[transition test] add path to kinematicConstraint obj and param to reduce size of constraints in addLimb api.
See commit 0ca10d8 in rbprm

[transition test] add a boolean argument in isDynamicallyReachable to return a different path for each phases

[transition check] add python method to test if a point is inside the kinematics constraints for the current configuration

add a limb that we can move to avoid collision but do not try to make contact with

Add a 'limbOffset' parameter in addLimb : used to compute the position of the link of the limb_ joint