feasibility backtracking

[JannisW]

In case a movement was successfully planned until a certain point, but than the trajectory becomes infeasible, it might make sense to try to generate a new initial configuration by re-sampling on the previous manifold... etc.

Example:
A suitable solution for a WallGrasp was found until LiftUp, but slideToWall will always end in a joint limit. It might make sense to get a different pre_grasp_pose to have a different starting point for the sliding action.

Is this a desired feature for the future?