Fix documentation for orientation constraint tolerance #91
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The orientation constraint tolerance is evaluated using intrinsic XYZ Euler angles in MoveIt (here). The documentation suggests that the angle-axis parameterization will be used, so I changed it.
(Future planners may prefer the angle-axis parameterization (OMPL constrained planning, TrajOpt, ...), so then we will need to add extra message fields and implement this new parameterization in
moveit_core. See #89.)