Roadmap

Shipped in current tree

• RelativeFrameTask, EqualityConstraintTask, ComTask

• Hard limits: ConfigurationLimit, VelocityLimit, CollisionAvoidanceLimit, LinearInequalityLimit + ConstrainedSolver

• Numbered mjviser demos examples/01_… – 05_…

• Parity tests vs Mink for frame, relative frame, equality, collision, constrained solve

Planned directions (not committed timelines)

• Optional mink_warp.viz extra — task target overlays (viser / mjviser adapter)

• Additional Mink tasks (look-at, dof freezing, …)

• Batched equality / collision distance queries on MuJoCo Warp when upstream exposes them

• Limited ball-joint support in ConfigurationLimit

• Published docs on GitHub Pages + CI doc build

• PyPI release

Contributions welcome via GitHub issues and pull requests.