Pyb-utils

This release adds significantly more functionality to the `Robot` class, including task-space pose and velocity and Jacobian computations. New named tuples for `getJointState(s)` and `getLinkState(s)` have also been added.

This release add documentation generated with sphinx and hosted on readthedocs, which can be found [here](https://pyb-utils.readthedocs.io).

This major version release introduces a number of additions and some API changes.

* Python 3.11 is now supported, while Python 3.7 support has been dropped.
* The array of points returned from `Camera.get_point_cloud` now has dimensions `(height, width, 3)` rather than `(width, height, 3)`, to match the other parts of the `Camera` API.
* The `CollisionDetector` API has now been changed so that an articulated robot is not required.
* A `getJointInfo` function wrapper has been added to the set of wrapped functions returning named tuples.
* Some minor bug fixes to the camera and ghost object examples.
* A number of tests have been added, and `tox` can be used to run them against the supported Python versions.

This minor release fixes a bug with the named tuples, where not passing the `physicsClientId` argument by name to the underlying PyBullet functions caused unexpected behaviour. All arguments in the named tuple wrapper functions are now passed by name (i.e., as keyword arguments) to avoid this.

Additions

* Added a convenience class `BulletBody` for easily creating rigid bodies.
* Added versions of some PyBullet functions that return *named* tuples instead of regular ones, for easy identification of fields by name.
* Added example scripts for both of the above new features.
* More examples and details in the README, including basic information on the quaternion functions provided.

Changes

* Everything you need should now be in the top-level `pyb_utils` import; no need to import submodules.
* `scripts/` directory renamed to `examples/`.
* Deprecated `GhostSphere`; `GhostObject.sphere` should be used instead. `GhostSphere` will be removed in a future release.
* Adjusted some variable names and imports.