imt-ring 1.2.1__py3-none-any.whl → 1.3.0__py3-none-any.whl

{imt_ring-1.2.1.dist-info → imt_ring-1.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.2.1
+Version: 1.3.0
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.2.1.dist-info → imt_ring-1.3.0.dist-info}/RECORD

@@ -6,20 +6,20 @@ ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=t3YXcgqMJxadUjFiILVD0HlQRPLdrQyc8aKiB36w0vE,1701
 ring/algorithms/_random.py,sha256=6EG0GHYe6tCq0qUt4Jes8W1EaqqaLa0sSZhnwBbEjCE,13340
 ring/algorithms/dynamics.py,sha256=nqq5I0RYSbHNlGiLMlohz08IfL9Njsrid4upDnwkGbI,10629
-ring/algorithms/jcalc.py,sha256=6bO-_zFbHGDG5oq0t-HZvOSiYSWmZz_k6Z6VlNmSThA,25270
+ring/algorithms/jcalc.py,sha256=oqSiwz3Be1VfIpmJXEFTNM_9_o3tyuTtyZt2aqttyN4,28213
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 ring/algorithms/sensors.py,sha256=Y3Wo9qj3BWKoIHB0V04QwyD-Z5m4BrAjfBX8Pn6y9Lg,18005
 ring/algorithms/custom_joints/__init__.py,sha256=33WBnaBJMtq3vVcpMm7zmyeMrLY9PyV_8-wk5oSF65g,227
 ring/algorithms/custom_joints/rr_imp_joint.py,sha256=a3JT0w7pB94kZ95eBR8ZO853eSeyjFoiXmhYlaXoHDE,2392
 ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXpoh43MioRaDmY,1000
-ring/algorithms/custom_joints/suntay.py,sha256=dhkuXGhQ-NLVrd5rRXotrJhNfUYd-C8T02GkIB7w5hA,13139
+ring/algorithms/custom_joints/suntay.py,sha256=d0Z54tIXiepMixE40W5H8JKxrT5U6VskPm2L2kKnQPw,13680
 ring/algorithms/generator/__init__.py,sha256=p4ucl0zQtp5NwNoXIRjmTzGGRu2WOAWFfNmYRPwQles,912
 ring/algorithms/generator/base.py,sha256=QDmzMAgtaK5M9WDl39qjXYfBa99d83vCPWEkYYmsplk,14952
 ring/algorithms/generator/batch.py,sha256=MZurZmQDH1vncoNbCspVNGNlfP0R87J6_HC7MMIqQ6A,8478
-ring/algorithms/generator/motion_artifacts.py,sha256=-VUcTMd1UW2oTKM8pnPvPjr988T6SXMyMU3JdKfnHpk,7995
+ring/algorithms/generator/motion_artifacts.py,sha256=aKdkZU5OF4_aKyL4Yo-ftZRwrDCve1LuuREGAUlTqtI,8551
 ring/algorithms/generator/pd_control.py,sha256=3pOaYig26vmp8gippDfy2KNJRZO3kr0rGd_PBIuEROM,5759
 ring/algorithms/generator/randomize.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3699
-ring/algorithms/generator/transforms.py,sha256=3oQtqRFcnJBtuf1_ihsYej3uwNKBlRucaJDxcdEisTs,12748
+ring/algorithms/generator/transforms.py,sha256=nvNDvM20tEw9Zd0ra0TxA25uf01L40Y2UKvtQmOrlGo,12782
 ring/algorithms/generator/types.py,sha256=CAhvDK5qiHnrGtkCVccB07doiz_D6lHJ35B7sW0pyZA,1110
 ring/io/__init__.py,sha256=1gEJdyDCbldbbm8QeZbLmhzSKmaQ-UqTmQgu4DBH2Z4,328
 ring/io/examples.py,sha256=KLf2iCagvRfjs9MCnQsLUlfGBjrQKrD-Qv8U0TtX6Ek,1114
@@ -40,8 +40,8 @@ ring/io/examples/test_randomize_position.xml,sha256=h6Yo5tT8QJBOJEwhE0cpppF-rvbO
 ring/io/examples/test_sensors.xml,sha256=urI_19gzwpDyWjtnse1Iy7CWCB0ezbsDP7FMLFlNw_4,494
 ring/io/examples/test_three_seg_seg2.xml,sha256=g85tx4V6PahkSbYXKWqk5vqurLos15WB6tBm1dQ_V_o,1022
 ring/io/examples/exclude/knee_trans_dof.xml,sha256=4Cuv6c7Yqa4T-RirRbrJKTT_41vRTuDlLPRLE_NopjU,1379
-ring/io/examples/exclude/standard_sys.xml,sha256=zTn_TVOBVmp0rq-g3aOOpjxHt6lTvPOKlHdvvqEGm-Y,8967
-ring/io/examples/exclude/standard_sys_rr_imp.xml,sha256=6aR_eA8RGfAMi36xojn5KyXdSSwAnc9sEotB0ukaPQM,9015
