embodik 0.1.1__tar.gz → 0.4.1__tar.gz

{embodik-0.1.1 → embodik-0.4.1}/.gitignore

@@ -20,6 +20,10 @@ python_bindings/**/py.typed
 build/**/*.pyi
 build/**/py.typed
 
+# Ignore generated type stubs copied into the source tree (nanobind.stubgen)
+*.pyi
+*.typed
+
 # CMake build artifacts (root directory)
 CMakeCache.txt
 CMakeFiles/

embodik-0.4.1/CHANGELOG.md

@@ -0,0 +1,177 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [0.4.0] - 2026-02-05
+
+### Breaking Changes
+- **Removed Python `pin` package from runtime dependencies**: EmbodiK now uses native C++ bindings
+  exclusively for all Pinocchio functionality. The `pip pinocchio` (`pin`) package is no longer
+  required at runtime, only at build time.
+  - This resolves numpy dependency conflicts when using EmbodiK with packages like `hmnd_robot`
+    that have different numpy version requirements
+  - All rotation utilities (log3, exp3, quaternion conversions) now use native bindings
+  - Collision distance computation now uses native `RobotModel.compute_min_collision_distance()`
+  - Visualization defaults to direct Viser (no Pinocchio ViserVisualizer dependency)
+
+### Added
+- **Native math utilities via nanobind**: New C++ bindings for rotation/pose math
+  - `embodik.log3(R)`: Compute axis-angle from rotation matrix (replaces `pin.log3`)
+  - `embodik.exp3(omega)`: Compute rotation matrix from axis-angle (replaces `pin.exp3`)
+  - `embodik.matrix_to_quaternion_wxyz(R)`: Convert rotation matrix to (w,x,y,z) quaternion
+  - `embodik.quaternion_wxyz_to_matrix(w,x,y,z)`: Convert quaternion to rotation matrix
+- **Native collision distance API**: RobotModel now exposes collision distance methods
+  - `RobotModel.compute_min_collision_distance()`: Get minimum distance across all collision pairs
+  - `RobotModel.compute_collision_distances()`: Get distances for all collision pairs
+- **Optional Pinocchio visualization**: `pip install embodik[visualization-pinocchio]` for
+  Pinocchio's ViserVisualizer (requires `pin>=3.8.0`)
+
+### Changed
+- Visualization now defaults to direct Viser implementation (no `pin` needed)
+- `utils.py` functions (`get_pose_error_vector`, `compute_pose_error`, `Rt`) use native bindings
+- `visualization.py` quaternion functions use native bindings
+- GPU collision fallback uses native `RobotModel.compute_min_collision_distance()`
+- Removed `_runtime_deps.py` (lazy Pinocchio import no longer needed)
+
+### Migration Guide
+If you were using Pinocchio Python bindings directly through EmbodiK:
+
+```python
+# Old (v0.3.x) - required pip pinocchio
+import pinocchio as pin
+R_error = pose_goal.rotation @ pose_current.rotation.T
+error = pin.log3(R_error)
+q = pin.Quaternion(R)
+
+# New (v0.4.0) - no pip pinocchio needed
+import embodik as eik
+R_error = pose_goal.rotation @ pose_current.rotation.T
+error = eik.log3(R_error)
+w, x, y, z = eik.matrix_to_quaternion_wxyz(R)
+```
+
+For collision distance computation:
+
+```python
+# Old (v0.3.x) - required pip pinocchio
+import pinocchio as pin
+pin.updateGeometryPlacements(model, data, collision_model, collision_data)
+for i in range(len(collision_model.collisionPairs)):
+    pin.computeDistance(collision_model, collision_data, i)
+    dist = collision_data.distanceResults[i].min_distance
+
+# New (v0.4.0) - native API
+robot_model.update_configuration(q)
+dist = robot_model.compute_min_collision_distance()
+```
+
+## [0.3.0] - 2026-02-03
+
+### Added
+- **PPH-SNS Solver**: Alternative GPU-optimized solver (Parallel Penalized Hierarchical SNS)
+  - Soft top-k violation selection using softmax weights
+  - Limited rank-1 projector updates (1–2 violators per iteration)
+  - Achieves ~632,000 IK solves/second at batch size 10,000
+  - Benchmark comparison scripts: `benchmark-solver-comparison`, `benchmark-solver-batched`
+- **GPU Acceleration**: Batched velocity IK solving with massive parallelism (100-500x speedup)
+  - Achieves ~670,000 IK solves/second at batch size 10,000
+  - Ideal for RL training (4096+ parallel environments), motion planning, and dataset generation
+  - GPU batched solver via CusADi-compiled CUDA kernels
+- **FI-PeSNS Solver**: Fixed-Iteration Penalized eSNS algorithm optimized for GPU
+  - Singularity-Robust Inverse (SRINV) for numerical stability
+  - Analytical scaling for feasible task scales without iterative saturation
+  - Penalty gradient approach for constraint enforcement
+  - Fixed iterations for predictable compute time (ideal for real-time RL)
+- **GPU Collision Detection**: GPU-accelerated collision detection via NVIDIA Warp
+  - Batched collision queries for parallel processing
+  - Experimental support for GPU-accelerated self-collision avoidance
