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Changelog

All notable changes to this project will be documented in this file.

[Unreleased]

Added

  • get_subtree_joint_ids utility for retrieving all joints in the subtree rooted at a given body. Contribution from @maxstrobel.

Fixed

  • compute_look_at_rotation in examples/humanoid_apollo.py no longer divides by zero when the look target coincides with the source, which previously produced NaNs in the IK solver (#135).

[1.1.0] - 2026-02-19

No public API changes — this is a drop-in upgrade.

Added

  • Native C extension (_lie_ops_c) for SE3 operations in the IK hot path, with automatic fallback to pure Python.
    • 8 fused operations (se3_log, se3_rminus, se3_inverse_multiply, se3_jlog, se3_adjoint, etc.) on raw double arrays, no intermediate Python objects.
    • FrameTask, RelativeFrameTask, and Configuration pass raw ndarray[7] internally for end-to-end native path.
    • Disable with MINK_DISABLE_NATIVE=1.
  • Build backend switched to scikit-build-core. C extension is optional for source installs without a compiler.

Changed

  • CollisionAvoidanceLimit: pre-allocated scratch buffers, inlined hot loop, removed per-pair Contact dataclass. ~12x faster.
  • Configuration.check_limits: vectorized using precomputed joint indices and numpy ops.

1.0.0 - 2025-12-19

Changed

  • Switch to uv.
  • Deprecate Python 3.8 and 3.9.

Added

  • Associate loggers with the name "mink".
  • Improve test coverage.
  • Add more tests to test_configuration_limit.py and test_velocity_limit.py.
  • Add support for equality constraints in solve_ik and build_ik via the constraints parameter.
  • Add DofFreezingTask to freeze specific degrees of freedom using equality constraints.

[0.0.13] - 2025-09-12

Bugfix

  • Objects already in collision repel each other instead of locking together. Contribution from @mattrobotcontributor.

[0.0.12] - 2025-08-08

Changed

  • solve_ik now raises a new exception, NoSolutionFound, when the QP solver fails to find a solution.

Bugfix

  • Fix Configuration.get_inertia_matrix for MuJoCo versions >= 3.3.4.

Added

  • clamp method for SO3 and SE3. Contribution from @adlarkin.

[0.0.11] - 2025-05-22

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.

[0.0.10] - 2025-04-22

Changed

  • Update so3.py log function to use arctan2 instead of arccos for better numerical stability.

[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

Added

  • 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

  • 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. Contribution from @simeon-ned.
Before After
before after
  • Configuration.check_limits now logs joint limit violations to debug rather than warn when safety_break=False.
  • 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

Changed

  • Improved ALOHA example script.
  • Fixed a small bug in the exit criterion of the ALOHA example script.
  • Updated Stretch example to work with MuJoCo >= 3.3.0.

[0.0.5] - 2024-09-27

Changed

  • Changed inf to mujoco.mjMAXVAL for unbounded joint limits in ConfigurationLimit.

[0.0.4] - 2024-09-26

Changed

  • Fixed a bug in ConfigurationLimit where the indices of the limited DoFs were storing the wrong values.
  • Changed print statement in Configuration::check_limits to logging.warning.

Added

  • Examples:
    • Mobile Kinova loaded from a module-oriented MJCF description: mobile_kinova.py (thanks @Zi-ang-Cao)
      • Removes the nested class naming convention in tidybot.xml, allowing for seamless swapping of end-effectors.
    • Mobile Kinova with LEAP hand: mobile_kinova_leap.py (thanks @Zi-ang-Cao)
      • The example scripts also includes updated recommendations for controlling the mobile base, aiming to minimize unnecessary rotation.
    • UFactory xArm7 with LEAP hand: xarm_leap.py
    • Unitree H1: humanoid_h1.py

[0.0.3] - 2024-08-10

Added

Changed

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

[0.0.2] - 2024-07-27

Added

Changed

  • Restrict numpy version to < 2.0.0 for compatibility with osqp solver in qpsolvers.
  • README touchup.

[0.0.1] - 2024-07-25

Initial release.