v2.0.2

Restored: auto_rescale_objective=False kwarg on trajectory(). When True, divides the objective by f(x₀) so IPOPT sees an O(1) problem; physical objective_value is preserved. Essential for climate-metric objectives (~1e-12 K/s per segment) where IPOPT's default tolerances are otherwise trivially satisfied. The earlier implementation (reverted in v2.0.0) floored the rescale at 1.0 and rescaled only downward; this version rescales in either direction, only skipping when f(x₀) < 1e-30.

Full Changelog: v2.0.1...v2.0.2