mink 0.0.1__tar.gz → 0.0.2__tar.gz

{mink-0.0.1 → mink-0.0.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mink
-Version: 0.0.1
+Version: 0.0.2
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
@@ -11,26 +11,31 @@ Classifier: Framework :: Robot Framework :: Library
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
 Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Topic :: Scientific/Engineering
 Requires-Dist: mujoco >= 3.1.6
-Requires-Dist: qpsolvers >= 4.3.1
-Requires-Dist: quadprog >= 0.1.11
+Requires-Dist: qpsolvers[quadprog] >= 4.3.1
 Requires-Dist: typing_extensions
-Requires-Dist: mypy ; extra == "dev"
-Requires-Dist: ruff ; extra == "dev"
+Requires-Dist: numpy < 2.0.0
+Requires-Dist: mink[examples,dev] ; extra == "all"
 Requires-Dist: black ; extra == "dev"
 Requires-Dist: mink[test] ; extra == "dev"
-Requires-Dist: loop-rate-limiters >= 0.1.0 ; extra == "examples"
+Requires-Dist: mypy ; extra == "dev"
+Requires-Dist: ruff ; extra == "dev"
 Requires-Dist: dm_control >= 1.0.20 ; extra == "examples"
+Requires-Dist: loop-rate-limiters >= 0.1.0 ; extra == "examples"
+Requires-Dist: qpsolvers[quadprog,osqp] >= 4.3.1 ; extra == "examples"
 Requires-Dist: absl-py ; extra == "test"
+Requires-Dist: coveralls ; extra == "test"
 Requires-Dist: pytest ; extra == "test"
 Requires-Dist: robot_descriptions >= 1.9.0 ; extra == "test"
 Project-URL: Changelog, https://github.com/kevinzakka/mink/blob/main/CHANGELOG.md
 Project-URL: Source, https://github.com/kevinzakka/mink
 Project-URL: Tracker, https://github.com/kevinzakka/mink/issues
+Provides-Extra: all
 Provides-Extra: dev
 Provides-Extra: examples
 Provides-Extra: test
@@ -38,21 +43,43 @@ Provides-Extra: test
 # mink
 
 [![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mink/ci.yml?branch=main)](https://github.com/kevinzakka/mink/actions)
+[![Coverage Status](https://coveralls.io/repos/github/kevinzakka/mink/badge.svg)](https://coveralls.io/github/kevinzakka/mink)
+[![PyPI version](https://img.shields.io/pypi/v/mink)](https://pypi.org/project/mink/)
+![Banner for mink](https://github.com/kevinzakka/mink/blob/assets/banner.png?raw=true)
 
 mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
 
+Features include:
+
+* Task specification in configuration or operational space;
+* Limits on joint positions and velocities;
+* Collision avoidance between any geom pair;
+* Lie group interface for rigid body transformations.
+
+For usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).
+
 ## Installation
 
+You can install `mink` using `pip`:
+
 ```bash
-pip install -e ".[examples]"
+pip install mink
+```
+
+To include the example dependencies:
+
+```bash
+pip install "mink[examples]"
 ```
 
 ## Examples
 
+mink works with a variety of robots, including:
+
 * Arms: [UR5e](https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e_actuators.py), [iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/arm_iiwa.py), [bimanual iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/dual_iiwa.py)
 * Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py)
 * Quadrupeds: [Unitree Go1](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_go1.py), [Boston Dynamics Spot](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_spot.py)
-* Hands: [Shadow Hand]()
+* Hands: [Shadow Hand](https://github.com/kevinzakka/mink/blob/main/examples/hand_shadow.py)
 
 Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
 
@@ -62,7 +89,7 @@ Install the library, use it and report any bugs in the [issue tracker](https://g
 
 ## Acknowledgements
 
-mink is a direct port of [pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the original author of pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
+mink is a direct port of [Pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the author of Pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
 
 mink also heavily adapts code from the following libraries:
 

{mink-0.0.1 → mink-0.0.2}/README.md

@@ -1,21 +1,43 @@
 # mink
 
 [![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mink/ci.yml?branch=main)](https://github.com/kevinzakka/mink/actions)
+[![Coverage Status](https://coveralls.io/repos/github/kevinzakka/mink/badge.svg)](https://coveralls.io/github/kevinzakka/mink)
+[![PyPI version](https://img.shields.io/pypi/v/mink)](https://pypi.org/project/mink/)
+![Banner for mink](https://github.com/kevinzakka/mink/blob/assets/banner.png?raw=true)
 
 mink is a library for differential inverse kinematics in Python, based on the [MuJoCo](https://github.com/google-deepmind/mujoco) physics engine.
 
