Ikpy

Add a new `optimizer` parameter in `Chain.inverse_kinematics` to select the optimizer to use:


The optimizer to use. Choices:
* "least_squares": Use scipy.optimize.least_squares (the default)
* "scalar": Use scipy.optimize.minimize (the default prior to IKPy 3.3)

Technical release to add DOI information

Activate Zenedo DOI

* 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!