fix(bio_ik): do not use gradient descent solver

as it seemed to introduce performance issues

Author: texhnolyze

src/bitbots_robot/wolfgang_moveit_config/config/kinematics.yaml

@@ -2,36 +2,28 @@ LeftLeg:
   kinematics_solver: bio_ik/BioIKKinematicsPlugin # kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.00001
   kinematics_solver_timeout: 0.01
-  mode: gd_c
 RightLeg:
   kinematics_solver: bio_ik/BioIKKinematicsPlugin # kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.00001
   kinematics_solver_timeout: 0.01
-  mode: gd_c
 Legs:
   kinematics_solver_search_resolution: 0.0001
   kinematics_solver_timeout: 0.005
-  mode: gd_c
 RightArm:
   kinematics_solver: bio_ik/BioIKKinematicsPlugin
   kinematics_solver_search_resolution: 0.00001
   kinematics_solver_timeout: 0.01
-  mode: gd_c
 LeftArm:
   kinematics_solver: bio_ik/BioIKKinematicsPlugin
   kinematics_solver_search_resolution: 0.00001
   kinematics_solver_timeout: 0.01
-  mode: gd_c
 Arms:
   kinematics_solver_search_resolution: 0.00001
   kinematics_solver_timeout: 0.01
-  mode: gd_c
 Head:
   kinematics_solver: bio_ik/BioIKKinematicsPlugin
   kinematics_solver_search_resolution: 0.001
   kinematics_solver_timeout: 0.001
-  mode: gd_c
 All:
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  mode: gd_c