mink 0.0.5__py3-none-any.whl → 0.0.6__py3-none-any.whl

mink/__init__.py

@@ -28,6 +28,7 @@ from .solve_ik import build_ik, solve_ik
 from .tasks import (
     ComTask,
     DampingTask,
+    EqualityConstraintTask,
     FrameTask,
     Objective,
     PostureTask,
@@ -39,6 +40,7 @@ from .utils import (
     custom_configuration_vector,
     get_body_geom_ids,
     get_freejoint_dims,
+    get_subtree_body_ids,
     get_subtree_geom_ids,
     move_mocap_to_frame,
 )
@@ -53,6 +55,7 @@ __all__ = (
     "RelativeFrameTask",
     "PostureTask",
     "Task",
+    "EqualityConstraintTask",
     "Objective",
     "ConfigurationLimit",
     "VelocityLimit",
@@ -81,4 +84,5 @@ __all__ = (
     "move_mocap_to_frame",
     "get_subtree_geom_ids",
     "get_body_geom_ids",
+    "get_subtree_body_ids",
 )

mink/configuration.py

@@ -43,8 +43,8 @@ class Configuration:
 
         Args:
             model: Mujoco model.
-            q: Configuration to initialize from. If None, the configuration
-                is initialized to the default configuration `qpos0`.
+            q: Configuration to initialize from. If None, the configuration is
+                initialized to the default configuration `qpos0`.
         """
         self.model = model
         self.data = mujoco.MjData(model)
@@ -62,6 +62,8 @@ class Configuration:
         # 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)
+        if self.model.neq > 0:
+            mujoco.mj_makeConstraint(self.model, self.data)
 
     def update_from_keyframe(self, key_name: str) -> None:
         """Update the configuration from a keyframe.
@@ -104,7 +106,7 @@ class Configuration:
                         model=self.model,
                     )
                 else:
-                    logging.warning(
+                    logging.debug(
                         f"Value {qval:.2f} at index {jnt} is outside of its limits: "
                         f"[{qmin:.2f}, {qmax:.2f}]"
                     )

mink/contrib/__init__.py

@@ -0,0 +1,8 @@
+"""contrib: additional functionality for mink."""
+
+from .keyboard_teleop import TeleopMocap, keycodes
+
+__all__ = (
+    "TeleopMocap",
+    "keycodes",
+)

mink/contrib/keyboard_teleop/KEYBOARD.md

@@ -0,0 +1,82 @@
+# Keyboard Controls for Teleoperation
+This document explains the keyboard input handling system implemented in the `TeleopMocap` class for teleoperation.  
+The system allows users to toggle different movement modes, adjust speeds, and control the movement of a mocap body in a simulation.
+
+---
+
+## Overview
+The `TeleopMocap` class provides keyboard-based control for moving and rotating the mocap body in a Mujoco simulation.  
+Features:
+- 6 degrees of freedom (DOF) movement
+- Toggling between manual and non-manual movement
+- Switching between rotation and translation
+- Adjusting movement and rotation step sizes
+- Alternating between different mocap data
+
+---
+
+## Key Mappings
+| Key | Action |
+|-----|--------|
+| `9` | Toggle teleoperation On/Off. |
+| `n` | Toggle between manual and non-manual mode. |
+| `.` | Toggle between rotation and translation mode. |
+| `8` | Cycle through different mocap data. |
+| `+` | Increase movement step size or movement speed. |
+| `-` | Decrease movement step size or movement speed. |
+| **Arrow Keys** | **Move (rotation / translation) along the X, Y, and Z axes** |
+| `Up` | Move forward (+X) or rotates around X-axis in positive direction. |
+| `Down` | Move backward (-X) or rotates around X-axis in negative direction. |
+| `Right` | Move right (+Y) or rotates around Y-axis in positive direction. |
+| `Left` | Move left (-Y) or rotates around Y-axis in negative direction. |
+| `7` | Move up (+Z) or rotates around Z-axis in positive direction. |
+| `6` | Move down (-Z) or rotates around Z-axis in negative direction. |
+
+---
+
+## Modes
+### **Manual vs. Non-Manual Mode:**
+- **Manual Mode**: Iterative movement using arrow keys.
+- **Non-Manual Mode**: Continuous movement using arrow keys (to stop continuous movement, re-click the arrow key).
+
+### **Rotation vs. Translation Mode:**
+- **Rotation Mode**: Rotation around an axis.
+- **Translation Mode**: Movement along an axis.
+
+---
+
+## Example Usage
+To use the `TeleopMocap` class, instantiate it and pass the `mjData`.  
+Pass the `key_callback_data` method as a `key_callback` in the mujoco viewer.  
+Call the `auto_key_move()` in the viewer loop.
+
+```python
+import mink
+...
+data = MjData(model)
+...
+# Initialize the key callback handler
+key_callback = mink.TeleopMocap(data)
+
+# Pass the key callback function into the viewer
+with mujoco.viewer.launch_passive(
+    model=model, data=data, 
+    show_left_ui=False, show_right_ui=False, 
+    key_callback=key_callback.key_callback_data
+) as viewer:
+    while viewer.is_running():
+        ...
+        key_callback.auto_key_move()
+        ...
+```
+
+---
+
+## Limitations
+`Mink` uses the `mujoco.viewer.launch_passive()` for visualization and maintaining the simulation loop.  
+To pass keyboard callbacks, we have to pass a callback function `key_callback(key)` as an argument to the `launch_passive()`.  
+However, this has several limitations:
+- Only being able to register one key press at a time.
+- It can only register one key action (which is the action PRESS); can't register key holds (act.HOLD) or releases (act.RELEASE).
+- Doesn't support key + modifier combinations in (e.g., Ctrl + Arrow keys).
+- Viewer has a lot of default keybinds, which limits the amount of free keys to use for movement.