+ring/io/examples/exclude/standard_sys.xml,sha256=1QxyN01TaFPKdzyacomQeA_8elcB2XRQp5D4NTUYNJw,8967
+ring/io/examples/exclude/standard_sys_rr_imp.xml,sha256=1K8aLe4n97qFMQaytXdHVHDfshDhoZf78QzEe-gLjiU,9015
 ring/io/examples/test_morph_system/four_seg_seg1.xml,sha256=XJvGtEnvedejs_OmCVfQULWJNK8MLDQQ3raqPNRCJbA,1283
 ring/io/examples/test_morph_system/four_seg_seg3.xml,sha256=HktN7_a_Ly3YflWit5W-WncxApWGMORAGnRXyMEqnoA,1265
 ring/io/xml/__init__.py,sha256=-3k6ffvFyc4zm0oTyVz3ez-o3Lb9bPp2sjwSub_K1AA,242
@@ -50,9 +50,9 @@ ring/io/xml/from_xml.py,sha256=8b44sPVWgoY8JGJZLpJ8M_eLfcfu3IsMtBzSytPTPmw,9234
 ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,1562
 ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
 ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
-ring/ml/__init__.py,sha256=669ueX_IMTmhAE-4xCjjp90mTlj28u8voq5_5KE0ZY0,944
-ring/ml/base.py,sha256=5TpJtdfmlAv2j_f8yDW1U_wY4jZ2lA74pNR524JQTts,8905
-ring/ml/callbacks.py,sha256=qdMp572UTfwf4pUEfziur1kZ5yWBEAblaxDOjpEMfnE,13108
+ring/ml/__init__.py,sha256=hHQUeYAdqRoEFtpKW4zXyNkAdeH2cPh17vc29hXcWWw,1746
+ring/ml/base.py,sha256=PQ72VasEqlecBZgWP5HE5rWYyLiLq7nCVLymXo9f0dw,8959
+ring/ml/callbacks.py,sha256=DkSy5c7IRqAAks2dx8acEBExYxUv-xiUFwZn4odPYq4,13253
 ring/ml/ml_utils.py,sha256=hQEmeZoahdJyFrz0NZXYi1Yijl7GvPBdqwzZBzlUIUM,7638
 ring/ml/optimizer.py,sha256=OP70P70YcX-2Z-cuoMluFk-L5Vhh_MmqiHdM9OZqyhI,4703
 ring/ml/ringnet.py,sha256=OWRDu2COmptzbpJWlRLbPIn_ioKZCAd_iu-eiY_aPjk,8521
@@ -60,7 +60,7 @@ ring/ml/train.py,sha256=ftt2MOSSNGCdL7ZoAXcbIgeHW1Wkpgp6XYyLIBUIClI,10872
 ring/ml/training_loop.py,sha256=CEokvPQuuk_WCd-J60ZDodJYcPVvyxLfgXDr_DnbzRI,3359
 ring/ml/params/0x13e3518065c21cd8.pickle,sha256=Zh2k1zK-TNxJl5F7nyTeQ9001qqRE_dfvaq1HWV287A,9355838
 ring/rendering/__init__.py,sha256=Zf7qOdzK3t2hljIrs5P4zFhzHljLSMRyDDZO2YlZk4k,75
-ring/rendering/base_render.py,sha256=c3NTRE0VjnWmcHqCalvfQhCwiPyoMRr_2eiU04Y-mzU,8764
+ring/rendering/base_render.py,sha256=L2x83oWC2KkneuA5Lubg2qoDInDFBfH5wYlATymP9-0,8764
 ring/rendering/mujoco_render.py,sha256=aluzQJp3jrDdPfAyNmQuXIHRfgfBTCCZQqxKOx_0D2s,7770
 ring/rendering/vispy_render.py,sha256=QmRyA7Hqk3uS1SKjcncwc4_vd1m4yWryW2X0i4jRvCw,10260
 ring/rendering/vispy_visuals.py,sha256=ooBZqppnebeL0ANe6V6zUgnNTtDcdkOsa4vZuM4sx-I,7873
@@ -77,7 +77,7 @@ ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
 ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
 ring/utils/path.py,sha256=hAfSlqRi-ew536RnjDDM7IKapdMJc-EvhrR0Y-BCFWc,1265
 ring/utils/utils.py,sha256=AzOzR95oOyfdtJhjt5iIb35u611NlTb1Ds4QDKrGMOM,4967
-imt_ring-1.2.1.dist-info/METADATA,sha256=ql3agJfHytG7YejDfuifrhleUAwEUQnSuWTz3FJf13U,3104
-imt_ring-1.2.1.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.2.1.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.2.1.dist-info/RECORD,,
+imt_ring-1.3.0.dist-info/METADATA,sha256=fYndGMXxYVbuBmGAqpzGezBcD6-ruTt3VOAMdLxTwDE,3104
+imt_ring-1.3.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+imt_ring-1.3.0.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.3.0.dist-info/RECORD,,

