v0.7.4

Fix serial chain construction from chains not removing unused branches with wx250s IK test contributions from @StoneT2000

v0.7.3

Add capsule primitive type and other fixes by Stone Tao.

v0.7.1

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

v0.6.1 with inverse kinematics

Implement damped least squares IK

v0.5.4

First citable release