mink 0.0.9__py3-none-any.whl → 0.0.10__py3-none-any.whl

mink/lie/so3.py

@@ -85,6 +85,7 @@ class SO3(MatrixLieGroup):
         assert matrix.shape == (SO3.matrix_dim, SO3.matrix_dim)
         wxyz = np.empty(SO3.parameters_dim, dtype=np.float64)
         mujoco.mju_mat2Quat(wxyz, matrix.ravel())
+        # NOTE mju_mat2Quat normalizes the quaternion.
         return SO3(wxyz=wxyz)
 
     @classmethod
@@ -163,20 +164,22 @@ class SO3(MatrixLieGroup):
     def exp(cls, tangent: np.ndarray) -> SO3:
         axis = np.array(tangent)
         theta = mujoco.mju_normalize3(axis)
-        wxyz = np.zeros(4)
+        wxyz = np.empty(4, dtype=np.float64)
+        # NOTE mju_axisAngle2Quat does not normalize the quaternion but is guaranteed
+        # to return a unit quaternion when axis is a unit vector. In our case,
+        # mju_normalize3 ensures that axis is a unit vector.
         mujoco.mju_axisAngle2Quat(wxyz, axis, theta)
         return SO3(wxyz=wxyz)
 
     # Eq. 133.
     def log(self) -> np.ndarray:
-        if self.wxyz[0] < 0.0:
-            theta = 2.0 * np.arccos(-self.wxyz[0])
-            axis = -1.0 * np.array(self.wxyz[1:])
-        else:
-            theta = 2.0 * np.arccos(self.wxyz[0])
-            axis = np.array(self.wxyz[1:])
-        mujoco.mju_normalize3(axis)
-        return theta * axis
+        q = np.array(self.wxyz)
+        q *= np.sign(q[0])
+        w, v = q[0], q[1:]
+        norm = mujoco.mju_normalize3(v)
+        if norm < get_epsilon(v.dtype):
+            return np.zeros_like(v)
+        return 2 * np.arctan2(norm, w) * v
 
     # Eq. 139.
     def adjoint(self) -> np.ndarray:

{mink-0.0.9.dist-info → mink-0.0.10.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mink
-Version: 0.0.9
+Version: 0.0.10
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>

{mink-0.0.9.dist-info → mink-0.0.10.dist-info}/RECORD

@@ -334,7 +334,7 @@ mink/contrib/keyboard_teleop/teleop_mocap.py,sha256=2cuauiBHsQb6IVruRbGtCumdHQaz
 mink/lie/__init__.py,sha256=7tm3ZFnF3o1SDd9MOFO1In13lHMQJHO0FB-ejI6tsgE,202
 mink/lie/base.py,sha256=8TGWWEWRvmoBsJP-9y1YXQHkTC-TFfI8JDvBFKxxP-A,4865
 mink/lie/se3.py,sha256=cEzAzKEfBAQcbHhbZbhW8QZA8WpfRRaeZ0YGdSmhOx8,8634
-mink/lie/so3.py,sha256=0KgvflDlUJHd_Ruy2pDlgyR7ZC1HkJz4HVxWcCLo5EY,8182
+mink/lie/so3.py,sha256=Goipwo7PRxNecYRNBmueWCiO2D51D7qHlzs2gQiXO-Q,8423
 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-0.0.9.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mink-0.0.9.dist-info/WHEEL,sha256=G2gURzTEtmeR8nrdXUJfNiB3VYVxigPQ-bEQujpNiNs,82
-mink-0.0.9.dist-info/METADATA,sha256=PbX9fwluNc1-M5fB8cuJnPD33Flma45GzAU5yd6myfg,5606
-mink-0.0.9.dist-info/RECORD,,
+mink-0.0.10.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mink-0.0.10.dist-info/WHEEL,sha256=G2gURzTEtmeR8nrdXUJfNiB3VYVxigPQ-bEQujpNiNs,82
+mink-0.0.10.dist-info/METADATA,sha256=AJQA0xMmwAZiWYmLgDDQo1rKDBQ7AYJxCUMtd-6nlik,5607
+mink-0.0.10.dist-info/RECORD,,