mink 0.0.3__py3-none-any.whl → 0.0.5__py3-none-any.whl

mink/configuration.py

@@ -7,6 +7,7 @@ offering easy access to frame transforms and frame Jacobians. A frame refers to
 system that can be attached to various parts of the robot, such as a body, geom, or site.
 """
 
+import logging
 from typing import Optional
 
 import mujoco
@@ -103,7 +104,7 @@ class Configuration:
                         model=self.model,
                     )
                 else:
-                    print(
+                    logging.warning(
                         f"Value {qval:.2f} at index {jnt} is outside of its limits: "
                         f"[{qmin:.2f}, {qmax:.2f}]"
                     )

mink/limits/configuration_limit.py

@@ -4,7 +4,7 @@ import mujoco
 import numpy as np
 
 from ..configuration import Configuration
-from ..constants import qpos_width
+from ..constants import dof_width, qpos_width
 from .exceptions import LimitDefinitionError
 from .limit import Constraint, Limit
 
@@ -38,19 +38,22 @@ class ConfigurationLimit(Limit):
                 f"{self.__class__.__name__} gain must be in the range (0, 1]"
             )
 
-        index_list: list[int] = []
-        lower = np.full(model.nq, -np.inf)
-        upper = np.full(model.nq, np.inf)
+        index_list: list[int] = []  # DoF indices that are limited.
+        lower = np.full(model.nq, -mujoco.mjMAXVAL)
+        upper = np.full(model.nq, mujoco.mjMAXVAL)
         for jnt in range(model.njnt):
             jnt_type = model.jnt_type[jnt]
             qpos_dim = qpos_width(jnt_type)
             jnt_range = model.jnt_range[jnt]
             padr = model.jnt_qposadr[jnt]
+            # Skip free joints and joints without limits.
             if jnt_type == mujoco.mjtJoint.mjJNT_FREE or not model.jnt_limited[jnt]:
                 continue
             lower[padr : padr + qpos_dim] = jnt_range[0] + min_distance_from_limits
             upper[padr : padr + qpos_dim] = jnt_range[1] - min_distance_from_limits
-            index_list.append(jnt)
+            jnt_dim = dof_width(jnt_type)
+            jnt_id = model.jnt_dofadr[jnt]
+            index_list.extend(range(jnt_id, jnt_id + jnt_dim))
 
         self.indices = np.array(index_list)
         self.indices.setflags(write=False)
@@ -89,9 +92,11 @@ class ConfigurationLimit(Limit):
             :math:`G \Delta q \leq h`, or ``None`` if there is no limit.
         """
         del dt  # Unused.
+        if self.projection_matrix is None:
+            return Constraint()
 
         # Upper.
-        delta_q_max = np.zeros(self.model.nv)
+        delta_q_max = np.zeros((self.model.nv,))
         mujoco.mj_differentiatePos(
             m=self.model,
             qvel=delta_q_max,
@@ -101,7 +106,7 @@ class ConfigurationLimit(Limit):
         )
 
         # Lower.
-        delta_q_min = np.zeros(self.model.nv)
+        delta_q_min = np.zeros((self.model.nv,))
         mujoco.mj_differentiatePos(
             m=self.model,
             qvel=delta_q_min,

{mink-0.0.3.dist-info → mink-0.0.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mink
-Version: 0.0.3
+Version: 0.0.5
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
@@ -33,6 +33,8 @@ 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: Documentation, https://kevinzakka.github.io/mink/
+Project-URL: Homepage, https://kevinzakka.github.io/mink/
 Project-URL: Source, https://github.com/kevinzakka/mink
 Project-URL: Tracker, https://github.com/kevinzakka/mink/issues
 Provides-Extra: all
@@ -58,6 +60,20 @@ Features include:
 
 For usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).
 
+If you use mink in your research, please cite it as follows:
+
+```bibtex
+@software{Zakka_Mink_Python_inverse_2024,
+  author = {Zakka, Kevin},
+  license = {Apache-2.0},
+  month = jul,
+  title = {{Mink: Python inverse kinematics based on MuJoCo}},
+  url = {https://github.com/kevinzakka/mink},
+  version = {0.0.4},
+  year = {2024}
+}
+```
+
 ## Installation
 
 You can install `mink` using `pip`:
@@ -77,7 +93,7 @@ pip install "mink[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)
+* Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py), [Unitree H1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_h1.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](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)

{mink-0.0.3.dist-info → mink-0.0.5.dist-info}/RECORD

@@ -1,5 +1,5 @@
 mink/__init__.py,sha256=1-kNZ2BmlC9wD98boMF9tujEz3z9ipx9bTUpE4d8T4c,1717
-mink/configuration.py,sha256=ScwX77IGeqsheIvEqp8VUJv1D9dV0ies66vCnYp2zDE,9085
+mink/configuration.py,sha256=SchU0FwPIOjrjwetBVTDbfxTT1OOxLq71tWbLqvvrL4,9110
 mink/constants.py,sha256=hcWy4zM4hGI7vvJrTmCjJgs2WtOxKJ1IVtYHucWbOAI,813
 mink/exceptions.py,sha256=tmExo-ydn_mu9Mny5sP0Ehr7hfo3d79fM8HvvxZBKYM,2931
 mink/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -333,7 +333,7 @@ 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=pVLpkruWAqrOcAW4yulHc_hIuczMR4EbrXF1x-0Bb80,10973
-mink/limits/configuration_limit.py,sha256=8GlOIRWHJUX9QCGrmR6YEYkpXntnQxWjd5oz2r8qUb4,4037
+mink/limits/configuration_limit.py,sha256=areR-8NuuD15wWzPhyQIRtttIdfXPlT3hP81MuDbIN0,4351
 mink/limits/exceptions.py,sha256=EnVKgFhUJFM6rNVCtdngb-XMu66PWKMFSDy-XkdKzr8,178
 mink/limits/limit.py,sha256=feF9yjgLHWShnuSrJNOH-PfMWtEMRGQi2mDiRia9tFg,1578
 mink/limits/velocity_limit.py,sha256=2zPOAb69V9RusKk-U4cJ0lK3-Ek9g4nvr3c8QHbixzw,3506
@@ -345,6 +345,6 @@ mink/tasks/frame_task.py,sha256=DeNg-bEJxqnrRI0FaJK4UHyb8CyF4A7uPF9G-CdN0sg,5307
 mink/tasks/posture_task.py,sha256=sVDZyalCh5DP8zmCuX5kYuZxiMxRut_mTZUjv5y3b5M,3998
 mink/tasks/relative_frame_task.py,sha256=9rIiYocI1eEESt0bLZZpQR7K6ggVRZH8iEhdhzkfZa0,5119
 mink/tasks/task.py,sha256=F16YZT1L9ueNOcKoOhbCyEnZw0DOgrmjqADl0jahVQI,4838
-mink-0.0.3.dist-info/WHEEL,sha256=EZbGkh7Ie4PoZfRQ8I0ZuP9VklN_TvcZ6DSE5Uar4z4,81
-mink-0.0.3.dist-info/METADATA,sha256=_cnAalKVJSiTLM-tTJ9qpFwwrPO14bkFd_CPZ3TCkEE,4961
-mink-0.0.3.dist-info/RECORD,,
+mink-0.0.5.dist-info/WHEEL,sha256=EZbGkh7Ie4PoZfRQ8I0ZuP9VklN_TvcZ6DSE5Uar4z4,81
+mink-0.0.5.dist-info/METADATA,sha256=IWndykbTUh_K9MyGE_cAojds8tqJJFOJLBma1nXF-Fo,5501
+mink-0.0.5.dist-info/RECORD,,