v0.8.0: Fix Jacobian of body task

[stephane-caron]

This release fixes the Jacobian of the body task, with a dedicated blog post to explain the fix. In short: we were using the frame Jacobian instead of the full task Jacobian (which includes a log-derivative). Using the frame Jacobian works fine in many use cases, but it can also fail drastically in weighted inverse kinematics. Example and details in the blog post 🗒️

Thanks to @aescande and @Gregwar for their help 👍

Added

• BodyNotFound exception
• Document spatial and body minus between transforms
• Example: SigmaBan humanoid
• Forward keyword arguments of solve_ik to the backend QP solver

Changed

• Return type of compute_velocity_limits now includes optionals
• VectorSpace type is now immutable

Fixed

• Jacobian of the body task

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This discussion was created from the release v0.8.0.