Release v4.1.0

[stephane-caron]

This release adds Viser visualization and an example using it to tune the tasks of a 7-DoF manipulator, contributed by @danielsanjosepro 👍

2026-02-15.17-48-35.mp4

Added

• Task: Add orientation_cost property to the frame task (thanks to @danielsanjosepro)
• Task: Add position_cost property to the frame task (thanks to @danielsanjosepro)
• examples: Add an example of a panda arm tracking an interactive target in Viser visualizer (thanks to @danielsanjosepro)
• visualization: Add start_viser_visualizer function for the Viser visualizer (thanks to @danielsanjosepro)

Changed

• Bump minimum Python version to 3.10

[coveralls]

Pull Request Test Coverage Report for Build 22962892004

Details

• 1 of 1 (100.0%) changed or added relevant line in 1 file are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage remained the same at 97.538%

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Totals
Change from base Build 22962222957:	0.0%
Covered Lines:	2298
Relevant Lines:	2356

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💛 - Coveralls