+Features include:
+
+* Task specification in configuration or operational space;
+* Limits on joint positions and velocities;
+* Collision avoidance between any geom pair;
+* Lie group interface for rigid body transformations.
+
+For usage and API reference, see the [documentation](https://kevinzakka.github.io/mink/).
+
 ## Installation
 
+You can install `mink` using `pip`:
+
 ```bash
-pip install -e ".[examples]"
+pip install mink
+```
+
+To include the example dependencies:
+
+```bash
+pip install "mink[examples]"
 ```
 
 ## Examples
 
+mink works with a variety of robots, including:
+
 * Arms: [UR5e](https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e_actuators.py), [iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/arm_iiwa.py), [bimanual iiwa14](https://github.com/kevinzakka/mink/blob/main/examples/dual_iiwa.py)
 * Humanoids: [Unitree G1](https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py)
 * Quadrupeds: [Unitree Go1](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_go1.py), [Boston Dynamics Spot](https://github.com/kevinzakka/mink/blob/main/examples/quadruped_spot.py)
-* Hands: [Shadow Hand]()
+* Hands: [Shadow Hand](https://github.com/kevinzakka/mink/blob/main/examples/hand_shadow.py)
 
 Check out the [examples](https://github.com/kevinzakka/mink/blob/main/examples/) directory for more code.
 
@@ -25,7 +47,7 @@ Install the library, use it and report any bugs in the [issue tracker](https://g
 
 ## Acknowledgements
 
-mink is a direct port of [pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the original author of pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
+mink is a direct port of [Pink](https://github.com/stephane-caron/pink) which uses [Pinocchio](https://github.com/stack-of-tasks/pinocchio) under the hood. Stéphane Caron, the author of Pink, is a role model for open-source software in robotics. This library would not have been possible without his work and assistance throughout this project.
 
 mink also heavily adapts code from the following libraries:
 

{mink-0.0.1 → mink-0.0.2}/mink/__init__.py

@@ -25,7 +25,15 @@ from .limits import (
     VelocityLimit,
 )
 from .solve_ik import build_ik, solve_ik
-from .tasks import ComTask, FrameTask, Objective, PostureTask, TargetNotSet, Task
+from .tasks import (
+    ComTask,
+    DampingTask,
+    FrameTask,
+    Objective,
+    PostureTask,
+    TargetNotSet,
+    Task,
+)
 from .utils import (
     custom_configuration_vector,
     get_body_geom_ids,
@@ -34,13 +42,14 @@ from .utils import (
     move_mocap_to_frame,
 )
 
-__version__ = "0.0.1"
+__version__ = "0.0.2"
 
 __all__ = (
     "ComTask",
     "Configuration",
     "build_ik",
     "solve_ik",
+    "DampingTask",
     "FrameTask",
     "PostureTask",
     "Task",

{mink-0.0.1 → mink-0.0.2}/mink/configuration.py

@@ -1,3 +1,14 @@
+"""Configuration space of a robot model.
+
+The :class:`Configuration` class bundles a MuJoCo `model <https://mujoco.readthedocs.io/en/latest/APIreference/APItypes.html#mjmodel>`__
+and `data <https://mujoco.readthedocs.io/en/latest/APIreference/APItypes.html#mjdata>`__,
+and enables easy access to kinematic quantities such as frame transforms and frame
+Jacobians.
+
+Frames are coordinate systems that can be attached to different elements of
+the robot model. mink supports frames of type `body`, `geom` and `site`.
+"""
+
 from typing import Optional
 
 import mujoco
@@ -9,14 +20,24 @@ from .lie import SE3, SO3
 
 
 class Configuration:
-    """A struct that provides convenient access to kinematic quantities such as frame
-    transforms and frame jacobians. Frames can be defined at bodies, geoms or sites.
+    """Encapsulates a model and data for convenient access to kinematic quantities.
+
+    This class provides convenient methods to access and update the kinematic quantities
+    of a robot model, such as frame transforms and Jacobians. It ensures that forward
+    kinematics is computed at each time step, allowing the user to query up-to-date
+    information about the robot's state.
+
+    In this context, a frame refers to a coordinate system that can be attached to
+    different elements of the robot model. Currently supported frames include
+    `body`, `geom` and `site`.
 
