Python Wrapper using SWIG

Hello,

I'm currently working on a Python wrapper using SWIG for your TRAC IK lib (https://bitbucket.org/awesomebytes/trac_ik/src/86a142d148cc0c6c1694c06aa77da002be871550/trac_ik_lib/?at=python_wrapper).

And I'm wondering what is the approach you'd like the most in case you want to accept it as a Pull Request.

I can either:

Add it to trac_ik_lib as how I'm working right now.
Separate it into another package, maybe called trac_ik_python.

And also, for the implementation of the wrapper, given some difficulties of working with a nodehandle from C++ in Python, I made a change on trac_ik.cpp to also accept the URDF string directly instead of taking it from the param server.

I also need to do some adaptations to move data types from/to python to call CartToJnt, so I could actually just move that changes onto the swig trac_ik_wrap.i file if you'd rather leave that file untouched.

Let me know what you think is best.

As as a side note, this enables wrapping for other languages (Java, C#, Lua, Lisp, R, Octave, Go...) easily, I'm just interested in Python.

Thank you very much for your great work.

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