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kevinzakkakevinzakka
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Update (#32)
* Docstring fixes. * Tune aloha example.
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‎CHANGELOG.md

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
44

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## Unreleased
66

7+
### Changed
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9+
- Improved ALOHA example script.
10+
711
## [0.0.5] - 2024-09-27
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### Changed

‎examples/aloha/aloha.xml

Lines changed: 21 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -137,6 +137,7 @@
137137
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869"
138138
mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142"/>
139139
<joint name="left/wrist_rotate" class="wrist_rotate"/>
140+
<!-- <geom name="left_ee_sphere" type="sphere" size=".07" pos=".1 0 0" class="collision" rgba=".5 .5 .5 .3"/> -->
140141
<site name="left/gripper" pos="0.13 0 -.003" group="5"/>
141142
<body name="left/gripper_base" euler="0 1.57 -1.57" pos="0.035 0 0">
142143
<inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
@@ -148,7 +149,8 @@
148149
<geom class="visual" pos="0 -0.03525 -0.0227" quat="0 -1 0 -1" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
149150
<!-- <geom class="collision" pos="0 -0.03525 -0.0227" quat="0 -1 0 -1" type="capsule" mesh="vx300s_7_gripper_wrist_mount"/> -->
150151
<geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
151-
<geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="box" mesh="d405_solid"/>
152+
<!-- <geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="box" mesh="d405_solid"/> -->
153+
<geom name="left_camera" class="collision" pos="0 -0.08 -0.02" quat="0 0 -0.21644 -0.976296" type="sphere" size=".035"/>
152154
<camera name="wrist_cam_left" pos="0 -0.0824748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
153155
focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
154156
<body name="left/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
@@ -158,7 +160,7 @@
158160
<geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
159161
mesh="vx300s_8_custom_finger_left"/>
160162
<!-- <geom pos="0.0141637 0.0211727 0.06" class="collision" quat="1 1 1 -1" type="mesh" mesh="vx300s_8_custom_finger_left"/> -->
161-
<geom class="collision" size="0.0137306 0.0460639" pos="0.0141512 -0.0347039 0.0119043" quat="0.544446 0.455511 0.456118 -0.536698"/>
163+
<geom name="left_left_finger_coll" class="collision" size="0.0137306 0.0460639" pos="0.0141512 -0.0347039 0.0119043" quat="0.544446 0.455511 0.456118 -0.536698"/>
162164
<geom name="left/left_g0" pos="0.013 -0.0892 0.0268" class="sphere_collision"/>
163165
<geom name="left/left_g1" pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
164166
<geom name="left/left_g2" pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
@@ -171,7 +173,7 @@
171173
<geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
172174
mesh="vx300s_8_custom_finger_right"/>
173175
<!-- <geom pos="0.0141637 -0.0211727 0.0597067" class="collision" quat="1 -1 -1 -1" type="mesh" mesh="vx300s_8_custom_finger_right"/> -->
174-
<geom class="collision" size="0.013729 0.0460644" pos="0.0141715 0.0347097 0.011759" quat="0.538959 -0.458738 -0.452903 -0.542183"/>
176+
<geom name="left_right_finger_coll" class="collision" size="0.013729 0.0460644" pos="0.0141715 0.0347097 0.011759" quat="0.538959 -0.458738 -0.452903 -0.542183"/>
175177
<geom name="left/right_g0" pos="0.013 0.0892 0.0268" class="sphere_collision"/>
176178
<geom name="left/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
177179
<geom name="left/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
@@ -225,6 +227,7 @@
225227
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869"
226228
mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142"/>
227229
<joint name="right/wrist_rotate" class="wrist_rotate"/>
230+
<!-- <geom name="right_ee_sphere" type="sphere" size=".07" pos=".1 0 0" class="collision" rgba=".5 .5 .5 .3"/> -->
228231
<site name="right/gripper" pos="0.13 0 -.003" group="5"/>
229232
<body name="right/gripper_base" euler="0 1.57 -1.57" pos="0.035 0 0">
230233
<inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
@@ -236,7 +239,8 @@
236239
<geom class="visual" pos="0 -0.03525 -0.0227" quat="0 -0.707107 0 -0.707107" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
237240
<!-- <geom class="collision" pos="0 -0.03525 -0.0227" quat="0 -0.707107 0 -0.707107" type="capsule" mesh="vx300s_7_gripper_wrist_mount"/> -->
238241
<geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
239-
<geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="box" mesh="d405_solid"/>
242+
<!-- <geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="box" mesh="d405_solid"/> -->
243+
<geom name="right_camera" class="collision" pos="0 -0.08 -0.02" quat="0 0 -0.21644 -0.976296" type="sphere" size=".035"/>
240244
<camera name="wrist_cam_right" pos="0 -0.0824748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
241245
focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
242246
<body name="right/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
@@ -246,7 +250,7 @@
246250
<geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
247251
mesh="vx300s_8_custom_finger_left"/>
248252
<!-- <geom pos="0.0141637 0.0211727 0.06" class="collision" quat="1 1 1 -1" type="mesh" mesh="vx300s_8_custom_finger_left"/> -->
249-
<geom class="collision" size="0.0137306 0.0460639" pos="0.0141512 -0.0347039 0.0119043" quat="0.544446 0.455511 0.456118 -0.536698"/>
253+
<geom name="right_left_finger_coll" class="collision" size="0.0137306 0.0460639" pos="0.0141512 -0.0347039 0.0119043" quat="0.544446 0.455511 0.456118 -0.536698"/>
250254
<geom name="right/left_g0" pos="0.013 -0.0892 0.0268" class="sphere_collision"/>
251255
<geom name="right/left_g1" pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
252256
<geom name="right/left_g2" pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
@@ -259,7 +263,7 @@
259263
<geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
260264
mesh="vx300s_8_custom_finger_right"/>
261265
<!-- <geom pos="0.0141637 -0.0211727 0.0597067" class="collision" quat="1 -1 -1 -1" type="mesh" mesh="vx300s_8_custom_finger_right"/> -->
262-
<geom class="collision" size="0.013729 0.0460644" pos="0.0141715 0.0347097 0.011759" quat="0.538959 -0.458738 -0.452903 -0.542183"/>
266+
<geom name="right_right_finger_coll" class="collision" size="0.013729 0.0460644" pos="0.0141715 0.0347097 0.011759" quat="0.538959 -0.458738 -0.452903 -0.542183"/>
263267
<geom name="right/right_g0" pos="0.013 0.0892 0.0268" class="sphere_collision"/>
264268
<geom name="right/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
265269
<geom name="right/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
@@ -287,4 +291,15 @@
287291

