Add mujoco-based IK

[1heart]

Description

Please include a summary of the change and link to an issue this PR fixes. Please also include relevant context. List any downstream components that might be affected by this change.

Fixes # (issue)

Type of change

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• Bug fix (non-breaking change that fixes an issue)
• Proposes a change (non-breaking change that isn't necessarily a bug)
• Refactor
• New feature (non-breaking change that adds a new functionality)
• Breaking change (fix or feature that would break some existing functionality downstream)
• This is a unit test
• Documentation only change
• Datasets Release
• Models Release

Type of requested review

• I want a thorough review of the implementation.
• I want a high level review.
• I want a deep design review.

Before and After

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If this PR introduces a new feature, please also add examples or screenshots demonstrating the feature.

Testing

Please describe the tests that you ran to verify your changes and how we can reproduce.

Checklist:

• I have performed manual end-to-end testing of the feature in my environment.
• I have added Docstrings and comments to the code.
• I have made changes to existing documentation where needed.
• I have added tests that show that the PR is functional.
• New and existing unit tests pass locally with my changes.
• I have added relevant collaborators to review the PR before merge.
• [Polymetis only] I ran on hardware (1) all scripts in tests/scripts, (2) asv benchmarks.

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