mink 0.0.1__py3-none-any.whl → 0.0.3__py3-none-any.whl

{mink-0.0.1.dist-info → mink-0.0.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mink
-Version: 0.0.1
+Version: 0.0.3
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
@@ -11,26 +11,31 @@ Classifier: Framework :: Robot Framework :: Library
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
 Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Topic :: Scientific/Engineering
 Requires-Dist: mujoco >= 3.1.6
-Requires-Dist: qpsolvers >= 4.3.1
-Requires-Dist: quadprog >= 0.1.11
+Requires-Dist: qpsolvers[quadprog] >= 4.3.1
 Requires-Dist: typing_extensions
-Requires-Dist: mypy ; extra == "dev"
-Requires-Dist: ruff ; extra == "dev"
+Requires-Dist: numpy < 2.0.0
+Requires-Dist: mink[examples,dev] ; extra == "all"
 Requires-Dist: black ; extra == "dev"
 Requires-Dist: mink[test] ; extra == "dev"
-Requires-Dist: loop-rate-limiters >= 0.1.0 ; extra == "examples"
+Requires-Dist: mypy ; extra == "dev"
+Requires-Dist: ruff ; extra == "dev"
 Requires-Dist: dm_control >= 1.0.20 ; extra == "examples"
+Requires-Dist: loop-rate-limiters >= 0.1.0 ; extra == "examples"
+Requires-Dist: qpsolvers[quadprog,osqp] >= 4.3.1 ; extra == "examples"
 Requires-Dist: absl-py ; extra == "test"
+Requires-Dist: coveralls ; extra == "test"
 Requires-Dist: pytest ; extra == "test"
 Requires-Dist: robot_descriptions >= 1.9.0 ; extra == "test"
 Project-URL: Changelog, https://github.com/kevinzakka/mink/blob/main/CHANGELOG.md
 Project-URL: Source, https://github.com/kevinzakka/mink
 Project-URL: Tracker, https://github.com/kevinzakka/mink/issues
+Provides-Extra: all
 Provides-Extra: dev
 Provides-Extra: examples
 Provides-Extra: test
@@ -38,21 +43,44 @@ Provides-Extra: test
 # mink
 
 [![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mink/ci.yml?branch=main)](https://github.com/kevinzakka/mink/actions)
+[![Coverage Status](https://coveralls.io/repos/github/kevinzakka/mink/badge.svg)](https://coveralls.io/github/kevinzakka/mink?branch=main)
+[![PyPI version](https://img.shields.io/pypi/v/mink)](https://pypi.org/project/mink/)
+![Banner for mink](https://github.com/kevinzakka/mink/blob/assets/banner.png?raw=true)
 
 mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
 
+Features include:
+
+* Task specification in configuration or operational space;
+* Limits on joint positions and velocities;
+* Collision avoidance between any geom pair;
+* Lie group interface for rigid body transformations.
+
+For usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).
+
 ## Installation
 
+You can install `mink` using `pip`:
+
 ```bash
-pip install -e ".[examples]"
+pip install mink
+```
+
+To include the example dependencies:
+
+```bash
+pip install "mink[examples]"
 ```
 
 ## Examples
 
+mink works with a variety of robots, including:
+
 * Arms: [UR5e](https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e_actuators.py), [iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/arm_iiwa.py), [bimanual iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/dual_iiwa.py)
 * Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py)
 * Quadrupeds: [Unitree Go1](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_go1.py), [Boston Dynamics Spot](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_spot.py)
-* Hands: [Shadow Hand]()
+* Hands: [Shadow Hand](https://github.com/kevinzakka/mink/blob/main/examples/hand_shadow.py), [Allegro Hand](https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_iiwa_allegro.py)
+* Mobile manipulators: [Stanford TidyBot](https://github.com/kevinzakka/mink/blob/main/examples/mobile_tidybot.py), [Hello Robot Stretch](https://github.com/kevinzakka/mink/blob/main/examples/mobile_stretch.py)
 
 Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
 
@@ -62,7 +90,7 @@ Install the library, use it and report any bugs in the [issue tracker](https://g
 
 ## Acknowledgements
 
-mink is a direct port of [pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the original author of pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
+mink is a direct port of [Pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the author of Pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
 
 mink also heavily adapts code from the following libraries:
 

{mink-0.0.1.dist-info → mink-0.0.3.dist-info}/RECORD

@@ -1,10 +1,10 @@
-mink/__init__.py,sha256=qLYRMUEsu-XusX2bvM_S3MJhYwYM-u3fvizqYur69XI,1627
-mink/configuration.py,sha256=6ScxC-mQwaSJ7Vp5Ofcms12qxgPUIMQ_0DacW6w_XwU,7490
+mink/__init__.py,sha256=1-kNZ2BmlC9wD98boMF9tujEz3z9ipx9bTUpE4d8T4c,1717
+mink/configuration.py,sha256=ScwX77IGeqsheIvEqp8VUJv1D9dV0ies66vCnYp2zDE,9085
 mink/constants.py,sha256=hcWy4zM4hGI7vvJrTmCjJgs2WtOxKJ1IVtYHucWbOAI,813
 mink/exceptions.py,sha256=tmExo-ydn_mu9Mny5sP0Ehr7hfo3d79fM8HvvxZBKYM,2931
 mink/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mink/solve_ik.py,sha256=0ljN-CXDZFX8dPDvtyQxlI4vGoRpmeWmBkLT1-999Rw,3542
-mink/utils.py,sha256=vU3huZtKY_RWYjZRez7iZbXaagXIfGa_E6KZGbJ-oo0,4251
+mink/solve_ik.py,sha256=hrAnwO5imCoFczmoXQf4v5Rfw5l1wisd0qtmFt-y0vs,3578
+mink/utils.py,sha256=-00C_AmtfvkmmWiHpds5Fu83gLcnt9OJ2KmyB01aTa8,4387
 mink/.mypy_cache/.gitignore,sha256=amnaZw0RUw038PDP3HvtMLeOpkNOJPenMgi5guKdMiw,34
 mink/.mypy_cache/CACHEDIR.TAG,sha256=8cE6_FVTWMkDOw8fMKqhd_6IvaQPS4okWYQA1UeHatw,190
 mink/.mypy_cache/3.12/@plugins_snapshot.json,sha256=RBNvo1WzZ4oRRq0W9-hknpT7T8If536DEMBg9hyq_4o,2
@@ -326,27 +326,25 @@ mink/.mypy_cache/3.12/unittest/signals.data.json,sha256=1ZiaD7LP0g0iBSmVb5g87M9q
 mink/.mypy_cache/3.12/unittest/signals.meta.json,sha256=t4kGxxcZb9aDLojvZ5naLIcckL77G1RAB0P2iJsSjM0,1681
 mink/.mypy_cache/3.12/unittest/suite.data.json,sha256=3XPU9U8rt00fnG-hgEIbpIqS14lI9xQMDiBsl2_mlXQ,12050
 mink/.mypy_cache/3.12/unittest/suite.meta.json,sha256=5ADDHudtGO-JtLaD0-SB-7_Ekm34XeG_QCXLEDIZeIM,1699
-mink/lie/__init__.py,sha256=tI-lfqTHT8iABKemXZCZUEtiDtj4LC9o7DEDXpkn6tI,228
-mink/lie/base.py,sha256=p9PoZBZ-6vCGUN0kiguz2ActGtpXRInltGU2Vk9bu54,4222
+mink/lie/__init__.py,sha256=7tm3ZFnF3o1SDd9MOFO1In13lHMQJHO0FB-ejI6tsgE,202
+mink/lie/base.py,sha256=ummp2-yROMrcYCtsNCoKEiKoJ7wLF0nSjnOOD95aXaY,4220
 mink/lie/se3.py,sha256=R4hH4i0-do5I8bWV0le-huSuAfQ_bwolkAjJNVlDNXs,7914
-mink/lie/so3.py,sha256=ii3jYqy3KrOrNR0GLA3w5OBvujUpgRg0BXa7cPXXwFE,7238
-mink/lie/utils.py,sha256=Drx_l0adSLlZl89kVLRZxMW4ctafG1pk0iucS7gShOI,608
-mink/lie/tests/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mink/lie/tests/test_axioms.py,sha256=Vgkwoa-GtqUgiI8A5F041NfdOkP4Gxj6wUdNzHzuuFE,1756
-mink/lie/tests/test_operations.py,sha256=UTUyYA-jDm73LCe8KWOcQo0PFx45UDDm25Y1J03FVhk,2664
-mink/lie/tests/utils.py,sha256=N6B86t7BRH_Ls5yykCD4llVM2ElyXp9ze2RyLPMBUY4,562
+mink/lie/so3.py,sha256=LkjciJHcVTWYzpDzAo1KuUI7xy0HPnSGAYxQS_q-Kx4,7302
+mink/lie/utils.py,sha256=DuEl3pj84daLvMKN84-YBvkXnJfqvc5vpvJ9J-pJ11U,403
 mink/limits/__init__.py,sha256=hX5Dgpri9AE6YtUCkW79AXMBuNAuBhniR9kQ6Rxwv3Y,416
-mink/limits/collision_avoidance_limit.py,sha256=vwi3CBdwkc04_z97xanol5Bi2khMbI94lP63ZzC0uXo,11177
-mink/limits/configuration_limit.py,sha256=I-4U2oXupdfgdQUWhDrrNmyvK58ZdrIxiOCSJjbZ-HY,3995
+mink/limits/collision_avoidance_limit.py,sha256=pVLpkruWAqrOcAW4yulHc_hIuczMR4EbrXF1x-0Bb80,10973
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 mink/limits/exceptions.py,sha256=EnVKgFhUJFM6rNVCtdngb-XMu66PWKMFSDy-XkdKzr8,178
-mink/limits/limit.py,sha256=1uNmQGcYuiLQ4q9AVEZzzyekc-kQtx9d0HKKSH8_7ks,978
-mink/limits/velocity_limit.py,sha256=8q7QuBdcN5msspsz24MKGZSinrFlZEIHsby62PMtF-k,2935
-mink/tasks/__init__.py,sha256=e_6bfrOKuYdInaqd-7uPEXVWhWJH71R5UF73DaF59Pc,491
-mink/tasks/com_task.py,sha256=GvHvj1nuz_tTxglvqHL9N4VlHuNDCAHh7rgXAgrbrVY,2926
+mink/limits/limit.py,sha256=feF9yjgLHWShnuSrJNOH-PfMWtEMRGQi2mDiRia9tFg,1578
+mink/limits/velocity_limit.py,sha256=2zPOAb69V9RusKk-U4cJ0lK3-Ek9g4nvr3c8QHbixzw,3506
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 mink/tasks/exceptions.py,sha256=1BxQS_t8vuKoTd8RY0MdZOJ_-2RX--iUtVs-Bu3IVgs,708
-mink/tasks/frame_task.py,sha256=QpavqXsShhv89EeomXu9HhSqkX_MWqEaPO2Q8Y-Ik68,4472
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-mink/tasks/task.py,sha256=bkhqO76lS1cgx4gJbXnJvD4WPLovTSQ3gDH8D0QAMd0,4074
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-mink-0.0.1.dist-info/RECORD,,
+mink/tasks/frame_task.py,sha256=DeNg-bEJxqnrRI0FaJK4UHyb8CyF4A7uPF9G-CdN0sg,5307
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+mink-0.0.3.dist-info/RECORD,,

mink/lie/tests/test_axioms.py

@@ -1,51 +0,0 @@
-"""Tests for group axioms."""
-
-from typing import Type
-
-from absl.testing import absltest, parameterized
-
-from mink import lie
-
-from ..base import MatrixLieGroup
-from .utils import assert_transforms_close
-
-
-@parameterized.named_parameters(
-    ("SO3", lie.SO3),
-    ("SE3", lie.SE3),
-)
-class TestAxioms(parameterized.TestCase):
-    def test_closure(self, group: Type[MatrixLieGroup]):
-        transform_a = group.sample_uniform()
-        transform_b = group.sample_uniform()
-        composed = transform_a @ transform_b
-        assert_transforms_close(composed, composed.normalize())
-        composed = transform_b @ transform_a
-        assert_transforms_close(composed, composed.normalize())
-        composed = transform_a @ transform_b
-        assert_transforms_close(composed, composed.normalize())
-
-    def test_identity(self, group: Type[MatrixLieGroup]):
-        transform = group.sample_uniform()
-        identity = group.identity()
-        assert_transforms_close(transform, identity @ transform)
-        assert_transforms_close(transform, transform @ identity)
-
-    def test_inverse(self, group: Type[MatrixLieGroup]):
-        transform = group.sample_uniform()
-        identity = group.identity()
-        assert_transforms_close(identity, transform.inverse() @ transform)
-        assert_transforms_close(identity, transform @ transform.inverse())
-
-    def test_associative(self, group: Type[MatrixLieGroup]):
-        transform_a = group.sample_uniform()
-        transform_b = group.sample_uniform()
-        transform_c = group.sample_uniform()
-        assert_transforms_close(
-            (transform_a @ transform_b) @ transform_c,
-            transform_a @ (transform_b @ transform_c),
-        )
-
-
-if __name__ == "__main__":
-    absltest.main()