288292
<include file="joint_position_actuators.xml"/>
289293
<include file="keyframe_ctrl.xml"/>
294+
295+
<!-- <sensor>
296+
<fromto geom1="left_left_finger_coll" geom2="right_left_finger_coll" cutoff="1"/>
297+
<fromto geom1="left_left_finger_coll" geom2="right_right_finger_coll" cutoff="1"/>
298+
<fromto geom1="left_right_finger_coll" geom2="right_left_finger_coll" cutoff="1"/>
299+
<fromto geom1="left_right_finger_coll" geom2="right_right_finger_coll" cutoff="1"/>
300+
<fromto geom1="left_left_finger_coll" geom2="table" cutoff="1"/>
301+
<fromto geom1="left_right_finger_coll" geom2="table" cutoff="1"/>
302+
<fromto geom1="right_left_finger_coll" geom2="table" cutoff="1"/>
303+
<fromto geom1="right_right_finger_coll" geom2="table" cutoff="1"/>
304+
</sensor> -->
290305
</mujoco>

‎examples/aloha/keyframe_ctrl.xml

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,10 @@
11
<mujoco>
22
<keyframe>
33
<key name="neutral_pose" qpos="
4-
0 -0.96 1.16 0 -0.3 0 0.0084 0.0084
5-
0 -0.96 1.16 0 -0.3 0 0.0084 0.0084"
4+
0 -0.96 1.16 0 -0.3 0 0.037 0.037
5+
0 -0.96 1.16 0 -0.3 0 0.037 0.037"
66
ctrl="
7-
0 -0.96 1.16 0 -0.3 0 0.0084
8-
0 -0.96 1.16 0 -0.3 0 0.0084"/>
7+
0 -0.96 1.16 0 -0.3 0 0.037
8+
0 -0.96 1.16 0 -0.3 0 0.037"/>
99
</keyframe>
1010
</mujoco>

