mink 0.0.5__py3-none-any.whl → 0.0.7__py3-none-any.whl

mink/limits/velocity_limit.py

@@ -1,6 +1,6 @@
 """Joint velocity limit."""
 
-from typing import Mapping
+from typing import List, Mapping, Optional
 
 import mujoco
 import numpy as np
@@ -18,16 +18,17 @@ class VelocityLimit(Limit):
     Floating base joints are ignored.
 
     Attributes:
-        indices: Tangent indices corresponding to velocity-limited joints.
+        indices: Tangent indices corresponding to velocity-limited joints. Shape (nb,).
         limit: Maximum allowed velocity magnitude for velocity-limited joints, in
-            [m]/[s] for slide joints and [rad]/[s] for hinge joints.
+            [m]/[s] for slide joints and [rad]/[s] for hinge joints. Shape (nb,).
         projection_matrix: Projection from tangent space to subspace with
-            velocity-limited joints.
+            velocity-limited joints. Shape (nb, nv) where nb is the dimension of the
+            velocity-limited subspace and nv is the dimension of the tangent space.
     """
 
     indices: np.ndarray
     limit: np.ndarray
-    projection_matrix: np.ndarray
+    projection_matrix: Optional[np.ndarray]
 
     def __init__(
         self,
@@ -41,31 +42,31 @@ class VelocityLimit(Limit):
             velocities: Dictionary mapping joint name to maximum allowed magnitude in
                 [m]/[s] for slide joints and [rad]/[s] for hinge joints.
         """
-        limit_list: list[float] = []
-        index_list: list[int] = []
+        limit_list: List[float] = []
+        index_list: List[int] = []
         for joint_name, max_vel in velocities.items():
             jid = model.joint(joint_name).id
             jnt_type = model.jnt_type[jid]
-            jnt_dim = dof_width(jnt_type)
-            jnt_id = model.jnt_dofadr[jid]
             if jnt_type == mujoco.mjtJoint.mjJNT_FREE:
                 raise LimitDefinitionError(f"Free joint {joint_name} is not supported")
+            vadr = model.jnt_dofadr[jid]
+            vdim = dof_width(jnt_type)
             max_vel = np.atleast_1d(max_vel)
-            if max_vel.shape != (jnt_dim,):
+            if max_vel.shape != (vdim,):
                 raise LimitDefinitionError(
-                    f"Joint {joint_name} must have a limit of shape ({jnt_dim},). "
+                    f"Joint {joint_name} must have a limit of shape ({vdim},). "
                     f"Got: {max_vel.shape}"
                 )
-            index_list.extend(range(jnt_id, jnt_id + jnt_dim))
-            limit_list.extend(max_vel.tolist())
+            index_list.extend(range(vadr, vadr + vdim))
+            limit_list.extend(max_vel.tolist())  # type: ignore
 
         self.indices = np.array(index_list)
         self.indices.setflags(write=False)
         self.limit = np.array(limit_list)
         self.limit.setflags(write=False)
 
-        dim = len(self.indices)
-        self.projection_matrix = np.eye(model.nv)[self.indices] if dim > 0 else None
+        nb = len(self.indices)
+        self.projection_matrix = np.eye(model.nv)[self.indices] if nb > 0 else None
 
     def compute_qp_inequalities(
         self, configuration: Configuration, dt: float
@@ -89,7 +90,8 @@ class VelocityLimit(Limit):
 
         Returns:
             Pair :math:`(G, h)` representing the inequality constraint as
-            :math:`G \Delta q \leq h`, or ``None`` if there is no limit.
+            :math:`G \Delta q \leq h`, or ``None`` if there is no limit. G has
+            shape (2nb, nv) and h has shape (2nb,).
         """
         del configuration  # Unused.
         if self.projection_matrix is None:

mink/solve_ik.py

@@ -1,6 +1,6 @@
 """Build and solve the inverse kinematics problem."""
 
