Moving pink ik controller components into sub-directory, updating tests and cleaning up

Author: michaellin6

source/isaaclab/isaaclab/controllers/null_space_posture_task.py renamed to source/isaaclab/isaaclab/controllers/pink_ik/null_space_posture_task.py

@@ -18,9 +18,9 @@
 from pinocchio.robot_wrapper import RobotWrapper
 
 from isaaclab.assets import ArticulationCfg
-from isaaclab.controllers.null_space_posture_task import NullSpacePostureTask
 from isaaclab.utils.string import resolve_matching_names_values
 
+from .null_space_posture_task import NullSpacePostureTask
 from .pink_ik_cfg import PinkIKControllerCfg
 
 
@@ -51,7 +51,7 @@ def __init__(self, cfg: PinkIKControllerCfg, robot_cfg: ArticulationCfg, device:
 
         # Use resolve_matching_names_values to match Pink joint names to joint_pos values
         indices, names, values = resolve_matching_names_values(
-            joint_pos_dict, pink_joint_names, preserve_order=False, require_all_keys_matched=False
+            joint_pos_dict, pink_joint_names, preserve_order=False, strict=False
         )
         if len(indices) != len(pink_joint_names):
             unmatched = [name for name in pink_joint_names if name not in names]

source/isaaclab/isaaclab/controllers/pink_ik.py renamed to source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py

@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.controllers.pink_ik_cfg import PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import PinkIKControllerCfg
 from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg
 from isaaclab.utils import configclass
 

source/isaaclab/isaaclab/controllers/pink_ik_cfg.py renamed to source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py

@@ -60,9 +60,7 @@ def __init__(self, cfg: pink_actions_cfg.PinkInverseKinematicsActionCfg, env: Ma
         self._ik_controllers = []
         for _ in range(env.num_envs):
             self._ik_controllers.append(
-                PinkIKController(
-                    cfg=copy.deepcopy(self.cfg.controller), robot_cfg=env.scene.cfg.robot, device=self.device
-                )
+                PinkIKController(cfg=self.cfg.controller.copy(), robot_cfg=env.scene.cfg.robot, device=self.device)
             )
 
         # Create tensors to store raw and processed actions

source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py

@@ -275,7 +275,7 @@ def resolve_matching_names_values(
     data: dict[str, Any],
     list_of_strings: Sequence[str],
     preserve_order: bool = False,
-    require_all_keys_matched: bool = True,
+    strict: bool = True,
 ) -> tuple[list[int], list[str], list[Any]]:
     """Match a list of regular expressions in a dictionary against a list of strings and return
     the matched indices, names, and values.
@@ -296,15 +296,15 @@ def resolve_matching_names_values(
         data: A dictionary of regular expressions and values to match the strings in the list.
         list_of_strings: A list of strings to match.
         preserve_order: Whether to preserve the order of the query keys in the returned values. Defaults to False.
-        require_all_keys_matched: Whether to require that all keys in the dictionary are matched. Defaults to True.
+        strict: Whether to require that all keys in the dictionary get matched. Defaults to True.
 
     Returns:
         A tuple of lists containing the matched indices, names, and values.
 
     Raises:
         TypeError: When the input argument :attr:`data` is not a dictionary.
         ValueError: When multiple matches are found for a string in the dictionary.
-        ValueError: When not all regular expressions in the data keys are matched (if require_all_keys_matched is True).
+        ValueError: When not all regular expressions in the data keys are matched (if strict is True).
     """
     # check valid input
     if not isinstance(data, dict):
@@ -358,7 +358,7 @@ def resolve_matching_names_values(
         names_list = names_list_reorder
         values_list = values_list_reorder
     # check that all regular expressions are matched
-    if require_all_keys_matched and not all(keys_match_found):
+    if strict and not all(keys_match_found):
         # make this print nicely aligned for debugging
         msg = "\n"
         for key, value in zip(data.keys(), keys_match_found):

source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py

@@ -4,12 +4,10 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 """Launch Isaac Sim Simulator first."""
-import json
-import os
-import sys
-
 # Import pinocchio in the main script to force the use of the dependencies installed by IsaacLab and not the one installed by Isaac Sim
 # pinocchio is required by the Pink IK controller
+import sys
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
@@ -22,7 +20,9 @@
 
 import contextlib
 import gymnasium as gym
+import json
 import numpy as np
+import os
 import torch
 
 import pytest

source/isaaclab/isaaclab/utils/string.py

@@ -162,15 +162,28 @@ def test_resolve_matching_names_values_with_basic_strings():
     query_names = {"a|c": 1, "b": 0, "f": 2}
     with pytest.raises(ValueError):
         _ = string_utils.resolve_matching_names_values(query_names, target_names)
-    # test require_all_keys_matched=False
+
+
+def test_resolve_matching_names_values_with_strict_false():
+    """Test resolving matching names with strict=False parameter."""
+    # list of strings
+    target_names = ["a", "b", "c", "d", "e"]
+    # test strict=False
     data = {"a|c": 1, "b": 2, "f": 3}
-    index_list, names_list, values_list = string_utils.resolve_matching_names_values(
-        data, target_names, require_all_keys_matched=False
-    )
+    index_list, names_list, values_list = string_utils.resolve_matching_names_values(data, target_names, strict=False)
     assert index_list == [0, 1, 2]
     assert names_list == ["a", "b", "c"]
     assert values_list == [1, 2, 1]
 
+    # test failure case: multiple matches for a string (should still raise ValueError even with strict=False)
+    data = {"a|c": 1, "a": 2, "b": 3}
+    with pytest.raises(ValueError, match="Multiple matches for 'a':"):
+        _ = string_utils.resolve_matching_names_values(data, target_names, strict=False)
+
+    # test failure case: invalid input type (should still raise TypeError even with strict=False)
+    with pytest.raises(TypeError, match="Input argument `data` should be a dictionary"):
+        _ = string_utils.resolve_matching_names_values("not_a_dict", target_names, strict=False)
+
 
 def test_resolve_matching_names_values_with_basic_strings_and_preserved_order():
     """Test resolving matching names with a basic expression."""

source/isaaclab/test/controllers/test_pink_ik.py

@@ -6,8 +6,7 @@
 from pink.tasks import DampingTask, FrameTask
 
 import isaaclab.controllers.utils as ControllerUtils
-from isaaclab.controllers.null_space_posture_task import NullSpacePostureTask
-from isaaclab.controllers.pink_ik_cfg import PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
 from isaaclab.devices import DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg
 from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg

source/isaaclab/test/utils/test_string.py

@@ -6,8 +6,7 @@
 from pink.tasks import DampingTask, FrameTask
 
 import isaaclab.controllers.utils as ControllerUtils
-from isaaclab.controllers.null_space_posture_task import NullSpacePostureTask
-from isaaclab.controllers.pink_ik_cfg import PinkIKControllerCfg
+from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
 from isaaclab.devices import DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg
 from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg