Feature Request: allow motion modifiers to be applied to cartesian and joint movements.

[Jacob-Friedberg]

Fanuc allows for various modifications of a motion:

Its likely that we wont be able to implement all of these options, but it would be a good idea to attempt to implement all that we can. Specifically the Wjnt modifier should be added first. There are numerous cases where we need to move through a position where the configuration of the wrist might change, and we can't go from A->B or B->A if the configuration changes (in cartesian space). The Wjnt option makes the wrist (J4,J5,J6) move in jnt space rather than cartesian to avoid this. More information about this can be found in manual B-83284EN/11 Chapter 4, in the section talking about flip and wrist configurations.