Ikpy

* Remove unused `optimization_method` in IK function
* Official support for Python 3.10

The IKPy IK function now uses a new optimizer that improves the performances:

* Less computation time
* More precise computations

Add full support for prismatic joints
* type="prismatic" in URDF
* forward kinematics
* bounds
* prismatic joints axes are plotted in dotted lines, where revolute joints are plotted in solid lines

Fixes 96
Fixes 104

Ex on URDF provided by https://github.com/AhmetMericOzcan. The prismatic joint is the dotted one:



When sliding the prismatic joint, we see it moving:

Additional features

* Support for arbitrary joint types in the URDF
* Fixed a bug in URDF parsing where `fixed` joints could be considered as revolute
* Support for customizable optimization algorithms. Fixes 108

Thanks to https://github.com/Klausstaler and https://github.com/AhmetMericOzcan for the support and resources!

* Drop Python 2 support
* PEP517 builds
* Support for type hints

Fix issue preventing use of IKPy on Python3.7 with PyPot: https://github.com/Phylliade/ikpy/issues/77

* Support for orientation
* Along one axis
* Along the full frame
* New JSON format which permits loading and serializing a chain from a JSON file
* Pre-created chains in the form of JSONs:
* Baxter: left-arm, right-arm, head, pedestal
* Poppy Torso
* Plotting functions greatly improved
* Utils to analyze an URDF file:
* Get a tree of links from the URDF file
* Plot the URDF tree