ring/algorithms/custom_joints/suntay.py

@@ -8,6 +8,7 @@ from tree_utils import PyTree
 
 import ring
 from ring import maths
+from ring.algorithms import jcalc
 from ring.algorithms._random import random_angle_over_time
 
 Params = PyTree
@@ -258,6 +259,9 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
             mconfig.cdf_bins_max,
             mconfig.interpolation_method,
         )
+        return _apply_rom(qs_flexion)
+
+    def _apply_rom(qs_flexion):
         return restrict(
             qs_flexion,
             sconfig.flexion_rot_min,
@@ -267,16 +271,26 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
             method=sconfig.flexion_rot_restrict_method,
         )
 
+    def coordinate_vector_to_q_suntay(q_flexion):
+        q_flexion = ring.maths.wrap_to_pi(q_flexion)
+        return _apply_rom(q_flexion)
+
     joint_model = ring.JointModel(
         transform=_transform_suntay,
+        motion=[jcalc.mrx],
         rcmg_draw_fn=_draw_flexion_angle,
+        p_control_term=jcalc._p_control_term_rxyz,
+        qd_from_q=jcalc._qd_from_q_cartesian,
+        coordinate_vector_to_q=coordinate_vector_to_q_suntay,
+        inv_kin=None,
         init_joint_params=_init_joint_params_suntay,
         utilities=dict(
             Q_S_H_alpha_beta_gamma=_utils_Q_S_H_alpha_beta_gamma,
             find_suntay_joint=_utils_find_suntay_joint,
+            sconfig=sconfig,
         ),
     )
-    ring.register_new_joint_type(name, joint_model, 1, qd_width=0, overwrite=True)
+    ring.register_new_joint_type(name, joint_model, 1, overwrite=True)
 
 
 def MLP_DrawnFnPair(
@@ -291,6 +305,8 @@ def MLP_DrawnFnPair(
 
         if flexion_center is None:
             flexion_center = (flexion_mn + flexion_mx) / 2
+        else:
+            flexion_center = jnp.array(flexion_center)
 
         @hk.without_apply_rng
         @hk.transform

ring/algorithms/generator/motion_artifacts.py

@@ -2,9 +2,10 @@ import warnings
 
 import jax
 import jax.numpy as jnp
+import tree_utils
+
 from ring import base
 from ring import io
-import tree_utils
 
 
 def imu_reference_link_name(imu_link_name: str) -> str:
@@ -15,11 +16,21 @@ def unactuated_subsystem(sys) -> list[str]:
     return [imu_reference_link_name(name) for name in sys.findall_imus()]
 
