v0.9.0

This release adds the joint-coupling and linear-holonomic tasks contributed by @shbang91 👍 The tasks are unit tested and illustrated by a new humanoid example 💪

Added

• Example: Draco 3 humanoid by @shbang91
• Joint-coupling task by @shbang91
• Linear holonomic task by @shbang91
• Unit tests for joint-coupling and linear holonomic tasks by @shbang91

Changed

• Refactor apply_configuration into Configuration constructor
• Refactor assume_configuration into Configuration constructor
• Refactor task dynamics into compute_error and compute_jacobian