Add support for polyscope 3.15 #126
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Added new message formats and types to the secondary monitor.
After connection, the first message polyscope 3.15 sends is message_type = 20, so the changes account for that.
Added new version assignment and check for 20-3 messages to change format string.
Added KinematicsInfo data for message_type = 5.
Added codepath for message_type = 6.