v2.1.0

This release adds contact wrench and more quaternion utility functions.

Contact wrench utilities

• The functions get_point_contact_wrench, get_points_contact_wrench, and get_total_contact_wrench have been added for computing the contact wrench exerted on one object through contact with another.

Quaternion utilities

• The functions quatx, quaty, and quatz have been added to construct quaternions representing rotations about the major axes.
• Under the hood, the quaternion functions have all been rewritten to use spatialmath.UnitQuaternion.

Future

• The field localInerialPos of the DynamicsInfo named tuple is misspelled; this will be fixed in a future major release.