-    The `update` function ensures the proper forward kinematics functions have been
-    called, namely:
+    Key functionalities include:
 
-    - mujoco.mj_kinematics(model, data)
-    - mujoco.mj_comPos(model, data)
+        - Running forward kinematics to update the state.
+        - Checking configuration limits.
+        - Computing Jacobians for different frames.
+        - Retrieving frame transforms relative to the world frame.
+        - Integrating velocities to update configurations.
     """
 
     def __init__(
@@ -27,8 +48,8 @@ class Configuration:
         """Constructor.
 
         Args:
-            model: An instance of MjModel.
-            q: Optional configuration to initialize from. If None, the configuration
+            model: Mujoco model.
+            q: Configuration to initialize from. If None, the configuration
                 is initialized to the reference configuration `qpos0`.
         """
         self.model = model
@@ -38,15 +59,13 @@ class Configuration:
     def update(self, q: Optional[np.ndarray] = None) -> None:
         """Run forward kinematics.
 
-        The minimal function call required to get updated frame transforms (aka forward
-        kinematics) is `mj_kinematics`. An extra call to `mj_comPos` is needed for
-        updated Jacobians.
-
-        Args:`
+        Args:
             q: Optional configuration vector to override internal data.qpos with.
         """
         if q is not None:
             self.data.qpos = q
+        # The minimal function call required to get updated frame transforms is
+        # mj_kinematics. An extra call to mj_comPos is required for updated Jacobians.
         mujoco.mj_kinematics(self.model, self.data)
         mujoco.mj_comPos(self.model, self.data)
 
@@ -95,24 +114,27 @@ class Configuration:
                     )
                 else:
                     print(
-                        f"Value {qval} at index {jnt} is out of limits: "
-                        f"[{qmin}, {qmax}]"
+                        f"Value {qval:.2f} at index {jnt} is outside of its limits: "
+                        f"[{qmin:.2f}, {qmax:.2f}]"
                     )
 
     def get_frame_jacobian(self, frame_name: str, frame_type: str) -> np.ndarray:
-        """Compute the Jacobian matrix of a frame velocity.
+        r"""Compute the Jacobian matrix of a frame velocity.
 
-        Denoting our frame by B and the world frame by W, the Jacobian matrix B_J_WB
-        is related to the body velocity B_v_WB by:
+        Denoting our frame by :math:`B` and the world frame by :math:`W`, the
+        Jacobian matrix :math:`{}_B J_{WB}` is related to the body velocity
+        :math:`{}_B v_{WB}` by:
 
-            B_v_WB = B_J_WB q_dot
+        .. math::
+
+            {}_B v_{WB} = {}_B J_{WB} \dot{q}
 
         Args:
             frame_name: Name of the frame in the MJCF.
             frame_type: Type of frame. Can be a geom, a body or a site.
 
         Returns:
-            Jacobian B_J_WB of the frame.
+            Jacobian :math:`{}_B J_{WB}` of the frame.
         """
         if frame_type not in consts.SUPPORTED_FRAMES:
             raise exceptions.UnsupportedFrame(frame_type, consts.SUPPORTED_FRAMES)
@@ -142,9 +164,7 @@ class Configuration:
         return jac
 
     def get_transform_frame_to_world(self, frame_name: str, frame_type: str) -> SE3:
-        """Get the pose of a frame in the current configuration.
-
-        Denoting our frame by B and the world frame by W, this function returns T_WB.
+        """Get the pose of a frame at the current configuration.
 
         Args:
             frame_name: Name of the frame in the MJCF.
@@ -177,7 +197,7 @@ class Configuration:
         """Integrate a velocity starting from the current configuration.
 
         Args:
-            velocity: The velocity.
+            velocity: The velocity in tangent space.
             dt: Integration duration in [s].
 
