Add RRTConnect implementation

[sea-bass]

Based on the OG paper: https://www.cs.cmu.edu/afs/cs/academic/class/15494-s14/readings/kuffner_icra2000.pdf

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
pyroboplan
__init__.py	0	0	100%
pyroboplan/core
__init__.py	0	0	100%
planning_scene.py	5	5	0%	1, 3, 7–9
utils.py	47	8	82%	128–133, 135–136
pyroboplan/ik
__init__.py	0	0	100%
differential_ik.py	92	16	82%	127–128, 137–138, 162, 166–168, 174, 177, 205, 208, 216–217, 222, 228
nullspace_components.py	16	16	0%	3, 6, 22, 25, 45–46, 48–54, 57, 75–76
pyroboplan/models
__init__.py	0	0	100%
panda.py	40	0	100%
utils.py	4	0	100%
pyroboplan/planning
__init__.py	0	0	100%
graph.py	35	0	100%
rrt.py	137	25	81%	103–104, 106–107, 123–124, 132, 162, 294–299, 303–304, 308–310, 313–314, 322–323, 326–327
utils.py	6	0	100%
pyroboplan/visualization
__init__.py	0	0	100%
meshcat_utils.py	18	11	38%	40–41, 43, 45, 57, 81–82, 109–111, 113
TOTAL	400	81	79%

Tests	Skipped	Failures	Errors	Time
25	0 💤	0 ❌	0 🔥	11.026s ⏱️