Add joint_list and invariant_joint_list to inverse kinematics#751
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joint_list is a direct alternative to link_list (each joint maps to its child link) in inverse_kinematics and batch_inverse_kinematics, and invariant_joint_list holds chosen joints fixed. calc_jacobian_from_joint_list becomes the shared Jacobian kernel; docs and examples now prefer joint_list.
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joint_list is a direct alternative to link_list (each joint maps to its child link) in inverse_kinematics and batch_inverse_kinematics, and invariant_joint_list holds chosen joints fixed. calc_jacobian_from_joint_list becomes the shared Jacobian kernel; docs and examples now prefer joint_list.