Remove "No-IK" simple planner LVS profile

[marip8]

As far as I can tell, the SimplePlannerLVSNoIKPlanProfile is now the same as the SimplePlannerLVSPlanProfile version. The "no IK" piece seems to be handled by checking whether the Cartesian waypoint has a seed state associated with it. If it does, then that seed state is used as the joint state with which to interpolate (i.e., "no IK"); if not, IK is performed to get the associated joint state. If this is in fact the case, we should remove the SimplePlannerLVSNoIKPlanProfile class to eliminate confusion

[Levi-Armstrong]

I think it would be find merging the two as log as we add an option to indicate if the seed should be used or run IK.