v3.2.0: Add NoSolutionFound check

[stephane-caron]

This release introduces the NoSolutionFound exception (previously an AssertionError), and makes a stricter check that the QP solver reports successfully converging to a solution. It is still possible to catch cases where the solver converged (but not to a solution) as follows:

try:
    velocity = solve_ik(configuration, tasks, dt, solver=solver)
except NoSolutionFound as exn:
    if exn.results.x is not None:  # QP solver converged but not to a solution
        velocity = exn.results.x
    raise exn

This release also removes an unrequired dependency on quadprog. This solver is still great for IK, but we cannot distribute it with Pink (permissive license: Apache-2.0) as it is licensed under the GPL-2.0. Feel free to install and use it on your own!

Thanks to @ashwinvkNV and @peterd-NV for helping address this licensing issue 👍

Added

• Add NoSolutionFound exception
• Add open keyword argument to start_meshcat_visualizer
• examples: Detail that quadprog works best on Stretch examples
• examples: Installation instruction for loop-rate-limiters
• examples: Switch to DAQP solvers in examples where it works well
• examples: Switch to ProxQP on JVRC-1 example
• examples: Switch to ProxQP on one-dof configuration limit example

Changed

• CICD: Switch from tox to Anaconda environments
• CICD: Update QP solvers used in unit tests
• CICD: Update checkout action to v4
• Raise custom NoSolutionFound rather than AssertionError in solve_ik
• Update supported Python versions

Fixed

• CICD: Update unit test for self-collision barrier

Removed

• Remove dependency on quadprog (thanks to @peterd-NV)

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This discussion was created from the release v3.2.0.