mink 0.0.3__tar.gz → 0.0.4__tar.gz

{mink-0.0.3 → mink-0.0.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mink
-Version: 0.0.3
+Version: 0.0.4
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
@@ -77,7 +77,7 @@ 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 → mink-0.0.4}/README.md

@@ -35,7 +35,7 @@ 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 → mink-0.0.4}/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-0.0.3 → mink-0.0.4}/mink/limits/configuration_limit.py

@@ -38,7 +38,7 @@ class ConfigurationLimit(Limit):
                 f"{self.__class__.__name__} gain must be in the range (0, 1]"
             )
 
-        index_list: list[int] = []
+        index_list: list[int] = []  # DoF indices that are limited.
         lower = np.full(model.nq, -np.inf)
         upper = np.full(model.nq, np.inf)
         for jnt in range(model.njnt):
@@ -50,7 +50,7 @@ class ConfigurationLimit(Limit):
                 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)
+            index_list.append(model.jnt_dofadr[jnt])
 
         self.indices = np.array(index_list)
         self.indices.setflags(write=False)

{mink-0.0.3 → mink-0.0.4}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "flit_core.buildapi"
 
 [project]
 name = "mink"
-version = "0.0.3"
+version = "0.0.4"
 readme = "README.md"
 authors = [
     {name = "Kevin Zakka", email = "zakka@berkeley.edu"},