[plancherb1]

Release 0.5.5. See CHANGELOG [0.5.5].

• GATO issue 22 cleanup: grid_codegen/_reference_impl.py deleted, allow_fp64, the profile aliases and the parser's convention knobs removed; signed_axis_arm in the manifest and the receipt.
• The cuBLASDx-era linalg scratch removed from the wrappers, the inners and the arena sizers.
• Cost menu: smooth hinge activation; the orientation residual on the vendored GLASS SO(3) primitives; floating-base composition in the tangent layout (state_cost_tangent, GRID_PLANT_MENU_*); frame_velocity_cost on floating bases; one GRID_PLANT_HAS_* constant per menu piece.
• Pinocchio oracle pose derivatives analytic; the fp64 pose-Hessian cells pass.
• Gitlinks: RBDReference and URDFParser legacy-cleanup tips.
• Receipt: a full pass at b16f601 (1891 tests, release policy); the receipt at the 0.5.5 tip follows on this branch.

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