v3.7.0

Every ssik family runs natively (#220). Pose goals on the JACO2, the Panda and
the iiwa now plan in C++, 14–19x faster than on the Python backend in a
no-obstacle probe. Requires ssik 8.2.

Changed

• Every SSIK family runs natively (#220). The native backend plans pose regions (TSRs and TSR chains) with SSIK
  for every family ssik solves natively (ssik.cpp.NATIVE_FAMILIES), 6R and 7R alike:

  • UR arms;
  • general 6R arms such as ADA's Kinova JACO2;
  • the 7R SRS and spherical-shoulder arms such as the KUKA iiwa and the Franka Panda.

  Only UR arms ran natively before; the others fell back to Python for every pose goal. The adapter is ssik's own
  ssik::Solver (ssik 8.2, personalrobotics/ssik#707), which ssik verifies against its Python, so sscbirrt drops its
  family allowlist.

• Requires ssik>=8.2,<9 (was >=7.0,<8). ssik 8.2 also caches the general-6R preparation, so a runtime-built
  JACO2's first query no longer takes about 30 s once the cache is warm (personalrobotics/ssik#708).