 
-def _subsystem_factory(imu_name: str, pos_min_max: float) -> base.System:
+def _subsystem_factory(
+    imu_name: str,
+    pos_min_max: float,
+    translational_stif: float,
+    translational_damp: float,
+) -> base.System:
     assert pos_min_max >= 0
     pos = f'pos_min="-{pos_min_max} -{pos_min_max} -{pos_min_max}" pos_max="{pos_min_max} {pos_min_max} {pos_min_max}"'  # noqa: E501
-    stiff = 'spring_stiff="50 50 50"'
-    damping = 'damping="5 5 5"'
+    stiff = (
+        f'spring_stiff="{translational_stif} {translational_stif} {translational_stif}"'
+    )
+    translational_damp = translational_stif * translational_damp
+    damping = (
+        f'damping="{translational_damp} {translational_damp} {translational_damp}"'
+    )
     return io.load_sys_from_str(
         f"""
         <x_xy>
@@ -34,12 +45,16 @@ def _subsystem_factory(imu_name: str, pos_min_max: float) -> base.System:
 def inject_subsystems(
     sys: base.System,
     pos_min_max: float = 0.0,
+    rotational_stif: float = 0.3,
+    rotational_damp: float = 0.1,
+    translational_stif: float = 50.0,
+    translational_damp: float = 0.1,
     **kwargs,
 ) -> base.System:
     imu_idx_to_name_map = {sys.name_to_idx(imu): imu for imu in sys.findall_imus()}
 
-    default_spher_stif = jnp.ones((3,)) * 0.3
-    default_spher_damp = default_spher_stif * 0.1
+    default_spher_stif = jnp.ones((3,)) * rotational_stif
+    default_spher_damp = default_spher_stif * rotational_damp
     for imu in sys.findall_imus():
         sys = sys.unfreeze(imu, "spherical")
         # set default stiffness and damping of spherical joint
@@ -51,7 +66,12 @@ def inject_subsystems(
 
         _imu = imu_reference_link_name(imu)
         sys = sys.change_link_name(imu, _imu)
-        sys = sys.inject_system(_subsystem_factory(imu, pos_min_max), _imu)
+        sys = sys.inject_system(
+            _subsystem_factory(
+                imu, pos_min_max, translational_stif, translational_damp
+            ),
+            _imu,
+        )
 
     # attach geoms to newly injected link
     new_geoms = []

ring/algorithms/generator/transforms.py

@@ -277,6 +277,7 @@ _P_gains = {
     "p3d": jnp.array(3 * [P_pos]),
     "saddle": jnp.array([P_rot, P_rot]),
     "frozen": jnp.array([]),
+    "suntay": jnp.array([P_rot]),
 }
 
 

ring/algorithms/jcalc.py

@@ -88,6 +88,118 @@ class MotionConfig:
         assert nomotion_config.is_feasible()
         return nomotion_config
 
+    @staticmethod
+    def from_register(name: str) -> "MotionConfig":
+        return _registered_motion_configs[name]
+
+
+_registered_motion_configs = {
+    "hinUndHer": MotionConfig(
+        t_min=0.3,
+        t_max=1.5,
+        dang_max=3.0,
+        delta_ang_min=0.5,
+        pos_min=-1.5,
+        pos_max=1.5,
+        randomized_interpolation_angle=True,
+        cor=True,
+    ),
+    "langsam": MotionConfig(
+        t_min=0.2,
+        t_max=1.25,
+        dang_max=2.0,
+        randomized_interpolation_angle=True,
+        dang_max_free_spherical=2.0,
+        cdf_bins_min=1,
+        cdf_bins_max=3,
+        pos_min=-1.5,
+        pos_max=1.5,
+        cor=True,
+    ),
+    "standard": MotionConfig(
+        randomized_interpolation_angle=True,
+        cdf_bins_min=1,
+        cdf_bins_max=5,
+        cor=True,
+    ),
+    "expFast": MotionConfig(
+        t_min=0.4,
+        t_max=1.1,
+        dang_max=jnp.deg2rad(180),
+        delta_ang_min=jnp.deg2rad(60),
+        delta_ang_max=jnp.deg2rad(110),
+        pos_min=-1.5,
+        pos_max=1.5,
+        range_of_motion_hinge_method="sigmoid",
+        randomized_interpolation_angle=True,
+        cdf_bins_min=1,
+        cdf_bins_max=3,
+        cor=True,
+    ),
+    "expSlow": MotionConfig(
+        t_min=0.75,
+        t_max=3.0,
+        dang_min=0.1,
+        dang_max=1.0,
+        dang_min_free_spherical=0.1,
+        delta_ang_min=0.4,
+        dang_max_free_spherical=1.0,
+        delta_ang_max_free_spherical=1.0,
+        dpos_max=0.3,
+        cor_dpos_max=0.3,
+        range_of_motion_hinge_method="sigmoid",
+        randomized_interpolation_angle=True,
+        cdf_bins_min=1,
+        cdf_bins_max=5,
+        cor=True,
+    ),
+    "expFastNoSig": MotionConfig(
+        t_min=0.4,
+        t_max=1.1,
+        dang_max=jnp.deg2rad(180),
+        delta_ang_min=jnp.deg2rad(60),
+        delta_ang_max=jnp.deg2rad(110),
+        pos_min=-1.5,
+        pos_max=1.5,
+        randomized_interpolation_angle=True,
+        cdf_bins_min=1,
+        cdf_bins_max=3,
+        cor=True,
+    ),
+    "expSlowNoSig": MotionConfig(
+        t_min=0.75,
+        t_max=3.0,
+        dang_min=0.1,
+        dang_max=1.0,
+        dang_min_free_spherical=0.1,
+        delta_ang_min=0.4,
+        dang_max_free_spherical=1.0,
+        delta_ang_max_free_spherical=1.0,
+        dpos_max=0.3,
+        cor_dpos_max=0.3,
+        randomized_interpolation_angle=True,
+        cdf_bins_min=1,
+        cdf_bins_max=3,
+        cor=True,
+    ),
+    "verySlow": MotionConfig(
+        t_min=1.5,
+        t_max=5.0,
+        dang_min=jnp.deg2rad(1),
+        dang_max=jnp.deg2rad(30),
+        delta_ang_min=jnp.deg2rad(20),
+        dang_min_free_spherical=jnp.deg2rad(1),
+        dang_max_free_spherical=jnp.deg2rad(10),
+        delta_ang_min_free_spherical=jnp.deg2rad(5),
+        dpos_max=0.3,
+        cor_dpos_max=0.3,
+        randomized_interpolation_angle=True,
+        cdf_bins_min=1,
+        cdf_bins_max=3,
+        cor=True,
+    ),
+}
+
 
