Use generate_parameter_library to load cached IK kinematics parameters

[Abishalini]

Description

Use generate_parameter_library to load cached ik kinematics parameters

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Base: 51.07% // Head: 51.07% // Increases project coverage by +0.01% 🎉

Coverage data is based on head (800616e) compared to base (bd9a9e8).
Patch has no changes to coverable lines.

❗ Current head 800616e differs from pull request most recent head 69d11e9. Consider uploading reports for the commit 69d11e9 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1677      +/-   ##
==========================================
+ Coverage   51.07%   51.07%   +0.01%     
==========================================
  Files         381      381              
  Lines       31743    31746       +3     
==========================================
+ Hits        16208    16210       +2     
- Misses      15535    15536       +1     

Impacted Files	Coverage Δ
...ma_kinematics_plugin/src/lma_kinematics_plugin.cpp	77.17% <0.00%> (-0.19%)	⬇️

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[tylerjw]

one small nit, otherwise this is good to go