mink 0.0.4__py3-none-any.whl → 0.0.5__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
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@@ -4,7 +4,7 @@ import mujoco
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import numpy as np
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from ..configuration import Configuration
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from ..constants import qpos_width
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from ..constants import dof_width, qpos_width
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from .exceptions import LimitDefinitionError
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from .limit import Constraint, Limit
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@@ -39,18 +39,21 @@ class ConfigurationLimit(Limit):
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)
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index_list: list[int] = [] # DoF indices that are limited.
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lower = np.full(model.nq, -
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upper = np.full(model.nq,
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lower = np.full(model.nq, -mujoco.mjMAXVAL)
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upper = np.full(model.nq, mujoco.mjMAXVAL)
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for jnt in range(model.njnt):
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jnt_type = model.jnt_type[jnt]
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qpos_dim = qpos_width(jnt_type)
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jnt_range = model.jnt_range[jnt]
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padr = model.jnt_qposadr[jnt]
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# Skip free joints and joints without limits.
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if jnt_type == mujoco.mjtJoint.mjJNT_FREE or not model.jnt_limited[jnt]:
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continue
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lower[padr : padr + qpos_dim] = jnt_range[0] + min_distance_from_limits
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upper[padr : padr + qpos_dim] = jnt_range[1] - min_distance_from_limits
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jnt_dim = dof_width(jnt_type)
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jnt_id = model.jnt_dofadr[jnt]
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index_list.extend(range(jnt_id, jnt_id + jnt_dim))
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self.indices = np.array(index_list)
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self.indices.setflags(write=False)
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@@ -89,9 +92,11 @@ class ConfigurationLimit(Limit):
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:math:`G \Delta q \leq h`, or ``None`` if there is no limit.
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"""
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del dt # Unused.
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if self.projection_matrix is None:
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return Constraint()
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# Upper.
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delta_q_max = np.zeros(self.model.nv)
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delta_q_max = np.zeros((self.model.nv,))
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mujoco.mj_differentiatePos(
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m=self.model,
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qvel=delta_q_max,
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@@ -101,7 +106,7 @@ class ConfigurationLimit(Limit):
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)
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# Lower.
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delta_q_min = np.zeros(self.model.nv)
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delta_q_min = np.zeros((self.model.nv,))
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mujoco.mj_differentiatePos(
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m=self.model,
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qvel=delta_q_min,
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@@ -1,6 +1,6 @@
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Metadata-Version: 2.1
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Name: mink
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Version: 0.0.
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Version: 0.0.5
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Summary: mink: MuJoCo inverse kinematics.
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Keywords: inverse,kinematics,mujoco
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Author-email: Kevin Zakka <zakka@berkeley.edu>
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@@ -33,6 +33,8 @@ Requires-Dist: coveralls ; extra == "test"
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Requires-Dist: pytest ; extra == "test"
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Requires-Dist: robot_descriptions >= 1.9.0 ; extra == "test"
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Project-URL: Changelog, https://github.com/kevinzakka/mink/blob/main/CHANGELOG.md
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Project-URL: Documentation, https://kevinzakka.github.io/mink/
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Project-URL: Homepage, https://kevinzakka.github.io/mink/
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Project-URL: Source, https://github.com/kevinzakka/mink
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Project-URL: Tracker, https://github.com/kevinzakka/mink/issues
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Provides-Extra: all
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@@ -58,6 +60,20 @@ Features include:
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For usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).
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If you use mink in your research, please cite it as follows:
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```bibtex
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@software{Zakka_Mink_Python_inverse_2024,
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author = {Zakka, Kevin},
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license = {Apache-2.0},
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month = jul,
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title = {{Mink: Python inverse kinematics based on MuJoCo}},
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url = {https://github.com/kevinzakka/mink},
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version = {0.0.4},
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year = {2024}
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}
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```
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## Installation
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You can install `mink` using `pip`:
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@@ -333,7 +333,7 @@ mink/lie/so3.py,sha256=LkjciJHcVTWYzpDzAo1KuUI7xy0HPnSGAYxQS_q-Kx4,7302
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mink/lie/utils.py,sha256=DuEl3pj84daLvMKN84-YBvkXnJfqvc5vpvJ9J-pJ11U,403
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mink/limits/__init__.py,sha256=hX5Dgpri9AE6YtUCkW79AXMBuNAuBhniR9kQ6Rxwv3Y,416
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mink/limits/collision_avoidance_limit.py,sha256=pVLpkruWAqrOcAW4yulHc_hIuczMR4EbrXF1x-0Bb80,10973
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mink/limits/configuration_limit.py,sha256=
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mink/limits/configuration_limit.py,sha256=areR-8NuuD15wWzPhyQIRtttIdfXPlT3hP81MuDbIN0,4351
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mink/limits/exceptions.py,sha256=EnVKgFhUJFM6rNVCtdngb-XMu66PWKMFSDy-XkdKzr8,178
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mink/limits/limit.py,sha256=feF9yjgLHWShnuSrJNOH-PfMWtEMRGQi2mDiRia9tFg,1578
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mink/limits/velocity_limit.py,sha256=2zPOAb69V9RusKk-U4cJ0lK3-Ek9g4nvr3c8QHbixzw,3506
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@@ -345,6 +345,6 @@ mink/tasks/frame_task.py,sha256=DeNg-bEJxqnrRI0FaJK4UHyb8CyF4A7uPF9G-CdN0sg,5307
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mink/tasks/posture_task.py,sha256=sVDZyalCh5DP8zmCuX5kYuZxiMxRut_mTZUjv5y3b5M,3998
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mink/tasks/relative_frame_task.py,sha256=9rIiYocI1eEESt0bLZZpQR7K6ggVRZH8iEhdhzkfZa0,5119
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mink/tasks/task.py,sha256=F16YZT1L9ueNOcKoOhbCyEnZw0DOgrmjqADl0jahVQI,4838
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mink-0.0.
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mink-0.0.
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mink-0.0.
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mink-0.0.5.dist-info/WHEEL,sha256=EZbGkh7Ie4PoZfRQ8I0ZuP9VklN_TvcZ6DSE5Uar4z4,81
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mink-0.0.5.dist-info/METADATA,sha256=IWndykbTUh_K9MyGE_cAojds8tqJJFOJLBma1nXF-Fo,5501
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mink-0.0.5.dist-info/RECORD,,
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File without changes
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