‎examples/aloha/scene.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -126,7 +126,7 @@
126126
<geom type="box" size=".05 .05 .05" contype="0" conaffinity="0" rgba=".6 .3 .3 .2"/>
127127
</body>
128128
<body name="right/target" pos="0.5 0 .5" quat="0 1 0 0" mocap="true">
129-
<geom type="box" size=".05 .05 .05" contype="0" conaffinity="0" rgba=".6 .3 .3 .2"/>
129+
<geom type="box" size=".05 .05 .05" contype="0" conaffinity="0" rgba=".3 .3 .6 .2"/>
130130
</body>
131131
</worldbody>
132132
</mujoco>

‎examples/arm_aloha.py

Lines changed: 9 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -57,6 +57,7 @@
5757
orientation_cost=1.0,
5858
lm_damping=1.0,
5959
),
60+
posture_task := mink.PostureTask(model, cost=1e-4),
6061
]
6162

6263
# Enable collision avoidance between the following geoms:
@@ -65,10 +66,12 @@
6566
# geoms starting at subtree "right wrist" - geoms starting at subtree "left wrist".
6667
l_wrist_geoms = mink.get_subtree_geom_ids(model, model.body("left/wrist_link").id)
6768
r_wrist_geoms = mink.get_subtree_geom_ids(model, model.body("right/wrist_link").id)
69+
l_geoms = mink.get_subtree_geom_ids(model, model.body("left/upper_arm_link").id)
70+
r_geoms = mink.get_subtree_geom_ids(model, model.body("right/upper_arm_link").id)
6871
frame_geoms = mink.get_body_geom_ids(model, model.body("metal_frame").id)
6972
collision_pairs = [
7073
(l_wrist_geoms, r_wrist_geoms),
71-
(l_wrist_geoms + r_wrist_geoms, frame_geoms + ["table"]),
74+
(l_geoms + r_geoms, frame_geoms + ["table"]),
7275
]
7376
collision_avoidance_limit = mink.CollisionAvoidanceLimit(
7477
model=model,
@@ -86,9 +89,9 @@
8689
l_mid = model.body("left/target").mocapid[0]
8790
r_mid = model.body("right/target").mocapid[0]
8891
solver = "quadprog"
89-
pos_threshold = 1e-4
90-
ori_threshold = 1e-4
91-
max_iters = 20
92+
pos_threshold = 1e-2
93+
ori_threshold = 1e-2
94+
max_iters = 2
9295

9396
with mujoco.viewer.launch_passive(
9497
model=model, data=data, show_left_ui=False, show_right_ui=False
@@ -99,6 +102,7 @@
99102
mujoco.mj_resetDataKeyframe(model, data, model.key("neutral_pose").id)
100103
configuration.update(data.qpos)
101104
mujoco.mj_forward(model, data)
105+
posture_task.set_target_from_configuration(configuration)
102106

103107
# Initialize mocap targets at the end-effector site.
104108
mink.move_mocap_to_frame(model, data, "left/target", "left/gripper", "site")
@@ -118,7 +122,7 @@
118122
rate.dt,
119123
solver,
120124
limits=limits,
121-
damping=1e-3,
125+
damping=1e-5,
122126
)
123127
configuration.integrate_inplace(vel, rate.dt)
124128

‎mink/configuration.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -43,8 +43,8 @@ def __init__(
4343
4444
Args:
4545
model: Mujoco model.
46-
q: Configuration to initialize from. If None, the configuration
47-
is initialized to the default configuration `qpos0`.
46+
q: Configuration to initialize from. If None, the configuration is
47+
initialized to the default configuration `qpos0`.
4848
"""
4949
self.model = model
5050
self.data = mujoco.MjData(model)

‎mink/limits/collision_avoidance_limit.py

Lines changed: 23 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -19,6 +19,23 @@
1919

2020
@dataclass(frozen=True)
2121
class Contact:
22+
"""Struct to store contact information between two geoms.
23+
24+
Attributes:
25+
dist: Smallest signed distance between geom1 and geom2. If no collision of
26+
distance smaller than distmax is found, this value is equal to distmax [1].
27+
fromto: Segment connecting the closest points on geom1 and geom2. The first
28+
three elements are the coordinates of the closest point on geom1, and the
29+
last three elements are the coordinates of the closest point on geom2.
30+
geom1: ID of geom1.
31+
geom2: ID of geom2.
32+
distmax: Maximum distance between geom1 and geom2.
33+
34+
References:
35+
[1] MuJoCo API documentation. `mj_geomDistance` function.
36+
https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html
37+
"""
38+
2239
dist: float
2340
fromto: np.ndarray
2441
geom1: int
@@ -27,12 +44,16 @@ class Contact:
2744

