Merge pull request #81 from kevinzakka/new-release

Remove upper bound on numpy version.

Author: kevinzakka

CHANGELOG.md

@@ -2,13 +2,14 @@
 
 All notable changes to this project will be documented in this file.
 
-## Unreleased
+## [0.0.9] - 2025-04-21
 
 ### Changed
 
 - Switch Lie algebra implementation to use mujoco functions.
 - Rewrite some Lie algebra methods to use derivations with least operations.
 - Relax tolerances on test_solve_ik.py test_single_task_convergence.
+- Relax numpy version requirement.
 
 ## [0.0.8] - 2025-04-21
 

CONTRIBUTING.md

@@ -1,21 +1,36 @@
 # Contributing
 
-Some ways to contribute to mink:
+Thanks for your interest in contributing to **mink**! Here are a few great ways to get involved:
 
-- Try out the [examples](examples) and report any issue.
-- Pick something you want to do with one of the many [robot descriptions](https://github.com/robot-descriptions/robot_descriptions.py) and write a new example.
-- Find a use case that is not covered and write a unit test for it.
+- Try out the [examples](examples) and report any issues.
+- Pick something you'd like to do with one of the many [robot descriptions](https://github.com/robot-descriptions/robot_descriptions.py) and write a new example.
+- Find a use case that isn’t covered yet and write a unit test for it.
 - Improve the documentation.
 - Implement new tasks or constraints.
 
-If any of those sound interesting, open an [issue](https://github.com/kevinzakka/mink/issues) and say you're on it!
+If any of those sound interesting, open an [issue](https://github.com/kevinzakka/mink/issues) and let us know you're on it!
+
+## Pull Requests
+
+When submitting a pull request, please make sure to:
+
+- **Update the [changelog](CHANGELOG.md)** with a short description of your change.
+- **Run all tests** locally to ensure nothing is broken. You can do this with:
+
+  ```bash
+  pytest .
+  ```
+
+If you’re adding new functionality, consider adding corresponding tests and updating the docs if applicable.
 
 ## Documentation
 
-If you're adding new functionality to `mink` and want to update the documentation, you can build it and visualize it locally using the following:
+If you’re adding new functionality to mink and want to update the documentation, you can build it and preview it locally like this:
 
 ```bash
 uv pip install -r docs/requirements.txt
 sphinx-build docs _build -W
 open _build/index.html
 ```
+
+Thanks again for helping make `mink` better!

mink/lie/se3.py

@@ -116,17 +116,15 @@ def exp(cls, tangent: np.ndarray) -> SE3:
         assert tangent.shape == (cls.tangent_dim,)
         rotation = SO3.exp(tangent[3:])
         theta = np.float64(mujoco.mju_norm3(tangent[3:]))
-        t2 = theta * theta        
+        t2 = theta * theta
         if t2 < get_epsilon(t2.dtype):
             v_mat = rotation.as_matrix()
         else:
             skew_omega = skew(tangent[3:])
             v_mat = (
                 np.eye(3, dtype=np.float64)
-                + (1.0 - np.cos(theta)) / t2
-                * skew_omega
-                + (theta - np.sin(theta)) / (t2 * theta)
-                * (skew_omega @ skew_omega)
+                + (1.0 - np.cos(theta)) / t2 * skew_omega
+                + (theta - np.sin(theta)) / (t2 * theta) * (skew_omega @ skew_omega)
             )
         return cls.from_rotation_and_translation(
             rotation=rotation,
@@ -136,7 +134,9 @@ def exp(cls, tangent: np.ndarray) -> SE3:
     def inverse(self) -> SE3:
         inverse_wxyz_xyz = np.empty(SE3.parameters_dim, dtype=np.float64)
         mujoco.mju_negQuat(inverse_wxyz_xyz[:4], self.wxyz_xyz[:4])
-        mujoco.mju_rotVecQuat(inverse_wxyz_xyz[4:], -1.0 * self.wxyz_xyz[4:], inverse_wxyz_xyz[:4])
+        mujoco.mju_rotVecQuat(
+            inverse_wxyz_xyz[4:], -1.0 * self.wxyz_xyz[4:], inverse_wxyz_xyz[:4]
+        )
         return SE3(wxyz_xyz=inverse_wxyz_xyz)
 
