mink 0.0.7__py3-none-any.whl → 0.0.8__py3-none-any.whl

mink/lie/base.py

@@ -103,6 +103,21 @@ class MatrixLieGroup(abc.ABC):
         """Normalize/projects values and returns."""
         raise NotImplementedError
 
+    def interpolate(self, other: Self, alpha: float = 0.5) -> Self:
+        """Interpolate between two matrix Lie groups.
+
+        Args:
+            other: The other Lie group, which serves as the end point of interpolation.
+            alpha: The fraction of interpolation between [self, other]. This must
+                be within [0.0, 1.0]. 0.0 = self, 1.0 = other.
+
+        Returns:
+            The interpolated matrix Lie group.
+        """
+        if alpha < 0.0 or alpha > 1.0:
+            raise ValueError(f"Expected alpha within [0.0, 1.0] but received {alpha}")
+        return self @ self.exp(alpha * (self.inverse() @ other).log())
+
     # Plus and minus operators.
 
     # Eqn. 25.

mink/lie/se3.py

@@ -32,6 +32,11 @@ class SE3(MatrixLieGroup):
         xyz = np.round(self.wxyz_xyz[4:], 5)
         return f"{self.__class__.__name__}(wxyz={quat}, xyz={xyz})"
 
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, SE3):
+            return NotImplemented
+        return np.array_equal(self.wxyz_xyz, other.wxyz_xyz)
+
     def copy(self) -> SE3:
         return SE3(wxyz_xyz=np.array(self.wxyz_xyz))
 

mink/lie/so3.py

@@ -45,6 +45,11 @@ class SO3(MatrixLieGroup):
         wxyz = np.round(self.wxyz, 5)
         return f"{self.__class__.__name__}(wxyz={wxyz})"
 
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, SO3):
+            return NotImplemented
+        return np.array_equal(self.wxyz, other.wxyz)
+
     def parameters(self) -> np.ndarray:
         return self.wxyz
 

{mink-0.0.7.dist-info → mink-0.0.8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mink
-Version: 0.0.7
+Version: 0.0.8
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
@@ -19,7 +19,7 @@ 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: qpsolvers[daqp] >= 4.3.1
 Requires-Dist: typing_extensions
 Requires-Dist: numpy < 2.0.0
 Requires-Dist: mink[examples, dev] ; extra == "all"
@@ -29,7 +29,8 @@ 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[daqp] >= 4.3.1 ; extra == "examples"
+Requires-Dist: osqp >=0.6.2,<1 ; extra == "examples"
 Requires-Dist: absl-py ; extra == "test"
 Requires-Dist: coveralls ; extra == "test"
 Requires-Dist: pytest ; extra == "test"

{mink-0.0.7.dist-info → mink-0.0.8.dist-info}/RECORD

@@ -332,9 +332,9 @@ mink/contrib/keyboard_teleop/__init__.py,sha256=wtG_0D-RurdQiGTPjLYVXXt44ieh6ITT
 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=DudNNLNKgSsS7nMbbpzK-ZdR2z9O_k_AOxzM7yZubpE,7870
-mink/lie/so3.py,sha256=-XWy8qMZ16WdhcscsA4ow-D7CTxUgbnsIU45GGOn9P0,7302
+mink/lie/base.py,sha256=8TGWWEWRvmoBsJP-9y1YXQHkTC-TFfI8JDvBFKxxP-A,4865
+mink/lie/se3.py,sha256=mmPjbljB0ddPrV0b47OV8GP9rqU6f-bpW8TQPW_p-9A,8050
+mink/lie/so3.py,sha256=IqXqalM5NG0cTi1ZZcuXA2lcAk7A3Jnt_1O2n-ae0DE,7474
 mink/lie/utils.py,sha256=DuEl3pj84daLvMKN84-YBvkXnJfqvc5vpvJ9J-pJ11U,403
 mink/limits/__init__.py,sha256=hX5Dgpri9AE6YtUCkW79AXMBuNAuBhniR9kQ6Rxwv3Y,416
 mink/limits/collision_avoidance_limit.py,sha256=MJXesSjvm_2O6RUEz2e4D8uTVOHyTsH9j4UxkPemcn8,11918
@@ -351,7 +351,7 @@ 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-0.0.7.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mink-0.0.7.dist-info/WHEEL,sha256=G2gURzTEtmeR8nrdXUJfNiB3VYVxigPQ-bEQujpNiNs,82
-mink-0.0.7.dist-info/METADATA,sha256=ZcQbHajE_Mda5DlByQ23XGpSn7vh4NXiUOJAidbXkvI,5575
-mink-0.0.7.dist-info/RECORD,,
+mink-0.0.8.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mink-0.0.8.dist-info/WHEEL,sha256=G2gURzTEtmeR8nrdXUJfNiB3VYVxigPQ-bEQujpNiNs,82
+mink-0.0.8.dist-info/METADATA,sha256=SoXK-YNeZsu55hyaqB2hPAPjtWXR7xH7wL9cc2vBTBU,5614
+mink-0.0.8.dist-info/RECORD,,