mink/contrib/keyboard_teleop/__init__.py

@@ -0,0 +1,9 @@
+"""keyboard_teleop: Class to handle keyboard input for teleoperation."""
+
+from . import keycodes
+from .teleop_mocap import TeleopMocap
+
+__all__ = (
+    "keycodes",
+    "TeleopMocap",
+)

mink/contrib/keyboard_teleop/keycodes.py

@@ -0,0 +1,109 @@
+"""
+This file contains key codes for keyboard input handling.
+"""
+
+KEY_UNKNOWN = -1
+KEY_SPACE = 32
+KEY_APOSTROPHE = 39
+KEY_COMMA = 44
+KEY_MINUS = 45
+KEY_PERIOD = 46
+KEY_SLASH = 47
+KEY_0 = 48
+KEY_1 = 49
+KEY_2 = 50
+KEY_3 = 51
+KEY_4 = 52
+KEY_5 = 53
+KEY_6 = 54
+KEY_7 = 55
+KEY_8 = 56
+KEY_9 = 57
+KEY_SEMICOLON = 59
+KEY_EQUAL = 61
+KEY_A = 65
+KEY_B = 66
+KEY_C = 67
+KEY_D = 68
+KEY_E = 69
+KEY_F = 70
+KEY_G = 71
+KEY_H = 72
+KEY_I = 73
+KEY_J = 74
+KEY_K = 75
+KEY_L = 76
+KEY_M = 77
+KEY_N = 78
+KEY_O = 79
+KEY_P = 80
+KEY_Q = 81
+KEY_R = 82
+KEY_S = 83
+KEY_T = 84
+KEY_U = 85
+KEY_V = 86
+KEY_W = 87
+KEY_X = 88
+KEY_Y = 89
+KEY_Z = 90
+KEY_LEFT_BRACKET = 91
+KEY_BACKSLASH = 92
+KEY_RIGHT_BRACKET = 93
+KEY_GRAVE_ACCENT = 96
+KEY_ESCAPE = 256
+KEY_ENTER = 257
+KEY_TAB = 258
+KEY_BACKSPACE = 259
+KEY_INSERT = 260
+KEY_DELETE = 261
+KEY_RIGHT = 262
+KEY_LEFT = 263
+KEY_DOWN = 264
+KEY_UP = 265
+KEY_PAGE_UP = 266
+KEY_PAGE_DOWN = 267
+KEY_HOME = 268
+KEY_END = 269
+KEY_CAPS_LOCK = 280
+KEY_SCROLL_LOCK = 281
+KEY_NUM_LOCK = 282
+KEY_PRINT_SCREEN = 283
+KEY_PAUSE = 284
+KEY_F1 = 290
+KEY_F2 = 291
+KEY_F3 = 292
+KEY_F4 = 293
+KEY_F5 = 294
+KEY_F6 = 295
+KEY_F7 = 296
+KEY_F8 = 297
+KEY_F9 = 298
+KEY_F10 = 299
+KEY_F11 = 300
+KEY_F12 = 301
+KEY_KP_0 = 320
+KEY_KP_1 = 321
+KEY_KP_2 = 322
+KEY_KP_3 = 323
+KEY_KP_4 = 324
+KEY_KP_5 = 325
+KEY_KP_6 = 326
+KEY_KP_7 = 327
+KEY_KP_8 = 328
+KEY_KP_9 = 329
+KEY_KP_DECIMAL = 330
+KEY_KP_DIVIDE = 331
+KEY_KP_MULTIPLY = 332
+KEY_KP_SUBTRACT = 333
+KEY_KP_ADD = 334
+KEY_KP_ENTER = 335
+KEY_KP_EQUAL = 336
+KEY_LEFT_SHIFT = 340
+KEY_LEFT_CONTROL = 341
+KEY_LEFT_ALT = 342
+KEY_LEFT_SUPER = 343
+KEY_RIGHT_SHIFT = 344
+KEY_RIGHT_CONTROL = 345
+KEY_RIGHT_ALT = 346
+KEY_RIGHT_SUPER = 347

