Bump version.

Author: kevinzakka

CHANGELOG.md

@@ -2,11 +2,11 @@
 
 All notable changes to this project will be documented in this file.
 
-## [Unreleased]
+## [0.0.10] - 2025-04-22
 
 ### Changed
 
-- Update so3.py log function to use arctan2 instead of arccos for better numerical stability
+- Update so3.py log function to use arctan2 instead of arccos for better numerical stability.
 
 ## [0.0.9] - 2025-04-21
 

mink/lie/so3.py

@@ -85,6 +85,7 @@ def from_matrix(cls, matrix: np.ndarray) -> SO3:
         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
@@ -163,7 +164,10 @@ def multiply(self, other: SO3) -> SO3:
     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)
 

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "flit_core.buildapi"
 
 [project]
 name = "mink"
-version = "0.0.9"
+version = "0.0.10"
 readme = "README.md"
 authors = [
     {name = "Kevin Zakka", email = "zakka@berkeley.edu"},