Release v0.0.3

kuka_allegro.mp4

Added

• Relative frame task.
• More examples:
  • Mobile manipulator: mobile_tidybot.py
  • Bimanual manipulator: aloha.py
  • Arm + dexterous hand: 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.