         Returns:
@@ -191,7 +211,7 @@ class Configuration:
         """Integrate a velocity and update the current configuration inplace.
 
         Args:
-            velocity: The velocity.
+            velocity: The velocity in tangent space.
             dt: Integration duration in [s].
         """
         mujoco.mj_integratePos(self.model, self.data.qpos, velocity, dt)

{mink-0.0.1 → mink-0.0.2}/mink/lie/base.py

@@ -10,8 +10,8 @@ class MatrixLieGroup(abc.ABC):
 
     Attributes:
         matrix_dim: Dimension of square matrix output.
-        parameters_dim:: Dimension of underlying parameters.
-        tangent_dim:: Dimension of tangent space.
+        parameters_dim: Dimension of underlying parameters.
+        tangent_dim: Dimension of tangent space.
         space_dim: Dimension of coordinates that can be transformed.
     """
 

{mink-0.0.1 → mink-0.0.2}/mink/lie/so3.py

@@ -14,6 +14,8 @@ _INVERT_QUAT_SIGN = np.array([1.0, -1.0, -1.0, -1.0], dtype=np.float64)
 
 
 class RollPitchYaw(NamedTuple):
+    """Struct containing roll, pitch, and yaw Euler angles."""
+
     roll: float
     pitch: float
     yaw: float

{mink-0.0.1 → mink-0.0.2}/mink/limits/collision_avoidance_limit.py

@@ -1,32 +1,4 @@
-"""Collision avoidance limit.
-
-Derivation
-==========
-
-p1, p2: closest points between g1 and g2
-d: distance between g1 and g2 (d = ||p1 - p2||)
-n: normal vector from g1 to g2 (n = (p2 - p1) / ||p2 - p1||)
-
-The relative velocity constraint between g1 and g2 is given by:
-
-    n^T [J2(p2) - J1(p1)] dq <= -k * (d - d_min) / dt
-    V_n <= -k * (d - d_min)
-
-where [J2(p2) - J1(p1)] dq denotes the relative velocity between g1 and g2, and
-n^T [J2(p2) - J1(p1)] dq projects this velocity onto the direction connecting the
-closest points p1 and p2.
-
-We have three cases for the distance d:
-
-1. V_n <= R_b                                if dist_c < dist_m
-2. V_n <= -k * (dist_c - dist_m) / dt + R_b  if dist_m <= d <= dist_d
-3. V_n <= inf                                otherwise
-
-where:
-- dist_c: current normal distance between g1 and g2
-- dist_m: minimum allowed distance between g1 and g2
-- dist_d: collision detection distance
-"""
+"""Collision avoidance limit."""
 
 import itertools
 from dataclasses import dataclass
@@ -46,7 +18,7 @@ CollisionPairs = Sequence[CollisionPair]
 
 
 @dataclass(frozen=True)
-class Contact:
+class _Contact:
     dist: float
     fromto: np.ndarray
     geom1: int
@@ -107,7 +79,31 @@ def _is_pass_contype_conaffinity_check(
 
 
 class CollisionAvoidanceLimit(Limit):
-    """Normal velocity limit between geom pairs."""
+    """Normal velocity limit between geom pairs.
+
+    Attributes:
+        model: MuJoCo model.
+        geom_pairs: Set of collision pairs in which to perform active collision
+            avoidance. A collision pair is defined as a pair of geom groups. A geom
+            group is a set of geom names. For each geom pair, the solver will
+            attempt to compute joint velocities that avoid collisions between every
+            geom in the first geom group with every geom in the second geom group.
+            Self collision is achieved by adding a collision pair with the same
+            geom group in both pair fields.
+        gain: Gain factor in (0, 1] that determines how fast the geoms are
+            allowed to move towards each other at each iteration. Smaller values
+            are safer but may make the geoms move slower towards each other.
+        minimum_distance_from_collisions: The minimum distance to leave between
+            any two geoms. A negative distance allows the geoms to penetrate by
+            the specified amount.
+        collision_detection_distance: The distance between two geoms at which the
+            active collision avoidance limit will be active. A large value will
+            cause collisions to be detected early, but may incur high computational
+            cost. A negative value will cause the geoms to be detected only after
+            they penetrate by the specified amount.
+        bound_relaxation: An offset on the upper bound of each collision avoidance
+            constraint.
+    """
 
