deps: bump pinokin pin from v0.1.5 to v0.1.6

v0.1.6 ships the deterministic wrist-flip restart for limits-violating
IK branches (Jepson2k/pinokin#1). Combined with this branch's max_iter
bump to 20, the wrist-flip restart now actually fires for the realistic
PAROL6 seeds it was designed to rescue.

Author: Jepson2k

pyproject.toml

@@ -10,31 +10,31 @@ description = "Python library for controlling PAROL6 robot arms"
 requires-python = ">=3.11"
 dependencies = [
     # pinokin: Pinocchio-based FK/IK bindings
-    # https://github.com/Jepson2k/pinokin/releases/tag/v0.1.5
+    # https://github.com/Jepson2k/pinokin/releases/tag/v0.1.6
 
     # macOS ARM64 (Apple Silicon)
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-macosx_15_0_arm64.whl ; python_version == '3.11' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-macosx_15_0_arm64.whl ; python_version == '3.12' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-macosx_15_0_arm64.whl ; python_version == '3.13' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-macosx_15_0_arm64.whl ; python_version == '3.14' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp311-cp311-macosx_15_0_arm64.whl ; python_version == '3.11' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp312-cp312-macosx_15_0_arm64.whl ; python_version == '3.12' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp313-cp313-macosx_15_0_arm64.whl ; python_version == '3.13' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp314-cp314-macosx_15_0_arm64.whl ; python_version == '3.14' and platform_system == 'Darwin' and platform_machine == 'arm64'",
 
     # Windows AMD64
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-win_amd64.whl ; python_version == '3.11' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-win_amd64.whl ; python_version == '3.12' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-win_amd64.whl ; python_version == '3.13' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-win_amd64.whl ; python_version == '3.14' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp311-cp311-win_amd64.whl ; python_version == '3.11' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp312-cp312-win_amd64.whl ; python_version == '3.12' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp313-cp313-win_amd64.whl ; python_version == '3.13' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp314-cp314-win_amd64.whl ; python_version == '3.14' and platform_system == 'Windows' and platform_machine == 'AMD64'",
 
     # Linux x86_64
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-manylinux_2_39_x86_64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-manylinux_2_39_x86_64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-manylinux_2_39_x86_64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-manylinux_2_39_x86_64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp311-cp311-manylinux_2_39_x86_64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp312-cp312-manylinux_2_39_x86_64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp313-cp313-manylinux_2_39_x86_64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp314-cp314-manylinux_2_39_x86_64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'x86_64'",
 
     # Linux aarch64 (ARM64)
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-manylinux_2_39_aarch64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-manylinux_2_39_aarch64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-manylinux_2_39_aarch64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-manylinux_2_39_aarch64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp311-cp311-manylinux_2_39_aarch64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp312-cp312-manylinux_2_39_aarch64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp313-cp313-manylinux_2_39_aarch64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.6/pinokin-0.1.6-cp314-cp314-manylinux_2_39_aarch64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'aarch64'",
 
     "pyserial>=3.4",
     "scipy>=1.11.4",