v0.7.0: Faster joint limit computations

[stephane-caron]

This revision improves joint limit computations significantly, with fixes, new unit tests and examples on the side.

Added

• Bounded subspace of tangent space, that is, restricted to bounded joints
• CI: test on both Ubuntu and macOS images
• Tangent space from Pinocchio model

Changed

• Example: UR3 arm
• Expose pink.Task from top-level module
• Improve joint limit computations

Fixed

• Empty inequalities when model has no bounded joint

---

This discussion was created from the release v0.7.0.