v1.0.0

We're thrilled to announce mink 1.0.0! After 13 releases and extensive testing, we're marking this as our first stable release.

What's New

• Added support for equality constraints in solve_ik and build_ik via the constraints parameter
  • New DofFreezingTask to freeze specific degrees of freedom using equality constraints
• Switched to uv and added pyright and ty type checking support
• Improved overall test coverage

Breaking Changes

• Dropped support for Python 3.8 and 3.9 (minimum Python 3.10 required)

Thanks to everyone who contributed!

Release v0.0.13

What's Changed

• Resolve locking force when objects are already in collision. by @mattrobotcontributor in #105

New Contributors

• @mattrobotcontributor made their first contribution in #105

Full Changelog: v0.0.12...v0.0.13

Release v0.0.12

What's Changed

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

Full Changelog: v0.0.11...v0.0.12

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).
  • New example: examples/kinetic_energy_reg.py.
• 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.

Changed

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

Release v0.0.10

What's Changed

• Fix numerical stability issue in so3.py log function by @jonzamora in #82

New Contributors

• @jonzamora made their first contribution in #82

Full Changelog: v0.0.9...v0.0.10

Release v0.0.9

What's Changed

• Convert pure-python to mujoco calls for Lie algebra. by @bingjeff in #79
• Remove upper bound on numpy version. by @kevinzakka in #81

Full Changelog: v0.0.8...v0.0.9

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!

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What's Changed

• Add equality operators for SE3 and SO3 by @adlarkin in #76
• Pose interpolation by @adlarkin in #77
• Remove quadprog dependency, switch examples to daqp by @kevinzakka in #80

New Contributors

• @adlarkin made their first contribution in #76

Full Changelog: v0.0.7...v0.0.8

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 #69
• Add sponsor me button. by @kevinzakka in #71
• Support for python 3.8 by @NmBoyd in #72
• Initialize with empty rather than zeros. by @kevinzakka in #74

New Contributors

• @NmBoyd made their first contribution in #72

Full Changelog: v0.0.6...v0.0.7

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

• 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.

New Contributors

• @Proguranto made their first contribution in #44
• @simeon-ned made their first contribution in #63

Full Changelog: v0.0.5...v0.0.6

Release v0.0.5

What's Changed

• Add more test cases. by @kevinzakka in #31

Full Changelog: v0.0.4...v0.0.5