Merge pull request #80 from kevinzakka/remove-quadprog

kevinzakka · web-flow · commit f428decec8af · 2025-04-21T12:24:03.000-07:00
Remove quadprog dependency. Switch examples to daqp.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,14 +2,23 @@
 
 All notable changes to this project will be documented in this file.
 
-## Unreleased
+## [0.0.8] - 2025-04-21
 
-### Changed
+### Added
 
-- Added support for Python 3.8.
 - Added equality operators for SE3 and SO3.
 - Added matrix Lie group interpolation.
 
+### Changed
+
+- Remove quadprog dependency and switch to `daqp` for examples.
+
+## [0.0.7] - 2025-03-28
+
+### Added
+
+- Added support for Python 3.8.
+
 ## [0.0.6] - 2025-03-15
 
 ### Added
diff --git a/examples/arm_aloha.py b/examples/arm_aloha.py
@@ -117,7 +117,7 @@ def compensate_gravity(
 
     l_mid = model.body("left/target").mocapid[0]
     r_mid = model.body("right/target").mocapid[0]
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 5e-3
     ori_threshold = 5e-3
     max_iters = 5
diff --git a/examples/arm_hand_iiwa_allegro.py b/examples/arm_hand_iiwa_allegro.py
@@ -90,7 +90,7 @@ def construct_model():
     ]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     model = configuration.model
     data = configuration.data
 
diff --git a/examples/arm_hand_xarm_leap.py b/examples/arm_hand_xarm_leap.py
@@ -91,7 +91,7 @@ def construct_model():
     ]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     model = configuration.model
     data = configuration.data
 
diff --git a/examples/arm_iiwa.py b/examples/arm_iiwa.py
@@ -35,7 +35,7 @@
     ## =================== ##
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 1e-4
     ori_threshold = 1e-4
     max_iters = 20
diff --git a/examples/arm_ur5e.py b/examples/arm_ur5e.py
@@ -50,7 +50,7 @@
     mid = model.body("target").mocapid[0]
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/arm_ur5e_actuators.py b/examples/arm_ur5e_actuators.py
@@ -62,7 +62,7 @@
     mid = model.body("target").mocapid[0]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 1e-4
     ori_threshold = 1e-4
     max_iters = 20
diff --git a/examples/biped_cassie.py b/examples/biped_cassie.py
@@ -56,7 +56,7 @@ def main():
 
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/flying_dual_arm_ur5e.py b/examples/flying_dual_arm_ur5e.py
@@ -114,7 +114,7 @@ def construct_model():
     right_mid = model.body("r_target").mocapid[0]
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/hand_shadow.py b/examples/hand_shadow.py
@@ -36,7 +36,7 @@
 
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/humanoid_apollo.py b/examples/humanoid_apollo.py
@@ -121,7 +121,7 @@ def compute_look_at_rotation(
     head_mid = model.body("head_target").mocapid[0]
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/humanoid_g1.py b/examples/humanoid_g1.py
@@ -86,7 +86,7 @@
 
     model = configuration.model
     data = configuration.data
-    solver = "osqp"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/humanoid_h1.py b/examples/humanoid_h1.py
@@ -59,7 +59,7 @@
 
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     with mujoco.viewer.launch_passive(
         model=model, data=data, show_left_ui=False, show_right_ui=False
diff --git a/examples/mobile_kinova.py b/examples/mobile_kinova.py
@@ -71,7 +71,7 @@ def __call__(self, key: int) -> None:
     ]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 1e-4
     ori_threshold = 1e-4
     max_iters = 20
diff --git a/examples/mobile_kinova_leap.py b/examples/mobile_kinova_leap.py
@@ -123,7 +123,7 @@ def __call__(self, key: int) -> None:
     ]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 1e-4
     ori_threshold = 1e-4
     max_iters = 20
diff --git a/examples/mobile_stretch.py b/examples/mobile_stretch.py
@@ -36,7 +36,7 @@
 
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
     circle_radius = 0.5
     mid = model.body("base_target").mocapid[0]
 
diff --git a/examples/mobile_tidybot.py b/examples/mobile_tidybot.py
@@ -69,7 +69,7 @@ def __call__(self, key: int) -> None:
     ]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 1e-4
     ori_threshold = 1e-4
     max_iters = 20
diff --git a/examples/quadruped_go1.py b/examples/quadruped_go1.py
@@ -60,7 +60,7 @@ def get_foot_z(phi: np.ndarray, swing_height: float = 0.08) -> np.ndarray:
 
     model = configuration.model
     data = configuration.data
-    solver = "quadprog"
+    solver = "daqp"
 