-from typing import Optional, Sequence
+from typing import List, Optional, Sequence, Tuple
 
 import numpy as np
 import qpsolvers
@@ -24,11 +24,11 @@ def _compute_qp_objective(
 
 def _compute_qp_inequalities(
     configuration: Configuration, limits: Optional[Sequence[Limit]], dt: float
-) -> tuple[Optional[np.ndarray], Optional[np.ndarray]]:
+) -> Tuple[Optional[np.ndarray], Optional[np.ndarray]]:
     if limits is None:
         limits = [ConfigurationLimit(configuration.model)]
-    G_list: list[np.ndarray] = []
-    h_list: list[np.ndarray] = []
+    G_list: List[np.ndarray] = []
+    h_list: List[np.ndarray] = []
     for limit in limits:
         inequality = limit.compute_qp_inequalities(configuration, dt)
         if not inequality.inactive:

mink/tasks/__init__.py

@@ -2,7 +2,9 @@
 
 from .com_task import ComTask
 from .damping_task import DampingTask
+from .equality_constraint_task import EqualityConstraintTask
 from .exceptions import (
+    InvalidConstraint,
     InvalidDamping,
     InvalidGain,
     InvalidTarget,
@@ -25,6 +27,8 @@ __all__ = (
     "TargetNotSet",
     "InvalidTarget",
     "TaskDefinitionError",
+    "InvalidConstraint",
     "InvalidGain",
     "InvalidDamping",
+    "EqualityConstraintTask",
 )