2845
@property
2946
def normal(self) -> np.ndarray:
47+
"""Contact normal pointing from geom1 to geom2."""
3048
normal = self.fromto[3:] - self.fromto[:3]
31-
return normal / (np.linalg.norm(normal) + 1e-9)
49+
mujoco.mju_normalize3(normal)
50+
return normal
3251

3352
@property
3453
def inactive(self) -> bool:
35-
return self.dist == self.distmax and not self.fromto.any()
54+
"""Returns True if no distance smaller than distmax is detected between geom1
55+
and geom2."""
56+
return self.dist == self.distmax
3657

3758

3859
def compute_contact_normal_jacobian(

‎mink/limits/limit.py

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -15,9 +15,7 @@ class Constraint(NamedTuple):
1515
"""
1616

1717
G: Optional[np.ndarray] = None
18-
"""Shape (nv, nv)."""
1918
h: Optional[np.ndarray] = None
20-
"""Shape (nv,)."""
2119

2220
@property
2321
def inactive(self) -> bool:

‎mink/limits/velocity_limit.py

Lines changed: 13 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -18,11 +18,12 @@ class VelocityLimit(Limit):
1818
Floating base joints are ignored.
1919
2020
Attributes:
21-
indices: Tangent indices corresponding to velocity-limited joints.
21+
indices: Tangent indices corresponding to velocity-limited joints. Shape (nb,).
2222
limit: Maximum allowed velocity magnitude for velocity-limited joints, in
23-
[m]/[s] for slide joints and [rad]/[s] for hinge joints.
23+
[m]/[s] for slide joints and [rad]/[s] for hinge joints. Shape (nb,).
2424
projection_matrix: Projection from tangent space to subspace with
25-
velocity-limited joints.
25+
velocity-limited joints. Shape (nb, nv) where nb is the dimension of the
26+
velocity-limited subspace and nv is the dimension of the tangent space.
2627
"""
2728

2829
indices: np.ndarray
@@ -46,26 +47,26 @@ def __init__(
4647
for joint_name, max_vel in velocities.items():
4748
jid = model.joint(joint_name).id
4849
jnt_type = model.jnt_type[jid]
49-
jnt_dim = dof_width(jnt_type)
50-
jnt_id = model.jnt_dofadr[jid]
5150
if jnt_type == mujoco.mjtJoint.mjJNT_FREE:
5251
raise LimitDefinitionError(f"Free joint {joint_name} is not supported")
52+
vadr = model.jnt_dofadr[jid]
53+
vdim = dof_width(jnt_type)
5354
max_vel = np.atleast_1d(max_vel)
54-
if max_vel.shape != (jnt_dim,):
55+
if max_vel.shape != (vdim,):
5556
raise LimitDefinitionError(
56-
f"Joint {joint_name} must have a limit of shape ({jnt_dim},). "
57+
f"Joint {joint_name} must have a limit of shape ({vdim},). "
5758
f"Got: {max_vel.shape}"
5859
)
59-
index_list.extend(range(jnt_id, jnt_id + jnt_dim))
60+
index_list.extend(range(vadr, vadr + vdim))
6061
limit_list.extend(max_vel.tolist())
6162

6263
self.indices = np.array(index_list)
6364
self.indices.setflags(write=False)
6465
self.limit = np.array(limit_list)
6566
self.limit.setflags(write=False)
6667

67-
dim = len(self.indices)
68-
self.projection_matrix = np.eye(model.nv)[self.indices] if dim > 0 else None
68+
nb = len(self.indices)
69+
self.projection_matrix = np.eye(model.nv)[self.indices] if nb > 0 else None
6970