mink/lie/tests/test_operations.py

@@ -1,77 +0,0 @@
-"""Tests for general operation definitions."""
-
-from typing import Type
-
-import numpy as np
-from absl.testing import absltest, parameterized
-
-from ..base import MatrixLieGroup
-from ..se3 import SE3
-from ..so3 import SO3
-from .utils import assert_transforms_close
-
-
-@parameterized.named_parameters(
-    ("SO3", SO3),
-    ("SE3", SE3),
-)
-class TestOperations(parameterized.TestCase):
-    def test_inverse_bijective(self, group: Type[MatrixLieGroup]):
-        """Check inverse of inverse."""
-        transform = group.sample_uniform()
-        assert_transforms_close(transform, transform.inverse().inverse())
-
-    def test_matrix_bijective(self, group: Type[MatrixLieGroup]):
-        """Check that we can convert to and from matrices."""
-        transform = group.sample_uniform()
-        assert_transforms_close(transform, group.from_matrix(transform.as_matrix()))
-
-    def test_log_exp_bijective(self, group: Type[MatrixLieGroup]):
-        """Check 1-to-1 mapping for log <=> exp operations."""
-        transform = group.sample_uniform()
-
-        tangent = transform.log()
-        self.assertEqual(tangent.shape, (group.tangent_dim,))
-
-        exp_transform = group.exp(tangent)
-        assert_transforms_close(transform, exp_transform)
-        np.testing.assert_allclose(tangent, exp_transform.log())
-
-    def test_adjoint(self, group: Type[MatrixLieGroup]):
-        transform = group.sample_uniform()
-        omega = np.random.randn(group.tangent_dim)
-        assert_transforms_close(
-            transform @ group.exp(omega),
-            group.exp(transform.adjoint() @ omega) @ transform,
-        )
-
-    def test_rminus(self, group: Type[MatrixLieGroup]):
-        T_wa = group.sample_uniform()
-        T_wb = group.sample_uniform()
-        T_ab = T_wa.inverse() @ T_wb
-        np.testing.assert_allclose(T_wb.rminus(T_wa), T_ab.log())
-
-    def test_rplus(self, group: Type[MatrixLieGroup]):
-        T_wa = group.sample_uniform()
-        T_wb = group.sample_uniform()
-        T_ab = T_wa.inverse() @ T_wb
-        assert_transforms_close(T_wa.rplus(T_ab.log()), T_wb)
-
-    def test_jlog(self, group: Type[MatrixLieGroup]):
-        state = group.sample_uniform()
-        w = np.random.rand(state.tangent_dim) * 1e-4
-        state_pert = state.plus(w).log()
-        state_lin = state.log() + state.jlog() @ w
-        np.testing.assert_allclose(state_pert, state_lin, atol=1e-7)
-
-
-class TestGroupSpecificOperations(absltest.TestCase):
-    """Group specific tests."""
-
-    def test_so3_rpy_bijective(self):
-        T = SO3.sample_uniform()
-        assert_transforms_close(T, SO3.from_rpy_radians(*T.as_rpy_radians()))
-
-
-if __name__ == "__main__":
-    absltest.main()

mink/lie/tests/utils.py

@@ -1,20 +0,0 @@
-import numpy as np
-
-from ..base import MatrixLieGroup
-from ..se3 import SE3, SO3
-
-
-def assert_transforms_close(a: MatrixLieGroup, b: MatrixLieGroup) -> None:
-    np.testing.assert_allclose(a.as_matrix(), b.as_matrix(), atol=1e-7)
-
-    # Account for quaternion double cover (q = -q).
-    pa = a.parameters()
-    pb = b.parameters()
-    if isinstance(a, SO3):
-        pa *= np.sign(pa[0])
-        pb *= np.sign(pb[0])
-    elif isinstance(a, SE3):
-        pa[:4] *= np.sign(pa[0])
-        pb[:4] *= np.sign(pb[0])
-
-    np.testing.assert_allclose(pa, pb, atol=1e-7)