mink 0.0.7__tar.gz → 0.0.8__tar.gz

{mink-0.0.7 → mink-0.0.8}/PKG-INFO

@@ -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 → mink-0.0.8}/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-0.0.7 → mink-0.0.8}/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-0.0.7 → mink-0.0.8}/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 → mink-0.0.8}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "flit_core.buildapi"
 
 [project]
 name = "mink"
-version = "0.0.7"
+version = "0.0.8"
 readme = "README.md"
 authors = [
     {name = "Kevin Zakka", email = "zakka@berkeley.edu"},
@@ -27,7 +27,7 @@ classifiers = [
 dependencies = [
     # 3.1.6 for mj_geomDistance.
     "mujoco >= 3.1.6",
-    "qpsolvers[quadprog] >= 4.3.1",
+    "qpsolvers[daqp] >= 4.3.1",
     "typing_extensions",
     "numpy < 2.0.0",
 ]
@@ -37,7 +37,8 @@ keywords = ["inverse", "kinematics", "mujoco"]
 examples = [
     "dm_control >= 1.0.20",
     "loop-rate-limiters >= 0.1.0",
-    "qpsolvers[quadprog,osqp] >= 4.3.1",
+    "qpsolvers[daqp] >= 4.3.1",
+    "osqp >=0.6.2,<1",
 ]
 test = [
     "absl-py",