7071
def compute_qp_inequalities(
7172
self, configuration: Configuration, dt: float
@@ -89,7 +90,8 @@ def compute_qp_inequalities(
8990
9091
Returns:
9192
Pair :math:`(G, h)` representing the inequality constraint as
92-
:math:`G \Delta q \leq h`, or ``None`` if there is no limit.
93+
:math:`G \Delta q \leq h`, or ``None`` if there is no limit. G has
94+
shape (2nb, nv) and h has shape (2nb,).
9395
"""
9496
del configuration # Unused.
9597
if self.projection_matrix is None:

‎tests/test_velocity_limit.py

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,6 @@
77

88
from mink import Configuration
99
from mink.limits import LimitDefinitionError, VelocityLimit
10-
from mink.utils import get_freejoint_dims
1110

1211

1312
class TestVelocityLimit(absltest.TestCase):
@@ -22,22 +21,23 @@ def setUp(self):
2221
self.configuration.update_from_keyframe("stand")
2322
# NOTE(kevin): These velocities are arbitrary and do not match real hardware.
2423
self.velocities = {
25-
self.model.joint(i).name: 3.14 for i in range(1, self.model.njnt)
24+
self.model.joint(i).name: np.pi for i in range(1, self.model.njnt)
2625
}
2726

2827
def test_dimensions(self):
2928
limit = VelocityLimit(self.model, self.velocities)
3029
nv = self.configuration.nv
31-
nb = nv - len(get_freejoint_dims(self.model)[1])
30+
nb = nv - 6
3231
self.assertEqual(len(limit.indices), nb)
3332
self.assertEqual(limit.projection_matrix.shape, (nb, nv))
3433

3534
def test_indices(self):
3635
limit = VelocityLimit(self.model, self.velocities)
37-
expected = np.arange(6, self.model.nv) # Freejoint (0-5) is not limited.
36+
expected = np.arange(6, self.model.nv)
3837
self.assertTrue(np.allclose(limit.indices, expected))
3938

4039
def test_model_with_no_limit(self):
40+
"""Tests that a velocity limit applied to a model with no limits is a no-op."""
4141
empty_model = mujoco.MjModel.from_xml_string("<mujoco></mujoco>")
4242
empty_bounded = VelocityLimit(empty_model)
4343
self.assertEqual(len(empty_bounded.indices), 0)
@@ -47,25 +47,23 @@ def test_model_with_no_limit(self):
4747
self.assertIsNone(h)
4848

4949
def test_model_with_subset_of_velocities_limited(self):
50-
partial_velocities = {}
50+
limit_subset = {}
5151
for i, (key, value) in enumerate(self.velocities.items()):
5252
if i > 2:
5353
break
54-
partial_velocities[key] = value
55-
limit = VelocityLimit(self.model, partial_velocities)
54+
limit_subset[key] = value
55+
limit = VelocityLimit(self.model, limit_subset)
5656
nb = 3
5757
nv = self.model.nv
5858
self.assertEqual(limit.projection_matrix.shape, (nb, nv))
5959
self.assertEqual(len(limit.indices), nb)
60-
expected_limit = np.asarray(
61-
[
62-
3.14,
63-
]
64-
* nb
65-
)
66-
np.testing.assert_allclose(limit.limit, expected_limit)
60+
np.testing.assert_allclose(limit.limit, np.asarray([np.pi] * nb))
61+
G, h = limit.compute_qp_inequalities(self.configuration, 1e-3)
62+
self.assertEqual(G.shape, (2 * nb, nv))
63+
self.assertEqual(h.shape, (2 * nb,))
6764

6865
def test_model_with_ball_joint(self):
66+
"""Test that ball joints are handled correctly."""
6967
xml_str = """
7068
<mujoco>
7169
<worldbody>
@@ -91,6 +89,7 @@ def test_model_with_ball_joint(self):
9189
self.assertEqual(limit.projection_matrix.shape, (nb, model.nv))
9290

9391
def test_ball_joint_invalid_limit_shape(self):
92+
"""Ball joints should have limits of shape (3,)."""
9493
xml_str = """
9594
<mujoco>
9695
<worldbody>
@@ -115,6 +114,7 @@ def test_ball_joint_invalid_limit_shape(self):
115114
self.assertEqual(str(cm.exception), expected_error_message)
116115

117116
def test_that_freejoint_raises_error(self):
117+
"""Trying to apply a velocity limit to a freejoint should raise an error."""
118118
xml_str = """
119119
<mujoco>
120120
<worldbody>

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