[fix] fix whole_body_ik config and add a default whole_body_mink_ik config #550
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What this does
Fix
whole_body_ikconfig bug.Add a default
whole_body_mink_ikconfig so that other robots can also use this control mode.How it was tested
input_type=absolutefor part controllers inwhole_body_ikconfigwhole_body_mink_ikconfig. A validation function was added for the mink controller to check the keys in the config.How to checkout & try? (for the reviewer)