Support all groups in srv_kinematics_plugin

[stephanie-eng]

Description

Srv_kinetmatics_plugin claims to support any group, including non-chains.

However, it doesn't implement supportsGroup. This will default to not supporting non-chains, which is contrary to the comment above.

This MR implements supportsGroup for srv_kinetmatics_plugin such that it supports pretty much anything.

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

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (848c062) to head (5d89850).

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #3702       +/-   ##
==========================================
- Coverage   46.24%   0.00%   -46.23%     
==========================================
  Files         726      51      -675     
  Lines       59483    5938    -53545     
  Branches     7624    1057     -6567     
==========================================
- Hits        27504       0    -27504     
+ Misses      31813    5938    -25875     
+ Partials      166       0      -166     

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