     def normalize(self) -> SE3:
@@ -170,9 +170,10 @@ def log(self) -> np.ndarray:
         else:
             half_theta = 0.5 * theta
             vinv_mat = (
-                np.eye(3, dtype=np.float64) 
+                np.eye(3, dtype=np.float64)
                 - 0.5 * skew_omega
-                + (1.0 - 0.5 * theta * np.cos(half_theta) / np.sin(half_theta)) / t2
+                + (1.0 - 0.5 * theta * np.cos(half_theta) / np.sin(half_theta))
+                / t2
                 * skew_omega2
             )
         tangent = np.empty(SE3.tangent_dim, dtype=np.float64)

mink/lie/so3.py

@@ -190,8 +190,12 @@ def ljac(cls, other: np.ndarray) -> np.ndarray:
         theta = np.float64(mujoco.mju_norm3(other))
         t2 = theta * theta
         if theta < get_epsilon(theta.dtype):
-            alpha = (1.0 / 2.0) * (1.0 - t2 / 12.0 * (1.0 - t2 / 30.0 * (1.0 - t2 / 56.0)))
-            beta = (1.0 / 6.0) * (1.0 - t2 / 20.0 * (1.0 - t2 / 42.0 * (1.0 - t2 / 72.0)))
+            alpha = (1.0 / 2.0) * (
+                1.0 - t2 / 12.0 * (1.0 - t2 / 30.0 * (1.0 - t2 / 56.0))
+            )
+            beta = (1.0 / 6.0) * (
+                1.0 - t2 / 20.0 * (1.0 - t2 / 42.0 * (1.0 - t2 / 72.0))
+            )
         else:
             t3 = t2 * theta
             alpha = (1 - np.cos(theta)) / t2
@@ -224,13 +228,17 @@ def ljacinv(cls, other: np.ndarray) -> np.ndarray:
         theta = np.float64(mujoco.mju_norm3(other))
         t2 = theta * theta
         if theta < get_epsilon(theta.dtype):
-            beta = (1.0 / 12.0) * (1.0 + t2 / 60.0 * (1.0 + t2 / 42.0 * (1.0 + t2 / 40.0)))
+            beta = (1.0 / 12.0) * (
+                1.0 + t2 / 60.0 * (1.0 + t2 / 42.0 * (1.0 + t2 / 40.0))
+            )
         else:
-            beta = (1.0 / t2) * (1.0 - (theta * np.sin(theta) / (2.0 * (1.0 - np.cos(theta)))))
+            beta = (1.0 / t2) * (
+                1.0 - (theta * np.sin(theta) / (2.0 * (1.0 - np.cos(theta))))
+            )
         # ljacinv = eye(3) - 0.5 * skew_other + beta * (skew_other @ skew_other)
-        ljacinv = np.empty((3,3))
+        ljacinv = np.empty((3, 3))
         # skew_other @ skew_other == outer(other) - inner(other) * eye(3)
-        mujoco.mju_mulMatMat(ljacinv, other.reshape(3,1), other.reshape(1,3))
+        mujoco.mju_mulMatMat(ljacinv, other.reshape(3, 1), other.reshape(1, 3))
         inner_product = mujoco.mju_dot3(other, other)
         ljacinv[0, 0] -= inner_product
         ljacinv[1, 1] -= inner_product

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "flit_core.buildapi"
 
 [project]
 name = "mink"
-version = "0.0.8"
+version = "0.0.9"
 readme = "README.md"
 authors = [
     {name = "Kevin Zakka", email = "zakka@berkeley.edu"},
@@ -29,7 +29,7 @@ dependencies = [
     "mujoco >= 3.1.6",
     "qpsolvers[daqp] >= 4.3.1",
     "typing_extensions",
-    "numpy < 2.0.0",
+    "numpy",
 ]
 keywords = ["inverse", "kinematics", "mujoco"]
 

tests/test_lie_operations.py

@@ -136,6 +136,18 @@ def test_so3_interpolate(self):
             start.interpolate(end, alpha=2.0)
         self.assertIn(expected_error_message, str(cm.exception))
 
+    def test_so3_apply(self):
+        vec = np.random.rand(3)
+        rot = SO3.sample_uniform()
+        rotated_vec = rot.apply(vec)
+        np.testing.assert_allclose(rotated_vec, rot.as_matrix() @ vec)
+
+    def test_so3_apply_throws_assertion_error_if_wrong_shape(self):
+        rot = SO3.sample_uniform()
+        vec = np.random.rand(2)
+        with self.assertRaises(AssertionError):
+            rot.apply(vec)
+
     # SE3.
 
     def test_se3_equality(self):