mink/tasks/equality_constraint_task.py

@@ -0,0 +1,215 @@
+"""Equality constraint task implementation."""
+
+from __future__ import annotations
+
+import logging
+from typing import List, Optional, Sequence
+
+import mujoco
+import numpy as np
+import numpy.typing as npt
+
+from ..configuration import Configuration
+from .exceptions import InvalidConstraint, TaskDefinitionError
+from .task import Task
+
+
+def _get_constraint_dim(constraint: int) -> int:
+    """Return the dimension of an equality constraint in the efc* arrays."""
+    return {
+        mujoco.mjtEq.mjEQ_CONNECT.value: 3,
+        mujoco.mjtEq.mjEQ_WELD.value: 6,
+        mujoco.mjtEq.mjEQ_JOINT.value: 1,
+        mujoco.mjtEq.mjEQ_TENDON.value: 1,
+    }[constraint]
+
+
+def _get_dense_constraint_jacobian(
+    model: mujoco.MjModel, data: mujoco.MjData
+) -> np.ndarray:
+    """Return the dense constraint Jacobian for a model."""
+    if mujoco.mj_isSparse(model):
+        efc_J = np.empty((data.nefc, model.nv))
+        mujoco.mju_sparse2dense(
+            efc_J,
+            data.efc_J,
+            data.efc_J_rownnz,
+            data.efc_J_rowadr,
+            data.efc_J_colind,
+        )
+        return efc_J
+    return data.efc_J.reshape((data.nefc, model.nv)).copy()
+
+
+class EqualityConstraintTask(Task):
+    """Regulate equality constraints in a model.
+
+    Equality constraints are useful, among other things, for modeling "loop joints"
+    such as four-bar linkages. In MuJoCo, there are several types of equality
+    constraints, including:
+
+    * ``mjEQ_CONNECT``: Connect two bodies at a point (ball joint).
+    * ``mjEQ_WELD``: Fix relative pose of two bodies.
+    * ``mjEQ_JOINT``: Couple the values of two scalar joints.
+    * ``mjEQ_TENDON``: Couple the values of two tendons.
+
+    This task can regulate all equality constraints in a model or a specific subset
+    identified by name or ID.
+
+    Attributes:
+        equalities: ID or name of the equality constraints to regulate. If not provided,
+            the task will regulate all equality constraints in the model.
+        cost: Cost vector for the equality constraint task. Either a scalar, in which
+            case the same cost is applied to all constraints, or a vector of shape
+            ``(neq,)``, where ``neq`` is the number of equality constraints in the
+            model.
+
+    Raises:
+        InvalidConstraint: If a specified equality constraint name or ID is not found,
+            or if the constraint is not active at the initial configuration.
+        TaskDefinitionError: If no equality constraints are found or if cost parameters
+            have invalid shape or values.
+
+    Example:
+
+    .. code-block:: python
+
+        # Regulate all equality constraints with the same cost.
+        eq_task = EqualityConstraintTask(model, cost=1.0)
+
+        # Regulate specific equality constraints with different costs.
+        eq_task = EqualityConstraintTask(
+            model,
+            cost=[1.0, 0.5],
+            equalities=["connect_right", "connect_left"]
+        )
+    """
+
+    def __init__(
+        self,
+        model: mujoco.MjModel,
+        cost: npt.ArrayLike,
+        equalities: Optional[Sequence[int | str]] = None,
+        gain: float = 1.0,
+        lm_damping: float = 0.0,
+    ):
+        self._eq_ids = self._resolve_equality_ids(model, equalities)
+        self._eq_types = model.eq_type[self._eq_ids].copy()
+        self._neq_total = len(self._eq_ids)
+        self._mask: np.ndarray | None = None
+
+        super().__init__(cost=np.zeros((1,)), gain=gain, lm_damping=lm_damping)
+        self.set_cost(cost)
+
+    def set_cost(self, cost: npt.ArrayLike) -> None:
+        """Set the cost vector for the equality constraint task.
+
+        Args:
+            cost: Cost vector for the equality constraint task.
+        """
+        cost = np.atleast_1d(cost)
+        if cost.ndim != 1 or cost.shape[0] not in (1, self._neq_total):
+            raise TaskDefinitionError(
+                f"{self.__class__.__name__} cost must be a vector of shape (1,) "
+                f"or ({self._neq_total},). Got {cost.shape}."
+            )
+        if not np.all(cost >= 0.0):
+            raise TaskDefinitionError(f"{self.__class__.__name__} cost must be >= 0")
+
+        # Per constraint cost.
+        self._cost = (
+            np.full((self._neq_total,), cost[0]) if cost.shape[0] == 1 else cost.copy()
+        )
+
+        # Expanded per constraint dimension.
+        repeats = [_get_constraint_dim(eq_type) for eq_type in self._eq_types]
+        self.cost = np.repeat(self._cost, repeats)
+
+    def compute_error(self, configuration: Configuration) -> np.ndarray:
+        """Compute the equality constraint task error.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+
+        Returns:
+            Equality constraint task error vector :math:`e(q)`. The shape of the
+            error vector is ``(neq_active * constraint_dim,)``, where ``neq_active``
+            is the number of active equality constraints, and ``constraint_dim``
+            depends on the type of equality constraint.
+        """
+        self._update_active_constraints(configuration)
+        return configuration.data.efc_pos[self._mask]
+
+    def compute_jacobian(self, configuration: Configuration) -> np.ndarray:
+        """Compute the task Jacobian at a given configuration.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+
+        Returns:
+            Equality constraint task jacobian :math:`J(q)`. The shape of the Jacobian
+            is ``(neq_active * constraint_dim, nv)``, where ``neq_active`` is the
+            number of active equality constraints, ``constraint_dim`` depends on the
+            type of equality constraint, and ``nv`` is the dimension of the tangent
+            space.
+        """
+        self._update_active_constraints(configuration)
+        efc_J = _get_dense_constraint_jacobian(configuration.model, configuration.data)
+        return efc_J[self._mask]
+
+    # Helper functions.
+
+    def _update_active_constraints(self, configuration: Configuration) -> None:
+        self._mask = (
+            configuration.data.efc_type == mujoco.mjtConstraint.mjCNSTR_EQUALITY
+        ) & np.isin(configuration.data.efc_id, self._eq_ids)
+        active_eq_ids = configuration.data.efc_id[self._mask]
+        self.cost = self._cost[active_eq_ids]
+
+    def _resolve_equality_ids(
+        self, model: mujoco.MjModel, equalities: Optional[Sequence[int | str]]
+    ) -> np.ndarray:
+        eq_ids: List[int] = []
+
+        if equalities is not None:
+            for eq_id_or_name in equalities:
+                eq_id: int
+                if isinstance(eq_id_or_name, str):
+                    eq_id = mujoco.mj_name2id(
+                        model, mujoco.mjtObj.mjOBJ_EQUALITY, eq_id_or_name
+                    )
+                    if eq_id == -1:
+                        raise InvalidConstraint(
+                            f"Equality constraint '{eq_id_or_name}' not found."
+                        )
+                else:
+                    eq_id = eq_id_or_name
+                    if eq_id < 0 or eq_id >= model.neq:
+                        raise InvalidConstraint(
+                            f"Equality constraint index {eq_id} out of range. "
+                            f"Must be in range [0, {model.neq})."
+                        )
+                if not model.eq_active0[eq_id]:
+                    raise InvalidConstraint(
+                        f"Equality constraint {eq_id} is not active at initial "
+                        "configuration."
+                    )
+                else:
+                    eq_ids.append(eq_id)
+            # Check for duplicates.
+            if len(eq_ids) != len(set(eq_ids)):
+                raise TaskDefinitionError(
+                    f"Duplicate equality constraint IDs provided: {eq_ids}."
+                )
+        else:
+            eq_ids = list(range(model.neq))
+            logging.info("Regulating %d equality constraints", len(eq_ids))
+
+        # Ensure we have at least 1 constraint.
+        if len(eq_ids) == 0:
+            raise TaskDefinitionError(
+                f"{self.__class__.__name__} no equality constraints found in this "
+                "model."
+            )
+
+        return np.array(eq_ids)