     # Gait parameters.
     # Initial phase offsets for each foot
diff --git a/examples/quadruped_spot.py b/examples/quadruped_spot.py
@@ -58,7 +58,7 @@
     eef_mid = model.body("EE_target").mocapid[0]
 
     # IK settings.
-    solver = "quadprog"
+    solver = "daqp"
     pos_threshold = 1e-4
     ori_threshold = 1e-4
     max_iters = 20
diff --git a/pyproject.toml b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "flit_core.buildapi"
 
 [project]
 name = "mink"
-version = "0.0.7"
+version = "0.0.8"
 readme = "README.md"
 authors = [
     {name = "Kevin Zakka", email = "zakka@berkeley.edu"},
@@ -27,7 +27,7 @@ classifiers = [
 dependencies = [
     # 3.1.6 for mj_geomDistance.
     "mujoco >= 3.1.6",
-    "qpsolvers[quadprog] >= 4.3.1",
+    "qpsolvers[daqp] >= 4.3.1",
     "typing_extensions",
     "numpy < 2.0.0",
 ]
@@ -37,7 +37,7 @@ keywords = ["inverse", "kinematics", "mujoco"]
 examples = [
     "dm_control >= 1.0.20",
     "loop-rate-limiters >= 0.1.0",
-    "qpsolvers[quadprog] >= 4.3.1",
+    "qpsolvers[daqp] >= 4.3.1",
     "osqp >=0.6.2,<1",
 ]
 test = [
diff --git a/tests/test_solve_ik.py b/tests/test_solve_ik.py
@@ -42,7 +42,7 @@ def test_checks_configuration_limits(self):
                 limits=self.limits,
                 dt=1.0,
                 safety_break=True,
-                solver="quadprog",
+                solver="daqp",
             )
 
     def test_ignores_configuration_limits(self):
@@ -55,7 +55,7 @@ def test_ignores_configuration_limits(self):
             [],
             limits=self.limits,
             dt=1.0,
-            solver="quadprog",
+            solver="daqp",
             safety_break=False,
         )
 
@@ -73,7 +73,7 @@ def test_default_limits(self):
 
     def test_trivial_solution(self):
         """No task returns no velocity."""
-        v = mink.solve_ik(self.configuration, [], limits=[], dt=1e-3, solver="quadprog")
+        v = mink.solve_ik(self.configuration, [], limits=[], dt=1e-3, solver="daqp")
         np.testing.assert_allclose(v, np.zeros((self.model.nv,)))
 
     def test_single_task_fulfilled(self):
@@ -88,7 +88,7 @@ def test_single_task_fulfilled(self):
             self.configuration.get_transform_frame_to_world("attachment_site", "site")
         )
         v = mink.solve_ik(
-            self.configuration, [task], limits=self.limits, dt=1e-3, solver="quadprog"
+            self.configuration, [task], limits=self.limits, dt=1e-3, solver="daqp"
         )
         np.testing.assert_allclose(v, np.zeros((self.model.nv,)), atol=1e-10)
 
@@ -110,7 +110,7 @@ def test_single_task_convergence(self):
 
         dt = 5e-3  # [s]
         velocity = mink.solve_ik(
-            configuration, [task], limits=self.limits, dt=dt, solver="quadprog"
+            configuration, [task], limits=self.limits, dt=dt, solver="daqp"
         )
 
         # Initially we are nowhere near the target and moving.
@@ -133,7 +133,7 @@ def test_single_task_convergence(self):
             last_error = error
             configuration.integrate_inplace(velocity, dt)
             velocity = mink.solve_ik(
-                configuration, [task], limits=self.limits, dt=dt, solver="quadprog"
+                configuration, [task], limits=self.limits, dt=dt, solver="daqp"
             )
 
         # After nb_steps we are at the target and not moving.

Original file line number	Diff line number	Diff line change
`@@ -90,7 +90,7 @@ def construct_model():`
`90`	`90`	`]`
`91`	`91`
`92`	`92`	`# IK settings.`
`93`		`- solver = "quadprog"`
	`93`	`+ solver = "daqp"`
`94`	`94`	`model = configuration.model`
`95`	`95`	`data = configuration.data`
`96`	`96`
Original file line number	Diff line number	Diff line change
`@@ -91,7 +91,7 @@ def construct_model():`
`91`	`91`	`]`
`92`	`92`
`93`	`93`	`# IK settings.`
`94`		`- solver = "quadprog"`
	`94`	`+ solver = "daqp"`
`95`	`95`	`model = configuration.model`
`96`	`96`	`data = configuration.data`
`97`	`97`