mink 0.0.1__tar.gz

mink-0.0.1/PKG-INFO

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+Metadata-Version: 2.1
+Name: mink
+Version: 0.0.1
+Summary: mink: MuJoCo inverse kinematics.
+Keywords: inverse,kinematics,mujoco
+Author-email: Kevin Zakka <zakka@berkeley.edu>
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown
+Classifier: Development Status :: 5 - Production/Stable
+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 :: 3.10
+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: typing_extensions
+Requires-Dist: mypy ; extra == "dev"
+Requires-Dist: ruff ; extra == "dev"
+Requires-Dist: black ; extra == "dev"
+Requires-Dist: mink[test] ; extra == "dev"
+Requires-Dist: loop-rate-limiters >= 0.1.0 ; extra == "examples"
+Requires-Dist: dm_control >= 1.0.20 ; extra == "examples"
+Requires-Dist: absl-py ; 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: dev
+Provides-Extra: examples
+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)
+
+mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
+
+## Installation
+
+```bash
+pip install -e ".[examples]"
+```
+
+## Examples
+
+* 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]()
+
+Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
+
+## How can I help?
+
+Install the library, use it and report any bugs in the [issue tracker](https://github.com/kevinzakka/mink/issues) if you find any. If you're feeling adventurous, you can also check out the contributing [guidelines](CONTRIBUTING.md) and submit a pull request.
+
+## 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 also heavily adapts code from the following libraries:
+
+* The lie algebra library that powers the transforms in mink is adapted from [jaxlie](https://github.com/brentyi/jaxlie).
+* The collision avoidance constraint is adapted from [dm_robotics](https://github.com/google-deepmind/dm_robotics/tree/main/cpp/controllers)'s LSQP controller.
+

mink-0.0.1/README.md

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+# mink
+
+[![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mink/ci.yml?branch=main)](https://github.com/kevinzakka/mink/actions)
+
+mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
+
+## Installation
+
+```bash
+pip install -e ".[examples]"
+```
+
+## Examples
+
+* 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]()
+
+Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
+
+## How can I help?
+
+Install the library, use it and report any bugs in the [issue tracker](https://github.com/kevinzakka/mink/issues) if you find any. If you're feeling adventurous, you can also check out the contributing [guidelines](CONTRIBUTING.md) and submit a pull request.
+
+## 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 also heavily adapts code from the following libraries:
+
+* The lie algebra library that powers the transforms in mink is adapted from [jaxlie](https://github.com/brentyi/jaxlie).
+* The collision avoidance constraint is adapted from [dm_robotics](https://github.com/google-deepmind/dm_robotics/tree/main/cpp/controllers)'s LSQP controller.

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