[Polymetis] Cartesian tracking issues

## Type of Issue

Select the type of issue:
- [ ] Bug report (to report a bug)
- [ ] Feature request (to request an additional feature)
- [x] Tracker (I am just using this as a tracker)
- [ ] Refactor request
- [ ] Documentation Ask

## Description

This issue is made to keep track of the remaining improvements that can be done to improve tracking after the series of changes in #1307, #1255, #1308, #1334

### Further analysis of adaptive joint controllers (discussed in #1255)

The connection between the new adaptive controllers and the improved tracking is not well studied. Further analysis, visualization, especially across optimized gains for each controller, is desired.

### Need of better IK solutions (discussed in #1308)

Current shortcomings of the Pinocchio IK:
- Not-as-optimized performance
- Does not respect joint limits
- Does not consider null space movement within the cost

Thus it is desirable to seek alternative IK solutions to improve upon these axes.

## Current Behavior

Description of current behavior or functionality.

## Expected Behavior

Description of the expected behavior or functionality. In case of feature request, please add input and expected output.

## Steps to reproduce

Please add steps to reproduce the bug here along with the stack trace.

## Links to any relevant pastes or documents

Please post links to any relevant documents that might contain any extra information.

## Checklist

Use this checklist if you are using this issue as a tracker:

- [ ] Task 1
- [ ] Task 2
- [ ] Task 3 ...

Start by reading the related issues #1307, #1255, #1308, and #1334, then review the adaptive joint controller and Pinocchio IK work they discuss. The tracker is complete when the remaining analysis, visualizations, and alternative IK investigations have been given concrete, independently actionable tasks.

Written by the indexing model from the issue text.