mink/contrib/keyboard_teleop/teleop_mocap.py

@@ -0,0 +1,230 @@
+from functools import partial
+
+import mujoco
+import numpy as np
+
+from . import keycodes
+
+
+class TeleopMocap:
+    """
+    Class to handle keyboard input for teleoperation.
+    The class provides methods to toggle teleoperation on/off,
+    switch between manual and non-manual modes,
+    adjust step sizes / speed for movement and rotation,
+    and select movements based on key presses.
+    """
+
+    def __init__(self, data):
+        self.on = False
+        self.data = data
+        self.reset_state()
+        self.actions = {
+            keycodes.KEY_N: self.toggle_manual,  # n: toggle non-manual mode
+            keycodes.KEY_PERIOD: self.toggle_rotation,  # .: toggle rotation mode
+            keycodes.KEY_8: self.toggle_mocap,  # 8: toggle mocap data
+            keycodes.KEY_EQUAL: partial(self.toggle_speed, 1),  # =/+: increase speed
+            keycodes.KEY_MINUS: partial(self.toggle_speed, -1),  # -: decrease speed
+            keycodes.KEY_UP: partial(
+                self.movement_select, keycodes.KEY_UP, 0, 1
+            ),  # Up arrow
+            keycodes.KEY_DOWN: partial(
+                self.movement_select, keycodes.KEY_DOWN, 0, -1
+            ),  # Down arrow
+            keycodes.KEY_RIGHT: partial(
+                self.movement_select, keycodes.KEY_RIGHT, 1, 1
+            ),  # Right arrow
+            keycodes.KEY_LEFT: partial(
+                self.movement_select, keycodes.KEY_LEFT, 1, -1
+            ),  # Left arrow
+            keycodes.KEY_7: partial(self.movement_select, keycodes.KEY_7, 2, 1),  # 6
+            keycodes.KEY_6: partial(self.movement_select, keycodes.KEY_6, 2, -1),  # 7
+        }
+        self.movements = {
+            keycodes.KEY_UP: partial(self.movement_select, -1, 0, 1),  # Up arrow
+            keycodes.KEY_DOWN: partial(self.movement_select, -1, 0, -1),  # Down arrow
+            keycodes.KEY_RIGHT: partial(self.movement_select, -1, 1, 1),  # Right arrow
+            keycodes.KEY_LEFT: partial(self.movement_select, -1, 1, -1),  # Left arrow
+            keycodes.KEY_7: partial(self.movement_select, -1, 2, 1),  # 6
+            keycodes.KEY_6: partial(self.movement_select, -1, 2, -1),  # 7
+        }
+        self.opposite_keys = {
+            keycodes.KEY_UP: keycodes.KEY_DOWN,
+            keycodes.KEY_DOWN: keycodes.KEY_UP,
+            keycodes.KEY_RIGHT: keycodes.KEY_LEFT,
+            keycodes.KEY_LEFT: keycodes.KEY_RIGHT,
+            keycodes.KEY_7: keycodes.KEY_6,
+            keycodes.KEY_6: keycodes.KEY_7,
+        }
+
+    def __call__(self, key):
+        # Toggle teleop on/off
+        if key == keycodes.KEY_9:  # 9
+            self.toggle_on()
+            return
+
+        # Do nothing if teleop is off
+        if not self.on:
+            return
+
+        if key in self.actions:
+            self.actions[key]()
+
+    def auto_key_move(self):
+        """
+        Automatically move the mocap body based on key presses.
+        """
+
+        if not self.on:
+            return
+
+        for key, action in self.movements.items():
+            if self.keys[key]:
+                action()
+
+    def movement_select(self, key, axis, direction):
+        """
+        Select the movement direction based on the key pressed.
+        """
+
+        if not self.manual and key != -1:
+            self.keys[key] = not self.keys[key]
+            self.keys[self.opposite_keys[key]] = False
+        elif not self.manual and key == -1:
+            self.rot_or_trans(key, axis, direction)
+        elif self.manual:
+            self.rot_or_trans(key, axis, direction)
+
+    def rot_or_trans(self, key, axis, direction):
+        """
+        Adjust the position or rotation of the mocap body based on rotation mode.
+        """
+
+        if self.rotation:
+            self.adjust_rotation(key, axis, direction)
+        else:
+            self.adjust_position(key, axis, direction)
+
+    def adjust_position(self, key, axis, direction):
+        """
+        Adjust the position of the mocap body in the specified direction
+        based on the axis and step size.
+        """
+
+        q = self.data.mocap_quat[self.mocap_idx].copy()
+        rot = np.zeros(shape=(9,), dtype=np.float64)
+        mujoco.mju_quat2Mat(rot, q)
+        rot = rot.reshape((3, 3))
+        unit_vec = rot[:, axis]
+        step_size = self.m_step_size if self.manual else self.nm_step_size
+        self.data.mocap_pos[self.mocap_idx] += direction * step_size * unit_vec
+
+    def adjust_rotation(self, key, axis, direction):
+        """
+        Adjust the rotation of the mocap body in the specified direction
+        based on the axis and step size.
+        """
+
+        step_size = self.m_rotation_step if self.manual else self.nm_rotation_step
+        self.data.mocap_quat[self.mocap_idx] = self.rotate_quaternion(
+            self.data.mocap_quat[self.mocap_idx], axis, direction * step_size
+        )
+
+    def rotate_quaternion(self, quat, axis, angle):
+        """
+        Rotate a quaternion by an angle around an axis.
+        """
+        rot = np.zeros(shape=(4,), dtype=np.float64)
+        result = np.zeros(shape=(4,), dtype=np.float64)
+
+        unit_axis = np.zeros(shape=(3,), dtype=np.float64)
+        if axis == 0:
+            unit_axis[0] = 1.0
+        elif axis == 1:
+            unit_axis[1] = 1.0
+        elif axis == 2:
+            unit_axis[2] = 1.0
+
+        angle_rad = np.deg2rad(angle)
+        unit_axis = unit_axis / np.linalg.norm(unit_axis)
+        mujoco.mju_axisAngle2Quat(rot, unit_axis, angle_rad)
+        mujoco.mju_mulQuat(result, rot, quat)
+        return result
+
+    def toggle_on(self):
+        self.on = not self.on
+        state = "On" if self.on else "Off"
+        print(f"Keyboard Teleoperation toggled: {state}!")
+        self.reset_state()
+        print()
+
+    def toggle_manual(self):
+        self.manual = not self.manual
+        manual_state = "On" if self.manual else "Off"
+        print(f"Manual mode toggled: {manual_state}!")
+        self.reset_keys()
+        print()
+
+    def toggle_rotation(self):
+        self.rotation = not self.rotation
+        state = "On" if self.rotation else "Off"
+        print(f"Rotation mode toggled: {state}!")
+        self.reset_keys()
+        print()
+
+    def toggle_speed(self, direction):
+        factor = 1.10 if direction == 1 else 0.9
+        if self.manual:
+            if self.rotation:
+                self.m_rotation_step *= factor
+            else:
+                self.m_step_size *= factor
+        else:
+            if self.rotation:
+                self.nm_rotation_step *= factor
+            else:
+                self.nm_step_size *= factor
+
+        output = "Manual" if self.manual else "Non-manual"
+        mode = "Rotation" if self.rotation else "Translation"
+        if self.manual:
+            step_size = self.m_rotation_step if self.rotation else self.m_step_size
+        else:
+            step_size = self.nm_rotation_step if self.rotation else self.nm_step_size
+        print(f"{output} {mode} step size: {step_size:.8f}")
+
+    def toggle_mocap(self):
+        self.mocap_idx = (self.mocap_idx + 1) % self.data.mocap_pos.shape[
+            0
+        ]  # cycle through mocap data
+        print(f"Current mocap index: {self.mocap_idx}")
+
+    def reset_keys(self):
+        self.keys = {
+            keycodes.KEY_UP: False,
+            keycodes.KEY_DOWN: False,
+            keycodes.KEY_RIGHT: False,
+            keycodes.KEY_LEFT: False,
+            keycodes.KEY_7: False,
+            keycodes.KEY_6: False,
+        }
+
+    def reset_step_size(self):
+        self.m_step_size = 0.01  # manual step size
+        self.m_rotation_step = 10  # manual rotation step
+        self.nm_step_size = 1e-4  # non-manual step size
+        self.nm_rotation_step = 5e-2  # non-manual rotation step
+        print("Step sizes have been reset!")
+
+    def reset_state(self):
+        self.reset_keys()
+        self.reset_step_size()
+        self.manual = True
+        self.rotation = False
+        self.mocap_idx = 0
+        str = f"States have been reset: \n \
+        - Manual mode: {self.manual} \
+        - Rotation mode: {self.rotation} \n \
+        - Mocap index: {self.mocap_idx}"
+
+        print(str)

