MAINT: using intersphinx-registry

[Schefflera-Arboricola]

Found the broken numpy doc link in intersphinx_mapping, so used intersphinx-registry to avoid needing to update these links in the future. Also added scipy in the list of packages. Please LMK if this is a good change and/or anything needs to be changed.

Thank you :)

[codecov]

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All modified and coverable lines are covered by tests ✅

see 1 file with indirect coverage changes

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[timmens]

Thanks for the PR!

This is a nice change. If you like these kind of tasks, then you could also look into adding a sphinx-build job to our GitHub Actions that checks the links using the linkcheck option.