Improve descartes plan profile to include sample min, max and ik solv… #822

Job	Run time
build-macos (macos-13, x64-osx-dynamic-release, x64, /usr/local)	26m 59s
build-macos (macos-14, arm64-osx-dynamic-release, arm64, /opt/homebrew)	14m 14s
	41m 13s

Provide feedback