mink/tasks/exceptions.py

@@ -25,3 +25,7 @@ class InvalidGain(MinkError):
 
 class InvalidDamping(MinkError):
     """Exception raised when the damping is outside the valid range."""
+
+
+class InvalidConstraint(MinkError):
+    """Exception raised when a constraint is invalid."""

mink/utils.py

@@ -1,4 +1,4 @@
-from typing import Optional
+from typing import List, Optional, Tuple
 
 import mujoco
 import numpy as np
@@ -35,7 +35,7 @@ def move_mocap_to_frame(
     mujoco.mju_mat2Quat(data.mocap_quat[mocap_id], xmat)
 
 
-def get_freejoint_dims(model: mujoco.MjModel) -> tuple[list[int], list[int]]:
+def get_freejoint_dims(model: mujoco.MjModel) -> Tuple[List[int], List[int]]:
     """Get all floating joint configuration and tangent indices.
 
     Args:
@@ -45,8 +45,8 @@ def get_freejoint_dims(model: mujoco.MjModel) -> tuple[list[int], list[int]]:
         A (q_ids, v_ids) pair containing all floating joint indices in the
         configuration and tangent spaces respectively.
     """
-    q_ids: list[int] = []
-    v_ids: list[int] = []
+    q_ids: List[int] = []
+    v_ids: List[int] = []
     for j in range(model.njnt):
         if model.jnt_type[j] == mujoco.mjtJoint.mjJNT_FREE:
             qadr = model.jnt_qposadr[j]
@@ -90,39 +90,55 @@ def custom_configuration_vector(
         value = np.atleast_1d(value)
         if value.shape != (jnt_dim,):
             raise ValueError(
-                f"Joint {name} should have a qpos value of {jnt_dim,} but "
+                f"Joint {name} should have a qpos value of {(jnt_dim,)} but "
                 f"got {value.shape}"
             )
         q[qid : qid + jnt_dim] = value
     return q
 
 
-def get_subtree_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
-    """Get all geoms belonging to subtree starting at a given body.
+def get_body_body_ids(model: mujoco.MjModel, body_id: int) -> List[int]:
+    """Get immediate children bodies belonging to a given body.
 
     Args:
         model: Mujoco model.
-        body_id: ID of body where subtree starts.
+        body_id: ID of body.
 
     Returns:
-        A list containing all subtree geom ids.
+        A List containing all child body ids.
     """
+    return [
+        i
+        for i in range(model.nbody)
+        if model.body_parentid[i] == body_id
+        and body_id != i  # Exclude the body itself.
+    ]
+
+
+def get_subtree_body_ids(model: mujoco.MjModel, body_id: int) -> List[int]:
+    """Get all bodies belonging to subtree starting at a given body.
 
-    def gather_geoms(body_id: int) -> list[int]:
-        geoms: list[int] = []
-        geom_start = model.body_geomadr[body_id]
-        geom_end = geom_start + model.body_geomnum[body_id]
-        geoms.extend(range(geom_start, geom_end))
-        children = [i for i in range(model.nbody) if model.body_parentid[i] == body_id]
-        for child_id in children:
-            geoms.extend(gather_geoms(child_id))
-        return geoms
+    Args:
+        model: Mujoco model.
+        body_id: ID of body where subtree starts.
+
+    Returns:
+        A List containing all subtree body ids.
+    """
+    body_ids: List[int] = []
+    stack = [body_id]
+    while stack:
+        body_id = stack.pop()
+        body_ids.append(body_id)
+        stack += get_body_body_ids(model, body_id)
+    return body_ids
 
-    return gather_geoms(body_id)
 
+def get_body_geom_ids(model: mujoco.MjModel, body_id: int) -> List[int]:
+    """Get immediate geoms belonging to a given body.
 
