v0.10.0: Introduce limits submodule

[stephane-caron]

This release fixes handling of models with/without configuration limits and with/without velocity limits.

Added

• Base class Limit for configuration and velocity limits
• In-place integration of a velocity from a configuration
• Unit tests for configuration limits
• Unit tests for velocity limits

Changed

• Add pink.limits submodule
• Configuration and velocity limits are now stacked rather than pre-reduced
• Move configuration limit to ConfigurationLimit class
• Move velocity limit to VelocityLimit class

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This discussion was created from the release v0.10.0.