mink/limits/collision_avoidance_limit.py

@@ -19,6 +19,23 @@ CollisionPairs = Sequence[CollisionPair]
 
 @dataclass(frozen=True)
 class Contact:
+    """Struct to store contact information between two geoms.
+
+    Attributes:
+        dist: Smallest signed distance between geom1 and geom2. If no collision of
+            distance smaller than distmax is found, this value is equal to distmax [1].
+        fromto: Segment connecting the closest points on geom1 and geom2. The first
+            three elements are the coordinates of the closest point on geom1, and the
+            last three elements are the coordinates of the closest point on geom2.
+        geom1: ID of geom1.
+        geom2: ID of geom2.
+        distmax: Maximum distance between geom1 and geom2.
+
+    References:
+        [1] MuJoCo API documentation. `mj_geomDistance` function.
+            https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html
+    """
+
     dist: float
     fromto: np.ndarray
     geom1: int
@@ -27,12 +44,16 @@ class Contact:
 
     @property
     def normal(self) -> np.ndarray:
+        """Contact normal pointing from geom1 to geom2."""
         normal = self.fromto[3:] - self.fromto[:3]
-        return normal / (np.linalg.norm(normal) + 1e-9)
+        mujoco.mju_normalize3(normal)
+        return normal
 
     @property
     def inactive(self) -> bool:
-        return self.dist == self.distmax and not self.fromto.any()
+        """Returns True if no distance smaller than distmax is detected between geom1
+        and geom2."""
+        return self.dist == self.distmax
 
 
 def compute_contact_normal_jacobian(

mink/limits/limit.py

@@ -15,9 +15,7 @@ class Constraint(NamedTuple):
     """
 
     G: Optional[np.ndarray] = None
-    """Shape (nv, nv)."""
     h: Optional[np.ndarray] = None
-    """Shape (nv,)."""
 
     @property
     def inactive(self) -> bool:

mink/limits/velocity_limit.py

@@ -18,11 +18,12 @@ class VelocityLimit(Limit):
     Floating base joints are ignored.
 
     Attributes:
-        indices: Tangent indices corresponding to velocity-limited joints.
+        indices: Tangent indices corresponding to velocity-limited joints. Shape (nb,).
         limit: Maximum allowed velocity magnitude for velocity-limited joints, in
-            [m]/[s] for slide joints and [rad]/[s] for hinge joints.
+            [m]/[s] for slide joints and [rad]/[s] for hinge joints. Shape (nb,).
         projection_matrix: Projection from tangent space to subspace with
-            velocity-limited joints.
+            velocity-limited joints. Shape (nb, nv) where nb is the dimension of the
+            velocity-limited subspace and nv is the dimension of the tangent space.
     """
 
     indices: np.ndarray
@@ -46,17 +47,17 @@ class VelocityLimit(Limit):
         for joint_name, max_vel in velocities.items():
             jid = model.joint(joint_name).id
             jnt_type = model.jnt_type[jid]
-            jnt_dim = dof_width(jnt_type)
-            jnt_id = model.jnt_dofadr[jid]
             if jnt_type == mujoco.mjtJoint.mjJNT_FREE:
                 raise LimitDefinitionError(f"Free joint {joint_name} is not supported")
+            vadr = model.jnt_dofadr[jid]
+            vdim = dof_width(jnt_type)
             max_vel = np.atleast_1d(max_vel)
-            if max_vel.shape != (jnt_dim,):
+            if max_vel.shape != (vdim,):
                 raise LimitDefinitionError(
-                    f"Joint {joint_name} must have a limit of shape ({jnt_dim},). "
+                    f"Joint {joint_name} must have a limit of shape ({vdim},). "
                     f"Got: {max_vel.shape}"
                 )
-            index_list.extend(range(jnt_id, jnt_id + jnt_dim))
+            index_list.extend(range(vadr, vadr + vdim))
             limit_list.extend(max_vel.tolist())
 
         self.indices = np.array(index_list)
@@ -64,8 +65,8 @@ class VelocityLimit(Limit):
         self.limit = np.array(limit_list)
         self.limit.setflags(write=False)
 
