mink 0.0.5__tar.gz → 0.0.7__tar.gz

mink-0.0.7/LICENSE

@@ -0,0 +1,201 @@
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{mink-0.0.5 → mink-0.0.7}/PKG-INFO

@@ -1,33 +1,35 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: mink
-Version: 0.0.5
+Version: 0.0.7
 Summary: mink: MuJoCo inverse kinematics.
 Keywords: inverse,kinematics,mujoco
 Author-email: Kevin Zakka <zakka@berkeley.edu>
-Requires-Python: >=3.9
+Requires-Python: >=3.8
 Description-Content-Type: text/markdown
 Classifier: Development Status :: 5 - Production/Stable
 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 :: 3.8
 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
+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 → mink-0.0.7}/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-0.0.5 → mink-0.0.7}/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-0.0.7/mink/contrib/__init__.py

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

mink-0.0.7/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-0.0.7/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-0.0.7/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