mink 0.0.3__tar.gz → 0.0.5__tar.gz

{mink-0.0.3 → mink-0.0.5}/PKG-INFO

@@ -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 → mink-0.0.5}/README.md

@@ -16,6 +16,20 @@ 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`:
@@ -35,7 +49,7 @@ 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-0.0.5}/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-0.0.5}/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 → mink-0.0.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "flit_core.buildapi"
 
 [project]
 name = "mink"
-version = "0.0.3"
+version = "0.0.5"
 readme = "README.md"
 authors = [
     {name = "Kevin Zakka", email = "zakka@berkeley.edu"},
@@ -58,6 +58,8 @@ all = [
 Source = "https://github.com/kevinzakka/mink"
 Tracker = "https://github.com/kevinzakka/mink/issues"
 Changelog = "https://github.com/kevinzakka/mink/blob/main/CHANGELOG.md"
+Homepage = "https://kevinzakka.github.io/mink/"
+Documentation = "https://kevinzakka.github.io/mink/"
 
 [tool.flit.module]
 name = "mink"