Merging into scikit-bot

[FirefoxMetzger]

👋 I'd like to add a FABRIC implementation to scikit-bot (repo-link) and - since the implementation here is already in python and looks pretty awesome 💯 - I was wondering if there is any interest in merging this repo into scikit-bot.

Here are some advantages I can see that would come with a merge:

• easy extension to complex chains (both 2D and 3D) via skbot.transform (similar to ROS tf2 but numpy-based)
• URDF and SDF support
• a fully-fledged CI/CD pipeline that releases updates immediately (may become nightly in the future)
• having python implementations of established robotics algorithms in one central place

The main disadvantage would be that the API/signature would change. It is, however, possible to - if desired - wrap scikit-bot and get the same API downstream. Another potential disadvantage would be a license change from MIT to Apache-2.0. Both are quite comparable though, so I doubt this will be a big problem.

If there is no interest I can, ofc, write my own implementation; I am mainly thinking that it would be more efficient to combine the two implementations and only maintain one.

Let me know what you think 🚀