simpler joint axis

nlp py interface

get q index binding

batch_evaluation for zero order NLPs

tamp explorer and stable config tweaks

setParent can overwrite existing

minimal ry image viewer

new step action

py-Config: back to returning shared null_deleters

const accel in Bspline

manip snap free

forces over multiple time slices

better config sampling

fixes after komo revision

trying to get rid of komo::world