-        dim = len(self.indices)
-        self.projection_matrix = np.eye(model.nv)[self.indices] if dim > 0 else None
+        nb = len(self.indices)
+        self.projection_matrix = np.eye(model.nv)[self.indices] if nb > 0 else None
 
     def compute_qp_inequalities(
         self, configuration: Configuration, dt: float
@@ -89,7 +90,8 @@ class VelocityLimit(Limit):
 
         Returns:
             Pair :math:`(G, h)` representing the inequality constraint as
-            :math:`G \Delta q \leq h`, or ``None`` if there is no limit.
+            :math:`G \Delta q \leq h`, or ``None`` if there is no limit. G has
+            shape (2nb, nv) and h has shape (2nb,).
         """
         del configuration  # Unused.
         if self.projection_matrix is None:

mink/tasks/__init__.py

@@ -2,7 +2,9 @@
 
 from .com_task import ComTask
 from .damping_task import DampingTask
+from .equality_constraint_task import EqualityConstraintTask
 from .exceptions import (
+    InvalidConstraint,
     InvalidDamping,
     InvalidGain,
     InvalidTarget,
@@ -25,6 +27,8 @@ __all__ = (
     "TargetNotSet",
     "InvalidTarget",
     "TaskDefinitionError",
+    "InvalidConstraint",
     "InvalidGain",
     "InvalidDamping",
+    "EqualityConstraintTask",
 )

mink/tasks/equality_constraint_task.py

@@ -0,0 +1,215 @@
+"""Equality constraint task implementation."""
+
+from __future__ import annotations
+
+import logging
+from typing import Optional, Sequence
+
+import mujoco
+import numpy as np
+import numpy.typing as npt
+
+from ..configuration import Configuration
+from .exceptions import InvalidConstraint, TaskDefinitionError
+from .task import Task
+
+
+def _get_constraint_dim(constraint: int) -> int:
+    """Return the dimension of an equality constraint in the efc* arrays."""
+    return {
+        mujoco.mjtEq.mjEQ_CONNECT.value: 3,
+        mujoco.mjtEq.mjEQ_WELD.value: 6,
+        mujoco.mjtEq.mjEQ_JOINT.value: 1,
+        mujoco.mjtEq.mjEQ_TENDON.value: 1,
+    }[constraint]
+
+
+def _get_dense_constraint_jacobian(
+    model: mujoco.MjModel, data: mujoco.MjData
+) -> np.ndarray:
+    """Return the dense constraint Jacobian for a model."""
+    if mujoco.mj_isSparse(model):
+        efc_J = np.empty((data.nefc, model.nv))
+        mujoco.mju_sparse2dense(
+            efc_J,
+            data.efc_J,
+            data.efc_J_rownnz,
+            data.efc_J_rowadr,
+            data.efc_J_colind,
+        )
+        return efc_J
+    return data.efc_J.reshape((data.nefc, model.nv)).copy()
+
+
+class EqualityConstraintTask(Task):
+    """Regulate equality constraints in a model.
+
+    Equality constraints are useful, among other things, for modeling "loop joints"
+    such as four-bar linkages. In MuJoCo, there are several types of equality
+    constraints, including:
+
+    * ``mjEQ_CONNECT``: Connect two bodies at a point (ball joint).
+    * ``mjEQ_WELD``: Fix relative pose of two bodies.
+    * ``mjEQ_JOINT``: Couple the values of two scalar joints.
+    * ``mjEQ_TENDON``: Couple the values of two tendons.
+
+    This task can regulate all equality constraints in a model or a specific subset
+    identified by name or ID.
+
+    Attributes:
+        equalities: ID or name of the equality constraints to regulate. If not provided,
+            the task will regulate all equality constraints in the model.
+        cost: Cost vector for the equality constraint task. Either a scalar, in which
+            case the same cost is applied to all constraints, or a vector of shape
+            ``(neq,)``, where ``neq`` is the number of equality constraints in the
+            model.
+
+    Raises:
+        InvalidConstraint: If a specified equality constraint name or ID is not found,
+            or if the constraint is not active at the initial configuration.
+        TaskDefinitionError: If no equality constraints are found or if cost parameters
+            have invalid shape or values.
+
+    Example:
+
+    .. code-block:: python
+
+        # Regulate all equality constraints with the same cost.
+        eq_task = EqualityConstraintTask(model, cost=1.0)
+
+        # Regulate specific equality constraints with different costs.
+        eq_task = EqualityConstraintTask(
+            model,
+            cost=[1.0, 0.5],
+            equalities=["connect_right", "connect_left"]
+        )
+    """
+
+    def __init__(
+        self,
+        model: mujoco.MjModel,
+        cost: npt.ArrayLike,
+        equalities: Optional[Sequence[int | str]] = None,
+        gain: float = 1.0,
+        lm_damping: float = 0.0,
+    ):
+        self._eq_ids = self._resolve_equality_ids(model, equalities)
+        self._eq_types = model.eq_type[self._eq_ids].copy()
+        self._neq_total = len(self._eq_ids)
+        self._mask: np.ndarray | None = None
+
