RSDK-8852 migrate motionplan to work on framesystems rather than individual frames

[biotinker]

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This PR is not yet complete. It has been submitted in a draft form so that reviewers can begin reviewing structural changes.

Specific syntactic feedback will likely be moot by the time the PR is ready to be reviewed as the code continues to change.

Current areas of active development:

• CheckPlan still needs to be updated
• Assorted tests do not yet pass
• IK solutions are no longer restricted to only mutating configurations of frames which should move, which is problematic
• General code cleanup and deduplication