 Missing ⚠️
artist/optim/loss.py	95.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #214      +/-   ##
==========================================
- Coverage   96.10%   91.24%   -4.87%     
==========================================
  Files          57       57              
  Lines        4008     4271     +263     
==========================================
+ Hits         3852     3897      +45     
- Misses        156      374     +218     

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