Development branch, release 3.4.0

[AlexanderFabisch]

Features

• More general mesh loader that can handle more file formats (e.g., collada), loads meshes more robustly, and enables dynamic selection of available libraries to load a mesh (currently supported: Open3D, trimesh).

Bugfixes

• Improve numerical precision of pytransform3d.rotations.norm_angle.
• Clamp argument to range [-1, 1] before applying arccos in some conversion functions.

Refactoring

• Extract common geometric code used for visualization and plotting and move it to the geometry module.

Documentation

• Improve discussion of pros and cons of rotation representations.

[codecov-commenter]

Codecov Report

Patch coverage: 100.00% and no project coverage change.

Comparison is base (31a0aaf) 100.00% compared to head (0b43bdb) 100.00%.

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Additional details and impacted files

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