 def _is_feasible_config1(c: MotionConfig) -> bool:
     t_min, t_max = c.t_min, _to_float(c.t_max, 0.0)

ring/io/examples/exclude/standard_sys.xml

@@ -2,101 +2,101 @@
 <x_xy model="arm_1Seg">
   <options dt="0.01" gravity="0.0 0.0 9.81"/>
   <worldbody>
-    <body joint="free" name="seg2_1Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg3_1Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-      <body joint="frozen" name="imu2_1Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+      <body joint="frozen" name="imu3_1Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+        <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
       </body>
     </body>
-    <body joint="free" name="seg2_2Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg3_2Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-      <body joint="frozen" name="imu2_2Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+      <body joint="frozen" name="imu3_2Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+        <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
       </body>
-      <body joint="ry" name="seg3_2Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
+      <body joint="ry" name="seg4_2Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
         <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
         <geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
         <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-        <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
-        <body joint="frozen" name="imu3_2Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
+        <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
+        <body joint="frozen" name="imu4_2Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
           <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-          <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
+          <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
         </body>
       </body>
     </body>
-    <body joint="free" name="seg2_3Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg3_3Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-      <body joint="frozen" name="imu2_3Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+      <body joint="frozen" name="imu3_3Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+        <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
       </body>
-      <body joint="ry" name="seg3_3Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
+      <body joint="ry" name="seg4_3Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
         <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
         <geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
         <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-        <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
-        <body joint="frozen" name="imu3_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
+        <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
+        <body joint="frozen" name="imu4_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
           <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-          <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
+          <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
         </body>
-        <body joint="rz" name="seg4_3Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
+        <body joint="rz" name="seg5_3Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
           <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
           <geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
           <geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-          <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
-          <body joint="frozen" name="imu4_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
+          <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
+          <body joint="frozen" name="imu5_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
             <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-            <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
+            <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
           </body>
         </body>
       </body>
     </body>
-    <body joint="free" name="seg5_4Seg" pos="0.2 0.0 0.0" pos_min="0.15 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg2_4Seg" pos="0.2 0.0 0.0" pos_min="0.15 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.03 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.17 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="2"/>
-      <body joint="frozen" name="imu5_4Seg" pos="0.10000001 0.0 0.035" pos_min="0.049999997 -0.05 -0.05" pos_max="0.15000002 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="2"/>
+      <body joint="frozen" name="imu2_4Seg" pos="0.10000001 0.0 0.035" pos_min="0.049999997 -0.05 -0.05" pos_max="0.15000002 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="2"/>
+        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="2"/>
       </body>
-      <body joint="rx" name="seg2_4Seg" pos="0.2 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
+      <body joint="rx" name="seg3_4Seg" pos="0.2 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
         <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
         <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
         <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-        <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-        <body joint="frozen" name="imu2_4Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+        <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+        <body joint="frozen" name="imu3_4Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
           <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-          <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+          <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
         </body>
-        <body joint="ry" name="seg3_4Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
+        <body joint="ry" name="seg4_4Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
           <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
           <geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
           <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-          <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
-          <body joint="frozen" name="imu3_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
+          <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
+          <body joint="frozen" name="imu4_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
             <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-            <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
+            <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
           </body>
-          <body joint="rz" name="seg4_4Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
+          <body joint="rz" name="seg5_4Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
             <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
             <geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
             <geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-            <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
-            <body joint="frozen" name="imu4_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
+            <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
+            <body joint="frozen" name="imu5_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
               <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-              <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
+              <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
             </body>
           </body>
         </body>