+- **Parallel Trajectory Tracking Demo**: Visualize 100 robot instances simultaneously tracking different trajectories
+  - Interactive demo with Viser visualization
+  - Demonstrates GPU parallelization capabilities
+  - Achieves ~50,000+ IK solves/second with GPU acceleration
+- **Teleoperation IK Example**: Interactive IK control using Seer wireless controller (Xvisio SDK)
+- **GPU Benchmarks and Demos**: Comprehensive benchmarking tools for GPU performance
+  - Batch IK performance benchmarks
+  - FI-PeSNS vs CPU accuracy benchmarks
+  - Collision detection benchmarks
+  - GPU solver demonstration panels
+- **CasADi Integration**: Export and compile velocity IK functions to CUDA kernels
+  - Symbolic function export for GPU compilation
+  - CusADi integration for CUDA kernel generation
+- **GPU Environment Support**: CUDA feature in pixi.toml with GPU-specific tasks
+  - `check-cuda`, `check-gpu`, `install-cusadi` tasks
+  - GPU demos and benchmarks via pixi tasks
+  - CUDA environment configuration
+
+### Changed
+- Enhanced examples with GPU acceleration support
+- Updated dependencies to include xvisio SDK support for teleoperation examples
+- Improved GPU documentation and setup instructions
+
+### Dependencies
+- Added `casadi>=3.6.0` and `torch>=2.0.0` to `[gpu]` optional dependencies
+- Added `warp-lang>=1.0.0` to `[gpu-collision]` optional dependencies
+- Added `xvisio>=0.3.1` to pixi dependencies for teleoperation examples
+
+## [0.2.0] - 2026-01-30
+
+### Added
+- Position IK now supports `excluded_joint_indices` to lock joints during solves
+- Position IK can enforce collision constraints during iterative solves (when configured)
+
+### Changed
+- Velocity solver now groups same-priority tasks to make ordering within a priority level symmetric
+- Collision constraint computation now uses cached allow-masks to skip excluded pairs efficiently
+- Collision recovery near `min_distance` uses deadband + adaptive push to reduce jitter and stalling
+- Collision constraint default `nearest_points_all_pairs` set to true
+- Collision debug evaluation is side-effect free (no solver state mutation)
+
+### Fixed
+- Position IK now applies collision constraints and excluded joint indices consistently with velocity IK
+- Collision constraint pair selection now uses hysteresis across frames for stability
+
+## [0.1.1] - 2025-01-09
+
+### Added
+- **PyPI Publishing**: Full wheel building and publishing workflow for TestPyPI and PyPI
+- **`embodik-sanitize-env` CLI**: Helper to sanitize `LD_LIBRARY_PATH` for clean pip installs
+- **`embodik-examples` CLI**: Tool to list and copy examples for pip-installed users
+- **Built-in robot presets**: `panda` and `iiwa` presets work without `robot_presets.yaml`
+- **sdist build support**: Source distribution builds now auto-detect PyPI `pin` wheel's Pinocchio
+
+### Changed
+- Simplified `_runtime_deps.py` - removed complex preloading logic, now just provides `import_pinocchio()` helper
+- Documentation updated to recommend `venv + pip + unset LD_LIBRARY_PATH` as primary user flow
+- ViserVisualizer now uses empty GeometryModel instead of None when collisions disabled
+
+### Fixed
+- Fixed `KeyError: 'pinocchio/frames/universe'` in ViserVisualizer when `load_collisions=False`
+- Fixed RPATH for `_embodik_impl.so` to correctly find `libembodik_core.so`
+- Fixed sdist builds failing to find Pinocchio by auto-detecting `pin` wheel's CMake config
+- Examples now work correctly for pip-installed users via `embodik-examples --copy`
+
+### Dependencies
+- Added `pin>=3.8.0` to build-system requirements for sdist builds
+- Added `pyyaml`, `robot_descriptions`, `viser`, `yourdfpy` to `[examples]` optional dependencies
+
+## [0.1.0] - 2025-12-12
+
+### Added
+- Initial release of embodiK
+- High-performance inverse kinematics solver with hierarchical task resolution
+- Python bindings using nanobind
+- Support for multiple task types (FrameTask, PostureTask, COMTask, JointTask, MultiJointTask)
+- Position and velocity IK solving
+- Optional visualization tools using Viser
+- Comprehensive test suite
+- Example scripts demonstrating various use cases
+
+### Technical Details
+- C++17 core library built on Pinocchio and Eigen3
+- Python 3.8+ support
+- Linux x86_64 support
+- CMake-based build system
+- scikit-build-core for Python packaging

{embodik-0.1.1 → embodik-0.4.1}/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(embodik VERSION 0.1.1)
+project(embodik VERSION 0.2.0)
 
 # Python is used to auto-discover Pinocchio (PyPI `pin`) CMake config during sdist builds.
 find_package(Python REQUIRED COMPONENTS Interpreter)