robot-keyframe-kit 0.3.3__tar.gz → 0.3.4__tar.gz

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Files changed (18) hide show
  1. {robot_keyframe_kit-0.3.3/src/robot_keyframe_kit.egg-info → robot_keyframe_kit-0.3.4}/PKG-INFO +1 -1
  2. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/pyproject.toml +1 -1
  3. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/sim_worker.py +8 -2
  4. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4/src/robot_keyframe_kit.egg-info}/PKG-INFO +1 -1
  5. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/LICENSE +0 -0
  6. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/MANIFEST.in +0 -0
  7. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/README.md +0 -0
  8. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/setup.cfg +0 -0
  9. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/__init__.py +0 -0
  10. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/config.py +0 -0
  11. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/editor.py +0 -0
  12. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/keyframe.py +0 -0
  13. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/math_utils.py +0 -0
  14. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit.egg-info/SOURCES.txt +0 -0
  15. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit.egg-info/dependency_links.txt +0 -0
  16. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit.egg-info/entry_points.txt +0 -0
  17. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit.egg-info/requires.txt +0 -0
  18. {robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit.egg-info/top_level.txt +0 -0
{robot_keyframe_kit-0.3.3/src/robot_keyframe_kit.egg-info → robot_keyframe_kit-0.3.4}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: robot-keyframe-kit
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- Version: 0.3.3
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+ Version: 0.3.4
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  Summary: A generalizable Viser-based keyframe editor for any MuJoCo robot
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  Author-email: Stanford TML <yuming29@stanford.edu>
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  Maintainer-email: Stanford TML <yuming29@stanford.edu>
{robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/pyproject.toml RENAMED
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
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  [project]
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  name = "robot-keyframe-kit"
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- version = "0.3.3"
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+ version = "0.3.4"
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  description = "A generalizable Viser-based keyframe editor for any MuJoCo robot"
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  readme = "README.md"
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  license = "MIT"
{robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4}/src/robot_keyframe_kit/sim_worker.py RENAMED
@@ -667,8 +667,14 @@ class SimWorker(threading.Thread):
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  aligned_torso_t = torso_t_curr.copy()
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  aligned_torso_t[2, 3] -= dz
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- self.data.qpos[:3] = aligned_torso_t[:3, 3]
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- self.data.qpos[3:7] = R.from_matrix(aligned_torso_t[:3, :3]).as_quat(scalar_first=True)
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+ if self.q_start_idx == 7:
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+ # Floating base: write position + quaternion into freejoint qpos.
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+ self.data.qpos[:3] = aligned_torso_t[:3, 3]
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+ self.data.qpos[3:7] = R.from_matrix(aligned_torso_t[:3, :3]).as_quat(scalar_first=True)
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+ else:
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+ # Fixed base: no freejoint to adjust, skip ground placement.
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+ print("[Ground] No freejoint — skipping ground placement", flush=True)
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+ return
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  self._forward()
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  print(
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  f"[Ground] Placed robot on ground (moved down {dz:.4f}m, lowest geom was at z={lowest_z:.4f}m)",
{robot_keyframe_kit-0.3.3 → robot_keyframe_kit-0.3.4/src/robot_keyframe_kit.egg-info}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: robot-keyframe-kit
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- Version: 0.3.3
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+ Version: 0.3.4
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  Summary: A generalizable Viser-based keyframe editor for any MuJoCo robot
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  Author-email: Stanford TML <yuming29@stanford.edu>
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  Maintainer-email: Stanford TML <yuming29@stanford.edu>