-def get_body_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
-    """Get all geoms belonging to a given body.
+    Here, immediate geoms are those directly attached to the body and not its
+    descendants.
 
     Args:
         model: Mujoco model.
@@ -134,3 +150,25 @@ def get_body_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
     geom_start = model.body_geomadr[body_id]
     geom_end = geom_start + model.body_geomnum[body_id]
     return list(range(geom_start, geom_end))
+
+
+def get_subtree_geom_ids(model: mujoco.MjModel, body_id: int) -> List[int]:
+    """Get all geoms belonging to subtree starting at a given body.
+
+    Here, a subtree is defined as the kinematic tree starting at the body and including
+    all its descendants.
+
+    Args:
+        model: Mujoco model.
+        body_id: ID of body where subtree starts.
+
+    Returns:
+        A list containing all subtree geom ids.
+    """
+    geom_ids: List[int] = []
+    stack = [body_id]
+    while stack:
+        body_id = stack.pop()
+        geom_ids.extend(get_body_geom_ids(model, body_id))
+        stack += get_body_body_ids(model, body_id)
+    return geom_ids

{mink-0.0.5.dist-info → mink-0.0.7.dist-info}/METADATA

@@ -1,33 +1,35 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: mink
-Version: 0.0.5
+Version: 0.0.7
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
-Requires-Python: >=3.9
+Requires-Python: >=3.8
 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 :: 3.8
 Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Topic :: Scientific/Engineering
+License-File: LICENSE
 Requires-Dist: mujoco >= 3.1.6
 Requires-Dist: qpsolvers[quadprog] >= 4.3.1
 Requires-Dist: typing_extensions
 Requires-Dist: numpy < 2.0.0
-Requires-Dist: mink[examples,dev] ; extra == "all"
+Requires-Dist: mink[examples, dev] ; extra == "all"
 Requires-Dist: black ; extra == "dev"
 Requires-Dist: mink[test] ; extra == "dev"
 Requires-Dist: mypy ; extra == "dev"
 Requires-Dist: ruff ; extra == "dev"
 Requires-Dist: dm_control >= 1.0.20 ; extra == "examples"
 Requires-Dist: loop-rate-limiters >= 0.1.0 ; extra == "examples"
-Requires-Dist: qpsolvers[quadprog,osqp] >= 4.3.1 ; extra == "examples"
+Requires-Dist: qpsolvers[quadprog, osqp] >= 4.3.1 ; extra == "examples"
 Requires-Dist: absl-py ; extra == "test"
 Requires-Dist: coveralls ; extra == "test"
 Requires-Dist: pytest ; extra == "test"

