v3.6.0

Paths end on the nearest winding of the start or goal member they reached
(#212). On the pick demo the wrist no longer spins an extra turn on almost
half the seeds. The median path falls from 7.21 to 5.48 rad, and the median
timed trajectory (#214) from 3.61 to 2.91 s. Pick's median solve rises from
0.035 to 0.047 s; transport and door are unchanged (100 seeds each,
benchmarks/endpoint_windings/).

Changed

• A path ends on the nearest winding of the start or goal member it
  reached (#212). When a role is a set (not finite), the member the trees
  reached can be a full turn of a bounded joint away from another member
  with the same pose. On the pick demo that spun the wrist an extra turn on
  most seeds.

  After smoothing, the planner proposes the endpoint's windings that unwind
  a turn (a joint more than π from the path's other end), and the set's
  contains decides membership. A candidate is used if a validated
  route makes the path shorter. The route unwinds the path: it keeps the
  path's route and makes the turn early, so the end of the path is
  physically unchanged. The pass is deterministic and is in both backends.

  CBiRRTConfig.shorten_endpoints (default True; C++
  PlannerConfig::shorten_endpoints) turns it off. goal_index and the
  sources are unchanged.

Migrating from 3.5.0: paths to and from sets can end on a different winding
of the same member, so seeded paths change. shorten_endpoints=False
restores 3.5.0's paths.