Change Rhino visualization to work on Actions/States instead of hardcoded key-positions

[yck011522]

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[yck011522]

The first problem is that visualizing Actions / Movements step-by-step is very slow. There are too many steps. And some steps are not important. Therefore the previous method of using KeyPositions are much more efficient.

• Alternative solution: Modify Visualize Movement to automatically check for collision and skip to only visualize problematic Movements. Then completely abandon Grasp Pose Tab.

The second problem is that the Key Position gives an overview of all objects in their key moments, for example:

• All Clamps and Gripper in the final moments before clamping and retracting.
• All Clamps in the moments before attach and detach to beam. (2 attach + attached + 2 detach steps)
• Gripper Retract after placement

The current KeyPositions combined the positions of multiple Movements for attaching and detaching tools in one big picture.

The intention to visualize these KeyPositions is for user to make adjustment to Tool Attachemnt / Gripper Grasp / Choice of Tool / Choice of Assembly Method. However, when these options are not yet valid, the auto-dependency computation may be invalid. I'm not sure, but this may not be able to generate Action and Movements for using them for visualization.