+        super().__init__(cost=np.zeros((1,)), gain=gain, lm_damping=lm_damping)
+        self.set_cost(cost)
+
+    def set_cost(self, cost: npt.ArrayLike) -> None:
+        """Set the cost vector for the equality constraint task.
+
+        Args:
+            cost: Cost vector for the equality constraint task.
+        """
+        cost = np.atleast_1d(cost)
+        if cost.ndim != 1 or cost.shape[0] not in (1, self._neq_total):
+            raise TaskDefinitionError(
+                f"{self.__class__.__name__} cost must be a vector of shape (1,) "
+                f"or ({self._neq_total},). Got {cost.shape}."
+            )
+        if not np.all(cost >= 0.0):
+            raise TaskDefinitionError(f"{self.__class__.__name__} cost must be >= 0")
+
+        # Per constraint cost.
+        self._cost = (
+            np.full((self._neq_total,), cost[0]) if cost.shape[0] == 1 else cost.copy()
+        )
+
+        # Expanded per constraint dimension.
+        repeats = [_get_constraint_dim(eq_type) for eq_type in self._eq_types]
+        self.cost = np.repeat(self._cost, repeats)
+
+    def compute_error(self, configuration: Configuration) -> np.ndarray:
+        """Compute the equality constraint task error.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+
+        Returns:
+            Equality constraint task error vector :math:`e(q)`. The shape of the
+            error vector is ``(neq_active * constraint_dim,)``, where ``neq_active``
+            is the number of active equality constraints, and ``constraint_dim``
+            depends on the type of equality constraint.
+        """
+        self._update_active_constraints(configuration)
+        return configuration.data.efc_pos[self._mask]
+
+    def compute_jacobian(self, configuration: Configuration) -> np.ndarray:
+        """Compute the task Jacobian at a given configuration.
+
+        Args:
+            configuration: Robot configuration :math:`q`.
+
+        Returns:
+            Equality constraint task jacobian :math:`J(q)`. The shape of the Jacobian
+            is ``(neq_active * constraint_dim, nv)``, where ``neq_active`` is the
+            number of active equality constraints, ``constraint_dim`` depends on the
+            type of equality constraint, and ``nv`` is the dimension of the tangent
+            space.
+        """
+        self._update_active_constraints(configuration)
+        efc_J = _get_dense_constraint_jacobian(configuration.model, configuration.data)
+        return efc_J[self._mask]
+
+    # Helper functions.
+
+    def _update_active_constraints(self, configuration: Configuration) -> None:
+        self._mask = (
+            configuration.data.efc_type == mujoco.mjtConstraint.mjCNSTR_EQUALITY
+        ) & np.isin(configuration.data.efc_id, self._eq_ids)
+        active_eq_ids = configuration.data.efc_id[self._mask]
+        self.cost = self._cost[active_eq_ids]
+
+    def _resolve_equality_ids(
+        self, model: mujoco.MjModel, equalities: Optional[Sequence[int | str]]
+    ) -> np.ndarray:
+        eq_ids: list[int] = []
+
+        if equalities is not None:
+            for eq_id_or_name in equalities:
+                eq_id: int
+                if isinstance(eq_id_or_name, str):
+                    eq_id = mujoco.mj_name2id(
+                        model, mujoco.mjtObj.mjOBJ_EQUALITY, eq_id_or_name
+                    )
+                    if eq_id == -1:
+                        raise InvalidConstraint(
+                            f"Equality constraint '{eq_id_or_name}' not found."
+                        )
+                else:
+                    eq_id = eq_id_or_name
+                    if eq_id < 0 or eq_id >= model.neq:
+                        raise InvalidConstraint(
+                            f"Equality constraint index {eq_id} out of range."
+                            f"Must be in range [0, {model.neq})."
+                        )
+                if not model.eq_active0[eq_id]:
+                    raise InvalidConstraint(
+                        f"Equality constraint {eq_id} is not active at initial "
+                        "configuration."
+                    )
+                else:
+                    eq_ids.append(eq_id)
+            # Check for duplicates.
+            if len(eq_ids) != len(set(eq_ids)):
+                raise TaskDefinitionError(
+                    f"Duplicate equality constraint IDs provided: {eq_ids}."
+                )
+        else:
+            eq_ids = list(range(model.neq))
+            logging.info("Regulating %d equality constraints", len(eq_ids))
+
+        # Ensure we have at least 1 constraint.
+        if len(eq_ids) == 0:
+            raise TaskDefinitionError(
+                f"{self.__class__.__name__} no equality constraints found in this "
+                "model."
+            )
+
+        return np.array(eq_ids)