ring/io/examples/exclude/standard_sys_rr_imp.xml

@@ -2,101 +2,101 @@
 <x_xy model="arm_1Seg">
   <options dt="0.01" gravity="0.0 0.0 9.81"/>
   <worldbody>
-    <body joint="free" name="seg2_1Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg3_1Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-      <body joint="frozen" name="imu2_1Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+      <body joint="frozen" name="imu3_1Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+        <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
       </body>
     </body>
-    <body joint="free" name="seg2_2Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg3_2Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-      <body joint="frozen" name="imu2_2Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+      <body joint="frozen" name="imu3_2Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+        <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
       </body>
-      <body joint="rr_imp" name="seg3_2Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
+      <body joint="rr_imp" name="seg4_2Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
         <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
         <geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
         <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-        <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
-        <body joint="frozen" name="imu3_2Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
+        <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
+        <body joint="frozen" name="imu4_2Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
           <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-          <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
+          <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
         </body>
       </body>
     </body>
-    <body joint="free" name="seg2_3Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg3_3Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-      <body joint="frozen" name="imu2_3Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+      <body joint="frozen" name="imu3_3Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+        <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
       </body>
-      <body joint="rr_imp" name="seg3_3Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
+      <body joint="rr_imp" name="seg4_3Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
         <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
         <geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
         <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-        <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
-        <body joint="frozen" name="imu3_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
+        <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
+        <body joint="frozen" name="imu4_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
           <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-          <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
+          <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
         </body>
-        <body joint="rr_imp" name="seg4_3Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
+        <body joint="rr_imp" name="seg5_3Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
           <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
           <geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
           <geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-          <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
-          <body joint="frozen" name="imu4_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
+          <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
+          <body joint="frozen" name="imu5_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
             <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-            <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
+            <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
           </body>
         </body>
       </body>
     </body>
-    <body joint="free" name="seg5_4Seg" pos="0.2 0.0 0.0" pos_min="0.15 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
+    <body joint="free" name="seg2_4Seg" pos="0.2 0.0 0.0" pos_min="0.15 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
       <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
       <geom pos="0.03 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
       <geom pos="0.17 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-      <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="2"/>
-      <body joint="frozen" name="imu5_4Seg" pos="0.10000001 0.0 0.035" pos_min="0.049999997 -0.05 -0.05" pos_max="0.15000002 0.05 0.05">
+      <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="2"/>
+      <body joint="frozen" name="imu2_4Seg" pos="0.10000001 0.0 0.035" pos_min="0.049999997 -0.05 -0.05" pos_max="0.15000002 0.05 0.05">
         <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-        <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="2"/>
+        <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="2"/>
       </body>
-      <body joint="rr_imp" name="seg2_4Seg" pos="0.2 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
+      <body joint="rr_imp" name="seg3_4Seg" pos="0.2 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
         <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
         <geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
         <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-        <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
-        <body joint="frozen" name="imu2_4Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
+        <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
+        <body joint="frozen" name="imu3_4Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
           <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-          <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
+          <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
         </body>
-        <body joint="rr_imp" name="seg3_4Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
+        <body joint="rr_imp" name="seg4_4Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
           <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
           <geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
           <geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-          <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
-          <body joint="frozen" name="imu3_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
+          <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
+          <body joint="frozen" name="imu4_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
             <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-            <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
+            <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
           </body>
-          <body joint="rr_imp" name="seg4_4Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
+          <body joint="rr_imp" name="seg5_4Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
             <geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
             <geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
             <geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
-            <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
-            <body joint="frozen" name="imu4_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
+            <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
+            <body joint="frozen" name="imu5_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
               <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
-              <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
+              <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
             </body>
           </body>
         </body>

