do this in the loop, but that requires adjusting the desired setpoint by the same factor limitJoints
output the maximum difference between desired pose and reconstructed pose and pass that back or add an additional "accuracy" input for each task which will cause this to throw if it is not achieved
This is not very efficient because the matrices and vectors get resized at every iteration, really, it only needs to be resized when we create the maps....
Remove items that have a priority of IGNORE