     def __init__(
         self,
@@ -141,7 +137,7 @@ class CollisionAvoidanceLimit(Limit):
                 cost. A negative value will cause the geoms to be detected only after
                 they penetrate by the specified amount.
             bound_relaxation: An offset on the upper bound of each collision avoidance
-                constraint to tighten or relax
+                constraint.
         """
         self.model = model
         self.gain = gain
@@ -178,7 +174,7 @@ class CollisionAvoidanceLimit(Limit):
 
     def _compute_contact_with_minimum_distance(
         self, data: mujoco.MjData, geom1_id: int, geom2_id: int
-    ) -> Contact:
+    ) -> _Contact:
         """Returns the smallest signed distance between a geom pair."""
         fromto = np.empty(6)
         dist = mujoco.mj_geomDistance(
@@ -189,12 +185,12 @@ class CollisionAvoidanceLimit(Limit):
             self.collision_detection_distance,
             fromto,
         )
-        return Contact(
+        return _Contact(
             dist, fromto, geom1_id, geom2_id, self.collision_detection_distance
         )
 
     def _compute_contact_normal_jacobian(
-        self, data: mujoco.MjData, contact: Contact
+        self, data: mujoco.MjData, contact: _Contact
     ) -> np.ndarray:
         """Computes the Jacobian mapping joint velocities to the normal component of
         the relative Cartesian linear velocity between the geom pair.

{mink-0.0.1 → mink-0.0.2}/mink/limits/configuration_limit.py

@@ -1,24 +1,4 @@
-"""Limit on joint positions.
-
-Derivation
-==========
-
-Using a first order Taylor expansion on the configuration, we can write the limit as:
-
-    q_min     <= q + v * dt <= q_max
-    q_min     <= q + dq     <= q_max
-    q_min - q <= dq         <= q_max - q
-
-Rewriting as G dq <= h:
-
-    +I * dq <= q_max - q
-    -I * dq <= q - q_min
-
-Stacking them together, we get:
-
-    G = [+I, -I]
-    h = [q_max - q, q - q_min]
-"""
+"""Joint position limit."""
 
 import mujoco
 import numpy as np
@@ -30,16 +10,9 @@ from .limit import Constraint, Limit
 
 
 class ConfigurationLimit(Limit):
-    """Limit for joint positions in a model.
-
-    Floating base joints (joint type="free") are ignored.
+    """Inequality constraint on joint positions in a robot model.
 
-    Attributes:
-        indices: Tangent indices corresponding to configuration-limited joints.
-        projection_matrix: Projection from tangent space to subspace with
-            configuration-limited joints.
-        lower: Lower configuration limit.
-        upper: Upper configuration limit.
+    Floating base joints are ignored.
     """
 
     def __init__(
@@ -95,6 +68,26 @@ class ConfigurationLimit(Limit):
         configuration: Configuration,
         dt: float,
     ) -> Constraint:
+        r"""Compute the configuration-dependent joint position limits.
+
+        The limits are defined as:
+
+        .. math::
+
+            {q \ominus q_{min}} \leq \Delta q \leq {q_{max} \ominus q}
+
+        where :math:`q \in {\cal C}` is the robot's configuration and
+        :math:`\Delta q \in T_q({\cal C})` is the displacement in the tangent
+        space at :math:`q`. See the :ref:`derivations` section for more information.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+            dt: Integration timestep in [s].
+
+        Returns:
+            Pair :math:`(G, h)` representing the inequality constraint as
+            :math:`G \Delta q \leq h`, or ``None`` if there is no limit.
+        """
         del dt  # Unused.
 