{mink-0.0.5.dist-info → mink-0.0.7.dist-info}/RECORD

@@ -1,10 +1,10 @@
-mink/__init__.py,sha256=1-kNZ2BmlC9wD98boMF9tujEz3z9ipx9bTUpE4d8T4c,1717
-mink/configuration.py,sha256=SchU0FwPIOjrjwetBVTDbfxTT1OOxLq71tWbLqvvrL4,9110
+mink/__init__.py,sha256=g-eOZoPMgO3l4PtP7RK4ercpo1lyLnIcOT6Tb78T968,1829
+mink/configuration.py,sha256=wbP2ab-Zn5pH844Czk5w8mgDXP44AosMOdNxqwyCSik,9199
 mink/constants.py,sha256=hcWy4zM4hGI7vvJrTmCjJgs2WtOxKJ1IVtYHucWbOAI,813
 mink/exceptions.py,sha256=tmExo-ydn_mu9Mny5sP0Ehr7hfo3d79fM8HvvxZBKYM,2931
 mink/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mink/solve_ik.py,sha256=hrAnwO5imCoFczmoXQf4v5Rfw5l1wisd0qtmFt-y0vs,3578
-mink/utils.py,sha256=-00C_AmtfvkmmWiHpds5Fu83gLcnt9OJ2KmyB01aTa8,4387
+mink/solve_ik.py,sha256=VzPYpfxkJ-JxUZIpwN7-WVOw0Oi2YiIvDZcwB5ROeug,3591
+mink/utils.py,sha256=Eok-pr8xR4LjmjEDEOtD7pvZPDCk53K9gWGdth8TxOA,5329
 mink/.mypy_cache/.gitignore,sha256=amnaZw0RUw038PDP3HvtMLeOpkNOJPenMgi5guKdMiw,34
 mink/.mypy_cache/CACHEDIR.TAG,sha256=8cE6_FVTWMkDOw8fMKqhd_6IvaQPS4okWYQA1UeHatw,190
 mink/.mypy_cache/3.12/@plugins_snapshot.json,sha256=RBNvo1WzZ4oRRq0W9-hknpT7T8If536DEMBg9hyq_4o,2
@@ -326,25 +326,32 @@ mink/.mypy_cache/3.12/unittest/signals.data.json,sha256=1ZiaD7LP0g0iBSmVb5g87M9q
 mink/.mypy_cache/3.12/unittest/signals.meta.json,sha256=t4kGxxcZb9aDLojvZ5naLIcckL77G1RAB0P2iJsSjM0,1681
 mink/.mypy_cache/3.12/unittest/suite.data.json,sha256=3XPU9U8rt00fnG-hgEIbpIqS14lI9xQMDiBsl2_mlXQ,12050
 mink/.mypy_cache/3.12/unittest/suite.meta.json,sha256=5ADDHudtGO-JtLaD0-SB-7_Ekm34XeG_QCXLEDIZeIM,1699
+mink/contrib/__init__.py,sha256=njdlTslt_Ot_fB1Uj6MzRwLhmf-MbRNjwgi8krfCD-k,152
+mink/contrib/keyboard_teleop/KEYBOARD.md,sha256=cYzG3nyOik_ktzha6FZqDiUT7Dn38df8JsXzcGAMmCw,3236
+mink/contrib/keyboard_teleop/__init__.py,sha256=wtG_0D-RurdQiGTPjLYVXXt44ieh6ITTXqpicg6AXxI,185
+mink/contrib/keyboard_teleop/keycodes.py,sha256=1AN3bWpkw99ZjrkIQnu8QdHSz-_boWMYWI2LlZOp5uw,1644
+mink/contrib/keyboard_teleop/teleop_mocap.py,sha256=2cuauiBHsQb6IVruRbGtCumdHQazEGvt9w2L50eKGzw,8095
 mink/lie/__init__.py,sha256=7tm3ZFnF3o1SDd9MOFO1In13lHMQJHO0FB-ejI6tsgE,202
 mink/lie/base.py,sha256=ummp2-yROMrcYCtsNCoKEiKoJ7wLF0nSjnOOD95aXaY,4220
-mink/lie/se3.py,sha256=R4hH4i0-do5I8bWV0le-huSuAfQ_bwolkAjJNVlDNXs,7914
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 mink/lie/utils.py,sha256=DuEl3pj84daLvMKN84-YBvkXnJfqvc5vpvJ9J-pJ11U,403
 mink/limits/__init__.py,sha256=hX5Dgpri9AE6YtUCkW79AXMBuNAuBhniR9kQ6Rxwv3Y,416
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 mink/limits/exceptions.py,sha256=EnVKgFhUJFM6rNVCtdngb-XMu66PWKMFSDy-XkdKzr8,178
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 mink/tasks/com_task.py,sha256=ch6w7pwa5E0GVo2DCAuEF-c8TCN1iMk-ySY9A4B6yoQ,3121
 mink/tasks/damping_task.py,sha256=SwSfUvMHzoNYNsloQRD1qlPLd4kfoDIWZlTDU9LuKM4,556
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 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
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-mink-0.0.5.dist-info/METADATA,sha256=IWndykbTUh_K9MyGE_cAojds8tqJJFOJLBma1nXF-Fo,5501
-mink-0.0.5.dist-info/RECORD,,
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{mink-0.0.5.dist-info → mink-0.0.7.dist-info}/WHEEL

@@ -1,4 +1,4 @@
 Wheel-Version: 1.0
-Generator: flit 3.9.0
+Generator: flit 3.12.0
 Root-Is-Purelib: true
 Tag: py3-none-any