v2.2.0

Additions

• Add a dedicated GhostObject.box constructor (thanks to @ags-dy).
• Add client_id argument to GhostObject.
• Add FrameRecorder class, which is an alternative way to record videos of the simulation as a sequence of frames (images).
• Add principal rotation matrix functions rotx, roty, rotz, as well as rot2d for 2D rotation matrices. This was added because scipy is now used internally for rotations, and it does not provide these functions directly.

Changes

• Internal: use scipy for rotation math instead of spatialmath.