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Recent Releases of mink

mink - Release v0.0.12

What's Changed

  • Raise NoSolutionFound when the QP solver fails to find a solution. by @kevinzakka in https://github.com/kevinzakka/mink/pull/95
  • Fix get_inertia_matrix for MuJoCo >= 3.3.4. by @kevinzakka in https://github.com/kevinzakka/mink/pull/102
  • Add clamping for SO3 and SE3 by @adlarkin in https://github.com/kevinzakka/mink/pull/96

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.11...v0.0.12

- Python
Published by kevinzakka 7 months ago

mink - Release v0.0.11

TLDR: We have a brand new kinetic energy regularization task, an awesome new example courtesy of @Debojit-D and minor cosmetic improvements across the board.

Added

  • Added KineticEnergyRegularizationTask, which regularizes joint displacements based on kinetic energy (inertia-weighted damping).
  • Add Configuration.get_inertia_matrix(): returns the joint-space inertia matrix at the current configuration.
  • Add 3.8 and 3.13 to CI test matrix.
  • Switch to MjSpec for model construction in examples and eliminate dm_control dependency.
  • Added single and dual Franka Emika Panda robot examples featuring motion planning, and bi-manual coordination. Contribution from @Debojit-D.

bimanual panda

Changed

  • Merged task and limit exceptions to base exceptions file.
  • Improved the documentation for certain tasks.

- Python
Published by kevinzakka 9 months ago

mink - Release v0.0.10

What's Changed

  • Fix numerical stability issue in so3.py log function by @jonzamora in https://github.com/kevinzakka/mink/pull/82

New Contributors

  • @jonzamora made their first contribution in https://github.com/kevinzakka/mink/pull/82

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.9...v0.0.10

- Python
Published by kevinzakka 10 months ago

mink - Release v0.0.9

What's Changed

  • Convert pure-python to mujoco calls for Lie algebra. by @bingjeff in https://github.com/kevinzakka/mink/pull/79
  • Remove upper bound on numpy version. by @kevinzakka in https://github.com/kevinzakka/mink/pull/81

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.8...v0.0.9

- Python
Published by kevinzakka 10 months ago

mink - Release v0.0.8

TL;DR

We've replaced the quadprog solver (GPL-licensed) with DAQP, a QP solver under a more permissive license (MIT).

Why the change?

quadprog’s GPL license meant that mink had to inherit GPL licensing as well. To avoid imposing restrictions on downstream users and make the library more license-friendly, we’ve removed quadprog as a dependency.

Performance and functionality should remain unchanged based on our tests. But if you run into any problems, feel free to open an issue!

What's Changed

New Contributors

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.7...v0.0.8

- Python
Published by kevinzakka 10 months ago

mink - Release v0.0.7

What's Changed

  • Keyboard teleop -- Changed Rotations to be based on end-effector coordinate frame rather than world coordinate frame by @Proguranto in https://github.com/kevinzakka/mink/pull/69
  • Add sponsor me button. by @kevinzakka in https://github.com/kevinzakka/mink/pull/71
  • Support for python 3.8 by @NmBoyd in https://github.com/kevinzakka/mink/pull/72
  • Initialize with empty rather than zeros. by @kevinzakka in https://github.com/kevinzakka/mink/pull/74

New Contributors

  • @NmBoyd made their first contribution in https://github.com/kevinzakka/mink/pull/72

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.6...v0.0.7

- Python
Published by kevinzakka 11 months ago

mink - Release v0.0.6

Additions

  • Added EqualityConstraintTask, which is particularly useful for closed-chain mechanisms like 4-bar linkages or parallel robots. See biped_cassie.py for an implementation example. Thanks to @simeon-ned for proposing this task and doing a first-pass implementation and thanks to @yuvaltassa for the stellar review!

| Before | After | |--------|-------| | before | after |

  • Configuration.check_limits now logs joint limit violations to debug rather than warn when safety_break=False. This reduces stdout spam.
  • Added utils.get_subtree_body_ids to get all bodies belonging to the subtree starting at a given body.
    • Example usage of this function can be found in the ALOHA example script where it is used to selectively apply gravity compensation torques to the left and right arm bodies.
    • Add G1 and Apollo humanoid example with a tabletop manipulation focus.

g1 teleop

New Contributors

  • @Proguranto made their first contribution in https://github.com/kevinzakka/mink/pull/44
  • @simeon-ned made their first contribution in https://github.com/kevinzakka/mink/pull/63

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.5...v0.0.6

- Python
Published by kevinzakka 11 months ago

mink - Release v0.0.5

What's Changed

  • Add more test cases. by @kevinzakka in https://github.com/kevinzakka/mink/pull/31

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.4...v0.0.5

- Python
Published by kevinzakka over 1 year ago

mink - Release v0.0.4

TLDR; lots of new examples and minor QOL improvements! More detailed changelog 👇

h1 xarm_leap

What's Changed

  • Add LEAP hand + xarm example. by @kevinzakka in https://github.com/kevinzakka/mink/pull/25
  • Add the combination of Mobile Kinova + Leap Hand setup by @Zi-ang-Cao in https://github.com/kevinzakka/mink/pull/26
  • Explicitly thank @Zi-ang-Cao in changelog. by @kevinzakka in https://github.com/kevinzakka/mink/pull/27
  • Change print to warning. by @kevinzakka in https://github.com/kevinzakka/mink/pull/29
  • Fix configuration limit indices variable. by @kevinzakka in https://github.com/kevinzakka/mink/pull/30

New Contributors

  • @Zi-ang-Cao made their first contribution in https://github.com/kevinzakka/mink/pull/26

Full Changelog: https://github.com/kevinzakka/mink/compare/v0.0.3...v0.0.4

- Python
Published by kevinzakka over 1 year ago

mink - Release v0.0.3

https://github.com/user-attachments/assets/8c106513-4b2f-4352-ab9e-7e0bc68dfc6e

Added

Changed

  • Posture task cost can now be a scalar or a vector. Vector costs are useful for specifying different costs for different dofs.

- Python
Published by kevinzakka over 1 year ago