mink 0.0.5__py3-none-any.whl → 0.0.7__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 +1,229 @@
+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()
+        unit_vec = self.unit_vec_from_quat(q, 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.
+        """
+
+        q = self.data.mocap_quat[self.mocap_idx].copy()
+        unit_vec = self.unit_vec_from_quat(q, axis)
+
+        # Rotate the quaternion by the specified angle around the axis.
+        quat_rot = np.zeros(shape=(4,), dtype=np.float64)
+        result = np.zeros(shape=(4,), dtype=np.float64)
+        step_size = self.m_rotation_step if self.manual else self.nm_rotation_step
+        angle = direction * step_size
+        angle_rad = np.deg2rad(angle)
+        unit_vec = unit_vec / np.linalg.norm(unit_vec)
+        mujoco.mju_axisAngle2Quat(quat_rot, unit_vec, angle_rad)
+        mujoco.mju_mulQuat(result, quat_rot, q)
+
+        self.data.mocap_quat[self.mocap_idx] = result
+
+    def unit_vec_from_quat(self, q, axis):
+        """
+        Compute the unit vector corresponding to the specified axis
+        from the given quaternion.
+        """
+
+        rot = np.zeros(shape=(9,), dtype=np.float64)
+        mujoco.mju_quat2Mat(rot, q)
+        rot = rot.reshape((3, 3))
+        unit_vec = rot[:, axis]
+
+        return unit_vec
+
+    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/lie/se3.py

@@ -54,10 +54,7 @@ class SE3(MatrixLieGroup):
     @classmethod
     def from_rotation(cls, rotation: SO3) -> SE3:
         return SE3.from_rotation_and_translation(
-            rotation=rotation,
-            translation=np.zeros(
-                SE3.space_dim,
-            ),
+            rotation=rotation, translation=np.zeros(SE3.space_dim)
         )
 
     @classmethod

mink/lie/so3.py

@@ -79,7 +79,7 @@ class SO3(MatrixLieGroup):
     @classmethod
     def from_matrix(cls, matrix: np.ndarray) -> SO3:
         assert matrix.shape == (SO3.matrix_dim, SO3.matrix_dim)
-        wxyz = np.zeros(SO3.parameters_dim, dtype=np.float64)
+        wxyz = np.empty(SO3.parameters_dim, dtype=np.float64)
         mujoco.mju_mat2Quat(wxyz, matrix.ravel())
         return SO3(wxyz=wxyz)
 
@@ -109,7 +109,7 @@ class SO3(MatrixLieGroup):
 
     # Eq. 138.
     def as_matrix(self) -> np.ndarray:
-        mat = np.zeros(9, dtype=np.float64)
+        mat = np.empty(9, dtype=np.float64)
         mujoco.mju_quat2Mat(mat, self.wxyz)
         return mat.reshape(3, 3)
 

mink/limits/collision_avoidance_limit.py

@@ -2,7 +2,7 @@
 
 import itertools
 from dataclasses import dataclass
-from typing import List, Sequence, Union
+from typing import List, Sequence, Tuple, Union
 
 import mujoco
 import numpy as np
@@ -13,12 +13,29 @@ from .limit import Constraint, Limit
 # Type aliases.
 Geom = Union[int, str]
 GeomSequence = Sequence[Geom]
-CollisionPair = tuple[GeomSequence, GeomSequence]
+CollisionPair = Tuple[GeomSequence, GeomSequence]
 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(
@@ -210,7 +231,7 @@ class CollisionAvoidanceLimit(Limit):
     def _homogenize_geom_id_list(self, geom_list: GeomSequence) -> List[int]:
         """Take a heterogeneous list of geoms (specified via ID or name) and return
         a homogenous list of IDs (int)."""
-        list_of_int: list[int] = []
+        list_of_int: List[int] = []
         for g in geom_list:
             if isinstance(g, int):
                 list_of_int.append(g)

mink/limits/configuration_limit.py

@@ -1,5 +1,7 @@
 """Joint position limit."""
 
+from typing import List
+
 import mujoco
 import numpy as np
 
@@ -38,7 +40,7 @@ class ConfigurationLimit(Limit):
                 f"{self.__class__.__name__} gain must be in the range (0, 1]"
             )
 
-        index_list: list[int] = []  # DoF indices that are limited.
+        index_list: List[int] = []  # DoF indices that are limited.
         lower = np.full(model.nq, -mujoco.mjMAXVAL)
         upper = np.full(model.nq, mujoco.mjMAXVAL)
         for jnt in range(model.njnt):

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: