feat(robot): jtraj takes joint coordinates only, SE3 arguments raise

[petercorke]

Summary

Robot.jtraj was a quintic trajectory between two joint vectors, with a hack that also accepted SE3 poses and solved the inverse kinematics. IK is never simple: which solution is chosen depends on the solver and its starting point, and it can fail. The hack never checked for failure, so it interpolated silently to an invalid configuration, and its **kwargs were forwarded to the IK method, which broke e.g. puma.jtraj(T1, T2, 5, q0=...) with a TypeError.

• jtraj(q0, qf, t, qd0=None, qd1=None) is now the method form of rtb.tools.trajectory.jtraj, joint coordinates only
• passing an SE3 for q0 or qf (deprecated in 1.5.0) raises TypeError with a message that says to solve the IK explicitly and gives the replacement
• the **kwargs forwarded to the IK method are gone, and the arguments, formerly T1/T2, are q0/qf
• docstring has a .. deprecated:: 1.5.0 note with the replacement recipe, and a versionchanged
• removes the last by-name caller of Puma560.ikine_a

Incompatible change

Robot.jtraj no longer accepts SE3 poses, it raises TypeError. This is a small incompatible change, committed as a feat (no major version bump), as is usual for such changes here. Nothing in this repository, its docs, examples or the wiki passes poses (they all use the pure rtb.jtraj function with joint vectors), and the same holds for RVC3.

Test plan

• tests/test_Robot.py, test_trajectory.py, test_DHRobot.py: 142 passed
• new tests: pure form with no warning and the same result as rtb.jtraj, qd0/qd1 reach the trajectory, SE3 for either argument raises TypeError with the deprecation message on a DH robot and on an ETS robot, an unexpected keyword raises TypeError
• the new tests fail on main and pass here
• trial merges with fix(ik): trajectory residual is the maximum, and document trajectory behaviour #712, refactor(ik): joint limit helpers as module-level functions #713, fix(ik): Robot.ikine_* accept an (N, 4, 4) array of poses #714 and fix(puma): self-contained ikine_a with trajectory and failure handling; deprecate ikine_6s #715 are clean
• CI

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🔴 Issues 1 high

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🟢 Metrics 0 complexity · 0 duplication

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Complexity	0
Duplication	0

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (acc6842) to head (02945cd).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/roboticstoolbox/robot/Robot.py	0.00%	3 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #716   +/-   ##
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  Coverage   0.00%   0.00%           
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  Files        143     143           
  Lines      14269   14266    -3     
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+ Misses     14269   14266    -3     

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