ring/ml/__init__.py

@@ -13,7 +13,7 @@ from .ringnet import RING
 from .train import train_fn
 
 
-def RING_ICML24(params=None, **kwargs):
+def RING_ICML24(params=None, eval: bool = True, **kwargs):
     """Create the RING network used in the icml24 paper.
 
     X[..., :3]  = acc
@@ -28,6 +28,34 @@ def RING_ICML24(params=None, **kwargs):
 
     ringnet = RING(params=params, **kwargs)  # noqa: F811
     ringnet = base.ScaleX_FilterWrapper(ringnet)
-    ringnet = base.LPF_FilterWrapper(ringnet, 10.0, samp_freq=None)
+    if eval:
+        ringnet = base.LPF_FilterWrapper(ringnet, 10.0, samp_freq=None)
     ringnet = base.GroundTruthHeading_FilterWrapper(ringnet)
     return ringnet
+
+
+def RNNO(
+    output_dim: int,
+    return_quats: bool = False,
+    params=None,
+    eval: bool = True,
+    **kwargs,
+):
+    assert "message_dim" not in kwargs
+    assert "link_output_normalize" not in kwargs
+    assert "link_output_dim" not in kwargs
+
+    ringnet = RING(  # noqa: F811
+        params=params,
+        message_dim=0,
+        link_output_normalize=False,
+        link_output_dim=output_dim,
+        **kwargs,
+    )
+    ringnet = base.NoGraph_FilterWrapper(ringnet, quat_normalize=return_quats)
+    ringnet = base.ScaleX_FilterWrapper(ringnet)
+    if eval and return_quats:
+        ringnet = base.LPF_FilterWrapper(ringnet, 10.0, samp_freq=None)
+    if return_quats:
+        ringnet = base.GroundTruthHeading_FilterWrapper(ringnet)
+    return ringnet

ring/ml/base.py

@@ -34,9 +34,9 @@ class AbstractFilter(ABC):
     def _apply_batched(self, X, params, state, y, lam):
         pass
 
-    @abstractmethod
     def init(self, bs, X, lam, seed: int):
-        pass
+        params = state = None
+        return params, state
 
     def apply(self, X, params=None, state=None, y=None, lam=None):
         "X.shape = (B, T, N, F) or (T, N, F)"
@@ -286,7 +286,7 @@ class NoGraph_FilterWrapper(AbstractFilterWrapper):
             yhat = yhat.reshape((T, N, -1))
 
         if self._quat_normalize:
-            assert yhat.shape[-1] == 4
+            assert yhat.shape[-1] == 4, f"yhat.shape={yhat.shape}"
             yhat = ring.maths.safe_normalize(yhat)
 
         return yhat, state

ring/ml/callbacks.py

@@ -108,6 +108,10 @@ class EvalXyTrainingLoopCallback(training_loop.TrainingLoopCallback):
         if (i_episode % self.eval_every) == 0:
             point_estimates = self.eval_fn(params)
             self.last_metrices = {self.metric_identifier: point_estimates}
+
+        assert (
+            self.metric_identifier not in metrices
+        ), f"`{self.metric_identifier}` is already in `{metrices.keys()}`"
         metrices.update(self.last_metrices)
 
 
@@ -245,7 +249,7 @@ class SaveParamsTrainingLoopCallback(training_loop.TrainingLoopCallback):
                     extension="pickle",
                 )
 
-            pickle_save(ele.params, filename, overwrite=True)
+            pickle_save(ele.params, filename, overwrite=False)
             if self.upload:
                 success = False
                 for logger in self._loggers:

ring/rendering/base_render.py

@@ -229,7 +229,7 @@ def _color_to_rgba(geom: base.Geometry) -> base.Geometry:
 def _xyz_to_three_capsules(xyz: base.XYZ) -> list[base.Geometry]:
     capsules = []
     length = xyz.size
-    radius = length / 6
+    radius = length / 7
     colors = ["red", "green", "blue"]
     rot_axis = [1, 0, 2]