Mink

Added

- Added `EqualityConstraintTask`, which is particularly useful for closed-chain mechanisms like 4-bar linkages or parallel robots. See [biped_cassie.py](examples/biped_cassie.py) for an implementation example. Contribution from simeon-ned.

| Before | After |
|--------|-------|
|  |  |

- `Configuration.check_limits` now logs joint limit violations to `debug` rather than `warn` when `safety_break=False`.
- Added `utils.get_subtree_body_ids` to get all bodies belonging to the subtree starting at a given body.
- Example usage of this function can be found in the [ALOHA example script](examples/arm_aloha.py) where it is used to selectively apply gravity compensation torques to the left and right arm bodies.
- Add G1 and Apollo humanoid example with a tabletop manipulation focus.


Changed

- Improved ALOHA example script.
- Fixed a small bug in the exit criterion of the ALOHA example script.
- Updated Stretch example to work with MuJoCo >= 3.3.0.

Changed

- Changed `inf` to `mujoco.mjMAXVAL` for unbounded joint limits in `ConfigurationLimit`.

Changed

- Fixed a bug in `ConfigurationLimit` where the indices of the limited DoFs were storing the wrong values.
- Changed `print` statement in `Configuration::check_limits` to `logging.warning`.

Added

- Examples:
- Mobile Kinova loaded from a module-oriented MJCF description: [mobile_kinova.py](examples/mobile_kinova.py) (thanks Zi-ang-Cao)
- Removes the nested class naming convention in [tidybot.xml](tidybot.xml), allowing for seamless swapping of end-effectors.
- Mobile Kinova with LEAP hand: [mobile_kinova_leap.py](examples/mobile_kinova_leap.py) (thanks Zi-ang-Cao)
- The example scripts also includes updated recommendations for controlling the mobile base, aiming to minimize unnecessary rotation.
- UFactory xArm7 with LEAP hand: [xarm_leap.py](examples/arm_hand_xarm_leap.py)
- Unitree H1: [humanoid_h1.py](examples/humanoid_h1.py)

Added

- Relative frame task.
- More examples:
- Mobile manipulator: [mobile_tidybot.py](examples/mobile_tidybot.py)
- Bimanual manipulator: [aloha.py](examples/arm_aloha.py)
- Arm + dexterous hand: [arm_hand_iiwa_allegro.py](examples/arm_hand_iiwa_allegro.py)

Changed

- Posture task cost can now be a scalar or a vector. Vector costs are useful for specifying different costs for different dofs.

Added

- [Documentation](https://kevinzakka.github.io/mink/).
- Damping task.

Changed

- Restrict numpy version to < 2.0.0 for compatibility with `osqp` solver in `qpsolvers`.
- README touchup.

Initial release.