mink/tasks/exceptions.py

@@ -25,3 +25,7 @@ class InvalidGain(MinkError):
 
 class InvalidDamping(MinkError):
     """Exception raised when the damping is outside the valid range."""
+
+
+class InvalidConstraint(MinkError):
+    """Exception raised when a constraint is invalid."""

mink/utils.py

@@ -90,39 +90,55 @@ def custom_configuration_vector(
         value = np.atleast_1d(value)
         if value.shape != (jnt_dim,):
             raise ValueError(
-                f"Joint {name} should have a qpos value of {jnt_dim,} but "
+                f"Joint {name} should have a qpos value of {(jnt_dim,)} but "
                 f"got {value.shape}"
             )
         q[qid : qid + jnt_dim] = value
     return q
 
 
-def get_subtree_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
-    """Get all geoms belonging to subtree starting at a given body.
+def get_body_body_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
+    """Get immediate children bodies belonging to a given body.
 
     Args:
         model: Mujoco model.
-        body_id: ID of body where subtree starts.
+        body_id: ID of body.
 
     Returns:
-        A list containing all subtree geom ids.
+        A list containing all child body ids.
     """
+    return [
+        i
+        for i in range(model.nbody)
+        if model.body_parentid[i] == body_id
+        and body_id != i  # Exclude the body itself.
+    ]
 
-    def gather_geoms(body_id: int) -> list[int]:
-        geoms: list[int] = []
-        geom_start = model.body_geomadr[body_id]
-        geom_end = geom_start + model.body_geomnum[body_id]
-        geoms.extend(range(geom_start, geom_end))
-        children = [i for i in range(model.nbody) if model.body_parentid[i] == body_id]
-        for child_id in children:
-            geoms.extend(gather_geoms(child_id))
-        return geoms
 
-    return gather_geoms(body_id)
+def get_subtree_body_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
+    """Get all bodies belonging to subtree starting at a given body.
+
+    Args:
+        model: Mujoco model.
+        body_id: ID of body where subtree starts.
+
+    Returns:
+        A list containing all subtree body ids.
+    """
+    body_ids: list[int] = []
+    stack = [body_id]
+    while stack:
+        body_id = stack.pop()
+        body_ids.append(body_id)
+        stack += get_body_body_ids(model, body_id)
+    return body_ids
 
 
 def get_body_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
-    """Get all geoms belonging to a given body.
+    """Get immediate geoms belonging to a given body.
+
+    Here, immediate geoms are those directly attached to the body and not its
+    descendants.
 
     Args:
         model: Mujoco model.
@@ -134,3 +150,25 @@ def get_body_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
     geom_start = model.body_geomadr[body_id]
     geom_end = geom_start + model.body_geomnum[body_id]
     return list(range(geom_start, geom_end))
+
+
+def get_subtree_geom_ids(model: mujoco.MjModel, body_id: int) -> list[int]:
+    """Get all geoms belonging to subtree starting at a given body.
+
+    Here, a subtree is defined as the kinematic tree starting at the body and including
+    all its descendants.
+
+    Args:
+        model: Mujoco model.
+        body_id: ID of body where subtree starts.
+
+    Returns:
+        A list containing all subtree geom ids.
+    """
+    geom_ids: list[int] = []
+    stack = [body_id]
+    while stack:
+        body_id = stack.pop()
+        geom_ids.extend(get_body_geom_ids(model, body_id))
+        stack += get_body_body_ids(model, body_id)
+    return geom_ids

{mink-0.0.5.dist-info → mink-0.0.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: mink
-Version: 0.0.5
+Version: 0.0.6
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
@@ -16,18 +16,19 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Topic :: Scientific/Engineering
+License-File: LICENSE
 Requires-Dist: mujoco >= 3.1.6
 Requires-Dist: qpsolvers[quadprog] >= 4.3.1
 Requires-Dist: typing_extensions
 Requires-Dist: numpy < 2.0.0
-Requires-Dist: mink[examples,dev] ; extra == "all"
+Requires-Dist: mink[examples, dev] ; extra == "all"
 Requires-Dist: black ; extra == "dev"
 Requires-Dist: mink[test] ; extra == "dev"
 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: qpsolvers[quadprog, osqp] >= 4.3.1 ; extra == "examples"
 Requires-Dist: absl-py ; extra == "test"
 Requires-Dist: coveralls ; extra == "test"
 Requires-Dist: pytest ; extra == "test"

