v3.3.0: Constraints and omniwheel task

[stephane-caron]

This version adds (1) a constraints argument to solve_ik, to enforce tasks as QP equality constraints rather than in the objective function, and (2) the omniwheel task, which is like a rolling task but allows lateral motion.

Note that, internally, exceptions have been grouped into the pink.exceptions submodule. We don't count this as an API-breaking change, although strictly speaking it is 😊, as the expected way to handle Pink exceptions is to catch PinkError.

Thanks to @jorisv for contributing to this release 👍

Added

• CICD: Unit test fixture for the rolling task
• CICD: Unit test fixture for the omniwheel task
• Introduce constraints to enforce tasks as QP equality constraints
• Task: Add missing task __repr__ functions
• Task: Omniwheel task, like a rolling task but allowing lateral motion

Changed

• CICD: Switch to Pixi for code coverage, documentation, linting and testing
• Move pink.barriers.exceptions to pink.exceptions
• Move pink.tasks.exceptions to pink.exceptions
• Task: Make __repr__ of base class abstract to ensure tasks define their own
• docs: Refactor Tasks page and update references
• examples: Update installation hints when example dependencies are missing

Fixed

• CICD: Improve Pixi configuration (thanks to @jorisv)
• Task: Fix damping task when the robot model has a mobile root joint
• Task: Report LM damping in CoM task representation

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This discussion was created from the release v3.3.0.