V1.5.0 released with symbolic IK

[petercorke]

The busiest release yet: 145 commits in a month, and ten first-time contributors (thank you!). My trusty partner Claude who did a lot of the heavy lifting.

The feature I'm most excited about: give the Toolbox a DH model and it derives an analytic IK solution that returns every configuration for a pose, very quickly. It covers spherical-wrist and three-parallel-axis arms, including prismatic ones like the Stanford arm, and general 6R arms such as the Kinova Jaco, using the Raghavan and Roth method. You can export the solver as Python, C, C++ or Rust. It uses plain SymPy, and Python-FLINT if it's installed. Try it here, in your browser, here and it even works on your phone

It's in the spirit of OpenRAVE's ikfast, but that was built for Python 2.7 and an old version of SymPy (there are some ports to Python 3 but I understand it’s tricky). ssik is a modern solver for 6R and 7R revolute arms, and it informed (with credit) our general 6R work. I've been scratching around with this since the MATLAB days, and I'm very happy to have it finished.

Also a big overall lift in quality: type hints throughout, better online docs, and a ton of bugs fixed. Coverage is now 88% and Codacy gives the Toolbox an A ranking. The mobile robot section (vehicles, planners, localizers) was always the poor cousin, and no longer is. We even took the MATLAB-style comments out of the docstrings. Details are in the CHANGELOG.