v2.0.0

This release brings a number of fixes and completes the renaming of the BodyTask to FrameTask (details below). It also distributes Pink on conda-forge, which is now the recommended way to install for best performance:

conda install -c conda-forge pink

Added

• Add gain keyword argument to all task constructors where is makes sense
• Damping task that minimizes joint velocities
• Distribute package on conda-forge
• Example on how differential IK may converge to a local constrained optimum
• Expose all tasks from the top-level pink module
• Handle unbounded joints in custom configuration vectors
• Unit test for posture task Jacobian

Changed

• Breaking: Define task Jacobian as derivative of the task error
• Breaking: Rename BodyNotFound exception to FrameNotFound
• Breaking: Rename FrameTask.body to FrameTask.frame

Removed

• Body-minus utility function
• Spatial-minus utility function