         # Upper.

mink-0.0.2/mink/limits/limit.py

@@ -0,0 +1,59 @@
+"""All kinematic limits derive from the :class:`Limit` base class."""
+
+import abc
+from typing import NamedTuple, Optional
+
+import numpy as np
+
+from ..configuration import Configuration
+
+
+class Constraint(NamedTuple):
+    r"""Linear inequality constraint of the form :math:`G(q) \Delta q \leq h(q)`.
+
+    Inactive if G and h are None.
+    """
+
+    G: Optional[np.ndarray] = None
+    """Shape (nv, nv)."""
+    h: Optional[np.ndarray] = None
+    """Shape (nv,)."""
+
+    @property
+    def inactive(self) -> bool:
+        """Returns True if the constraint is inactive."""
+        return self.G is None and self.h is None
+
+
+class Limit(abc.ABC):
+    """Abstract base class for kinematic limits.
+
+    Subclasses must implement the :py:meth:`~Limit.compute_qp_inequalities` method
+    which takes in the current robot configuration and integration time step and
+    returns an instance of :class:`Constraint`.
+    """
+
+    @abc.abstractmethod
+    def compute_qp_inequalities(
+        self,
+        configuration: Configuration,
+        dt: float,
+    ) -> Constraint:
+        r"""Compute limit as linearized QP inequalities of the form:
+
+        .. math::
+
+            G(q) \Delta q \leq h(q)
+
+        where :math:`q \in {\cal C}` is the robot's configuration and
+        :math:`\Delta q \in T_q({\cal C})` is the displacement in the tangent
+        space at :math:`q`.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+            dt: Integration time step in [s].
+
+        Returns:
+            Pair :math:`(G, h)`.
+        """
+        raise NotImplementedError

{mink-0.0.1 → mink-0.0.2}/mink/limits/velocity_limit.py

@@ -1,24 +1,4 @@
-"""Limit on joint velocities.
-
-Derivation
-==========
-
-Given maximum joint velocity magnitudes v_max, we can express joint velocity limits as:
-
-    -v_max      <= v       <= v_max
-    -v_max      <= dq / dt <= v_max
-    -v_max * dt <= dq      <= v_max * dt
-
-Rewriting as G dq <= h:
-
-    +I * dq <= v_max * dt
-    -I * dq <= v_max * dt
-
-Stacking them together, we get:
-
-    G = [+I, -I]
-    h = [v_max * dt, v_max * dt]
-"""
+"""Joint velocity limit."""
 
 from typing import Mapping
 
@@ -33,17 +13,22 @@ from .limit import Constraint, Limit
 
 
 class VelocityLimit(Limit):
-    """Limit for joint velocities in a model.
+    """Inequality constraint on joint velocities in a robot model.
 
     Floating base joints are ignored.
 
     Attributes:
         indices: Tangent indices corresponding to velocity-limited joints.
-        limit: Maximum allowed velocity magnitude for velocity-limited joints.
+        limit: Maximum allowed velocity magnitude for velocity-limited joints, in
+            [m]/[s] for slide joints and [rad]/[s] for hinge joints.
         projection_matrix: Projection from tangent space to subspace with
             velocity-limited joints.
     """
 
+    indices: np.ndarray
+    limit: np.ndarray
+    projection_matrix: np.ndarray
+
     def __init__(
         self,
         model: mujoco.MjModel,
@@ -52,6 +37,7 @@ class VelocityLimit(Limit):
         """Initialize velocity limits.
 
         Args:
+            model: MuJoCo model.
             velocities: Dictionary mapping joint name to maximum allowed magnitude in
                 [m]/[s] for slide joints and [rad]/[s] for hinge joints.
         """
@@ -84,6 +70,27 @@ class VelocityLimit(Limit):
     def compute_qp_inequalities(
         self, configuration: Configuration, dt: float
     ) -> Constraint:
+        r"""Compute the configuration-dependent joint velocity limits.
+
+        The limits are defined as:
+
+        .. math::
+
+            -v_{\text{max}} \cdot dt \leq \Delta q \leq v_{\text{max}} \cdot dt
+
+        where :math:`v_{max} \in {\cal T}` is the robot's velocity limit
+        vector and :math:`\Delta q \in T_q({\cal C})` is the displacement in the
+        tangent space at :math:`q`. See the :ref:`derivations` section for
+        more information.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+            dt: Integration timestep in [s].
+
+        Returns:
+            Pair :math:`(G, h)` representing the inequality constraint as
+            :math:`G \Delta q \leq h`, or ``None`` if there is no limit.
+        """
         del configuration  # Unused.
         if self.projection_matrix is None:
             return Constraint()