Updating to work with Python 3.14 and CVXPY 1.7.3; added new model

[FlyingFaller]

Updated a lot of things to modernize this repository! These changes include:

• Fixing some syntax errors that prevented the code from working with the latest CVXPY
• Adding a .python-version and pyproject.toml file to better enforce versioning
• Added new, more modern solvers in global_parameters,py that support SOCP
• Updated README removing dead gfycat links and including new images and tidied up the formatting
• Added gif maker to utils which is now called in all plotting code
• Added new model: fixed-final-time quadcopter obstacle avoidance demo from original paper
• More probably... idk it works now :)