robot-keyframe-kit 0.3.2__tar.gz → 0.3.4__tar.gz

{robot_keyframe_kit-0.3.2/src/robot_keyframe_kit.egg-info → robot_keyframe_kit-0.3.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robot-keyframe-kit
-Version: 0.3.2
+Version: 0.3.4
 Summary: A generalizable Viser-based keyframe editor for any MuJoCo robot
 Author-email: Stanford TML <yuming29@stanford.edu>
 Maintainer-email: Stanford TML <yuming29@stanford.edu>

{robot_keyframe_kit-0.3.2 → robot_keyframe_kit-0.3.4}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "robot-keyframe-kit"
-version = "0.3.2"
+version = "0.3.4"
 description = "A generalizable Viser-based keyframe editor for any MuJoCo robot"
 readme = "README.md"
 license = "MIT"

{robot_keyframe_kit-0.3.2 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/editor.py

@@ -46,7 +46,7 @@ except Exception as exc:
 
 from .config import EditorConfig
 from .keyframe import Keyframe
-from .math_utils import interpolate_action, solve_equality_constraints
+from .math_utils import interpolate_action
 from .sim_worker import SimWorker
 
 
@@ -1276,9 +1276,8 @@ class ViserKeyframeEditor:
         raise ValueError(f"Could not find site or body named '{name}'")
 
     def _forward(self) -> None:
-        """Run forward kinematics and solve equality constraints at position level."""
+        """Run forward kinematics."""
         mujoco.mj_forward(self.model, self.data)
-        solve_equality_constraints(self.model, self.data)
 
     def _estimate_robot_height(self) -> float:
         """Estimate robot height from geom bounds in the current model state."""

{robot_keyframe_kit-0.3.2 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/sim_worker.py

@@ -395,9 +395,14 @@ class SimWorker(threading.Thread):
             self.data.joint(name).qpos = value
 
     def _forward(self, locked_joint_names: Optional[list[str]] = None) -> None:
-        """Run forward kinematics and solve equality constraints at position level."""
+        """Run forward kinematics, optionally solving equality constraints.
+
+        Constraint projection only runs when *locked_joint_names* is provided
+        (i.e. during slider dragging).  All other callers just need mj_forward.
+        """
         mujoco.mj_forward(self.model, self.data)
-        solve_equality_constraints(self.model, self.data, locked_joint_names=locked_joint_names)
+        if locked_joint_names is not None:
+            solve_equality_constraints(self.model, self.data, locked_joint_names=locked_joint_names)
 
     def _step(self) -> None:
         """Step physics simulation."""
@@ -662,8 +667,14 @@ class SimWorker(threading.Thread):
             aligned_torso_t = torso_t_curr.copy()
             aligned_torso_t[2, 3] -= dz
 
-            self.data.qpos[:3] = aligned_torso_t[:3, 3]
-            self.data.qpos[3:7] = R.from_matrix(aligned_torso_t[:3, :3]).as_quat(scalar_first=True)
+            if self.q_start_idx == 7:
+                # Floating base: write position + quaternion into freejoint qpos.
+                self.data.qpos[:3] = aligned_torso_t[:3, 3]
+                self.data.qpos[3:7] = R.from_matrix(aligned_torso_t[:3, :3]).as_quat(scalar_first=True)
+            else:
+                # Fixed base: no freejoint to adjust, skip ground placement.
+                print("[Ground] No freejoint — skipping ground placement", flush=True)
+                return
             self._forward()
             print(
                 f"[Ground] Placed robot on ground (moved down {dz:.4f}m, lowest geom was at z={lowest_z:.4f}m)",

{robot_keyframe_kit-0.3.2 → robot_keyframe_kit-0.3.4/src/robot_keyframe_kit.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robot-keyframe-kit
-Version: 0.3.2
+Version: 0.3.4
 Summary: A generalizable Viser-based keyframe editor for any MuJoCo robot
 Author-email: Stanford TML <yuming29@stanford.edu>
 Maintainer-email: Stanford TML <yuming29@stanford.edu>