Can jenkins control baremetal with ipmi I have a setup with a bunch of blades that pxe boot into coreos using terraform/matchbox setup.  I currently control them all manually using ipmitool from my desktop.

Is there a way to let jenkins control this?  

an example use case would be if a bunch of different builds are being run and a new one is kicked off jenkins will know to use one of the slaves not running a build so it will power reset the machine and wait for it to come up and then run my docker stuff and the build.
Generic answer yes, it is possible with a lot of work...

Is it something wise to do? In my opinion no, you should convert your bare metal nodes to hypervisors with low maintenance and use common tooling to start slaves Virtual Machines on those hypervisors.