{mink-0.0.5.dist-info → mink-0.0.6.dist-info}/RECORD

@@ -1,10 +1,10 @@
-mink/__init__.py,sha256=1-kNZ2BmlC9wD98boMF9tujEz3z9ipx9bTUpE4d8T4c,1717
-mink/configuration.py,sha256=SchU0FwPIOjrjwetBVTDbfxTT1OOxLq71tWbLqvvrL4,9110
+mink/__init__.py,sha256=g-eOZoPMgO3l4PtP7RK4ercpo1lyLnIcOT6Tb78T968,1829
+mink/configuration.py,sha256=wbP2ab-Zn5pH844Czk5w8mgDXP44AosMOdNxqwyCSik,9199
 mink/constants.py,sha256=hcWy4zM4hGI7vvJrTmCjJgs2WtOxKJ1IVtYHucWbOAI,813
 mink/exceptions.py,sha256=tmExo-ydn_mu9Mny5sP0Ehr7hfo3d79fM8HvvxZBKYM,2931
 mink/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mink/solve_ik.py,sha256=hrAnwO5imCoFczmoXQf4v5Rfw5l1wisd0qtmFt-y0vs,3578
-mink/utils.py,sha256=-00C_AmtfvkmmWiHpds5Fu83gLcnt9OJ2KmyB01aTa8,4387
+mink/utils.py,sha256=8vQEDdN4zh25nRZLeZWvz2asuu1ksaMCuUY8GuauUxs,5316
 mink/.mypy_cache/.gitignore,sha256=amnaZw0RUw038PDP3HvtMLeOpkNOJPenMgi5guKdMiw,34
 mink/.mypy_cache/CACHEDIR.TAG,sha256=8cE6_FVTWMkDOw8fMKqhd_6IvaQPS4okWYQA1UeHatw,190
 mink/.mypy_cache/3.12/@plugins_snapshot.json,sha256=RBNvo1WzZ4oRRq0W9-hknpT7T8If536DEMBg9hyq_4o,2
@@ -326,25 +326,32 @@ mink/.mypy_cache/3.12/unittest/signals.data.json,sha256=1ZiaD7LP0g0iBSmVb5g87M9q
 mink/.mypy_cache/3.12/unittest/signals.meta.json,sha256=t4kGxxcZb9aDLojvZ5naLIcckL77G1RAB0P2iJsSjM0,1681
 mink/.mypy_cache/3.12/unittest/suite.data.json,sha256=3XPU9U8rt00fnG-hgEIbpIqS14lI9xQMDiBsl2_mlXQ,12050
 mink/.mypy_cache/3.12/unittest/suite.meta.json,sha256=5ADDHudtGO-JtLaD0-SB-7_Ekm34XeG_QCXLEDIZeIM,1699
+mink/contrib/__init__.py,sha256=njdlTslt_Ot_fB1Uj6MzRwLhmf-MbRNjwgi8krfCD-k,152
+mink/contrib/keyboard_teleop/KEYBOARD.md,sha256=cYzG3nyOik_ktzha6FZqDiUT7Dn38df8JsXzcGAMmCw,3236
+mink/contrib/keyboard_teleop/__init__.py,sha256=wtG_0D-RurdQiGTPjLYVXXt44ieh6ITTXqpicg6AXxI,185
+mink/contrib/keyboard_teleop/keycodes.py,sha256=1AN3bWpkw99ZjrkIQnu8QdHSz-_boWMYWI2LlZOp5uw,1644
+mink/contrib/keyboard_teleop/teleop_mocap.py,sha256=nq2oywXXyrXoh39_2S-sMdni-4vDrlUdC5D3HfbKUGY,8102
 mink/lie/__init__.py,sha256=7tm3ZFnF3o1SDd9MOFO1In13lHMQJHO0FB-ejI6tsgE,202
 mink/lie/base.py,sha256=ummp2-yROMrcYCtsNCoKEiKoJ7wLF0nSjnOOD95aXaY,4220
 mink/lie/se3.py,sha256=R4hH4i0-do5I8bWV0le-huSuAfQ_bwolkAjJNVlDNXs,7914
 mink/lie/so3.py,sha256=LkjciJHcVTWYzpDzAo1KuUI7xy0HPnSGAYxQS_q-Kx4,7302
 mink/lie/utils.py,sha256=DuEl3pj84daLvMKN84-YBvkXnJfqvc5vpvJ9J-pJ11U,403
 mink/limits/__init__.py,sha256=hX5Dgpri9AE6YtUCkW79AXMBuNAuBhniR9kQ6Rxwv3Y,416
-mink/limits/collision_avoidance_limit.py,sha256=pVLpkruWAqrOcAW4yulHc_hIuczMR4EbrXF1x-0Bb80,10973
+mink/limits/collision_avoidance_limit.py,sha256=MaaESEclHP_jcv1iAi3iqnQ8fg89A2PAt56nztyNFgE,11911
 mink/limits/configuration_limit.py,sha256=areR-8NuuD15wWzPhyQIRtttIdfXPlT3hP81MuDbIN0,4351
 mink/limits/exceptions.py,sha256=EnVKgFhUJFM6rNVCtdngb-XMu66PWKMFSDy-XkdKzr8,178
-mink/limits/limit.py,sha256=feF9yjgLHWShnuSrJNOH-PfMWtEMRGQi2mDiRia9tFg,1578
-mink/limits/velocity_limit.py,sha256=2zPOAb69V9RusKk-U4cJ0lK3-Ek9g4nvr3c8QHbixzw,3506
-mink/tasks/__init__.py,sha256=SCS3YMWyuFQpF3XSHiht83px-xmN9IxtFeG-ULkpl64,624
+mink/limits/limit.py,sha256=65K4clGFCPxa3TScGaLhYe1rVYgmJnkMnsFg6DCGjI4,1529
+mink/limits/velocity_limit.py,sha256=KNfwNayy4o6vrAnirnb92HaHVv6OC2De-QgKgZAxyc8,3702
+mink/tasks/__init__.py,sha256=rTx9Ab8XPSohhSa1RUD7lNggTzVi02LOaPzPZFMFvuI,763
 mink/tasks/com_task.py,sha256=ch6w7pwa5E0GVo2DCAuEF-c8TCN1iMk-ySY9A4B6yoQ,3121
 mink/tasks/damping_task.py,sha256=SwSfUvMHzoNYNsloQRD1qlPLd4kfoDIWZlTDU9LuKM4,556
-mink/tasks/exceptions.py,sha256=1BxQS_t8vuKoTd8RY0MdZOJ_-2RX--iUtVs-Bu3IVgs,708
+mink/tasks/equality_constraint_task.py,sha256=FvA2LFQFbro1WOh_TqhJehGCOklxKFILJhapXtV8wio,8189
+mink/tasks/exceptions.py,sha256=d2P9q_CWaHUXxgSwFjcu-ml87mLuXJYxrVLUwrJp6w8,803
 mink/tasks/frame_task.py,sha256=DeNg-bEJxqnrRI0FaJK4UHyb8CyF4A7uPF9G-CdN0sg,5307
 mink/tasks/posture_task.py,sha256=sVDZyalCh5DP8zmCuX5kYuZxiMxRut_mTZUjv5y3b5M,3998
 mink/tasks/relative_frame_task.py,sha256=9rIiYocI1eEESt0bLZZpQR7K6ggVRZH8iEhdhzkfZa0,5119
 mink/tasks/task.py,sha256=F16YZT1L9ueNOcKoOhbCyEnZw0DOgrmjqADl0jahVQI,4838
-mink-0.0.5.dist-info/WHEEL,sha256=EZbGkh7Ie4PoZfRQ8I0ZuP9VklN_TvcZ6DSE5Uar4z4,81
-mink-0.0.5.dist-info/METADATA,sha256=IWndykbTUh_K9MyGE_cAojds8tqJJFOJLBma1nXF-Fo,5501
-mink-0.0.5.dist-info/RECORD,,
+mink-0.0.6.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mink-0.0.6.dist-info/WHEEL,sha256=_2ozNFCLWc93bK4WKHCO-eDUENDlo-dgc9cU3qokYO4,82
+mink-0.0.6.dist-info/METADATA,sha256=e6XCGI_DjbdsPticB6skRbXS6k1ENUVsiCwuFDaQeDY,5525
+mink-0.0.6.dist-info/RECORD,,

{mink-0.0.5.dist-info → mink-0.0.6.dist-info}/WHEEL

@@ -1,4 +1,4 @@
 Wheel-Version: 1.0
-Generator: flit 3.9.0
+Generator: flit 3.11.0
 Root-Is-Purelib: true
 Tag: py3-none-any

mink-0.0.6.dist-info/licenses/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.