Fix serial chain construction from chains not removing unused branches with wx250s IK test contributions from StoneT2000
0.7.3
Add capsule primitive type and other fixes by Stone Tao.
0.7.1
Batch-to-Batch transforms (N transforms applied to N points with 1-to-1 correspondence rather than all-to-all) SE(3) conversions to 9D continuous representation suitable for training networks on and back Quaternion distances and slerp