imt-ring 1.2.1__py3-none-any.whl

imt_ring-1.2.1.dist-info/METADATA

@@ -0,0 +1,91 @@
+Metadata-Version: 2.1
+Name: imt-ring
+Version: 1.2.1
+Summary: RING: Recurrent Inertial Graph-based Estimator
+Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
+Project-URL: Homepage, https://github.com/SimiPixel/ring
+Project-URL: Issues, https://github.com/SimiPixel/ring/issues
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+Requires-Dist: jaxlib
+Requires-Dist: jax
+Requires-Dist: jaxopt
+Requires-Dist: numpy
+Requires-Dist: flax
+Requires-Dist: tqdm
+Requires-Dist: wget
+Requires-Dist: h5py
+Requires-Dist: imt-tree-utils
+Requires-Dist: wandb
+Requires-Dist: optax
+Requires-Dist: dm-haiku
+Requires-Dist: joblib
+Requires-Dist: pyyaml
+Requires-Dist: qmt
+Requires-Dist: scipy
+Provides-Extra: dev
+Requires-Dist: mkdocs ; extra == 'dev'
+Requires-Dist: mkdocs-material ; extra == 'dev'
+Requires-Dist: mkdocstrings ; extra == 'dev'
+Requires-Dist: mkdocstrings-python ; extra == 'dev'
+Requires-Dist: mknotebooks ; extra == 'dev'
+Requires-Dist: pytest ; extra == 'dev'
+Requires-Dist: pytest-xdist ; extra == 'dev'
+Requires-Dist: nbmake ; extra == 'dev'
+
+<p align="center">
+<img src="https://raw.githubusercontent.com/SimiPixel/ring/main/docs/img/icon.svg" height="200" />
+</p>
+
+# Recurrent Inertial Graph-based Estimator (RING)
+<img src="https://raw.githubusercontent.com/SimiPixel/ring/main/docs/img/coverage_badge.svg" height="20" />
+
+## Installation
+
+Supports `Python=3.10/3.11/3.12` (tested).
+
+Install with `pip` using
+
+`pip install imt-ring`
+
+Typically, this will install `jax` as cpu-only version. Afterwards, gpu-enabled version can be installed with
+```bash
+pip install --upgrade "jax[cuda12_pip]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
+```
+
+## Documentation
+
+Available [here](https://simipixel.github.io/ring/).
+
+### Known fixes
+
+#### Offscreen rendering with Mujoco
+
+> mujoco.FatalError: an OpenGL platform library has not been loaded into this process, this most likely means that a valid OpenGL context has not been created before mjr_makeContext was called
+
+Solution:
+
+```python
+import os
+os.environ["MUJOCO_GL"] = "egl"
+```
+
+## Publications
+
+The following publications utilize this software library, and refer to it as the *Random Chain Motion Generator (RCMG)* (more specifically the function `ring.RCMG`):
+
+- [*RNN-based Observability Analysis for Magnetometer-Free Sparse Inertial Motion Tracking*](https://ieeexplore.ieee.org/document/9841375)
+- [*Plug-and-Play Sparse Inertial Motion Tracking With Sim-to-Real Transfer*](https://ieeexplore.ieee.org/document/10225275)
+- [*RNN-based State and Parameter Estimation for Sparse Magnetometer-free Inertial Motion Tracking*](https://www.journals.infinite-science.de/index.php/automed/article/view/745)
+
+### Other useful ressources
+
+Particularly useful is the following publication from *Roy Featherstone*
+- [*A Beginner’s Guide to 6-D Vectors (Part 2)*](https://ieeexplore.ieee.org/document/5663690)
+
+## Contact
+
+Simon Bachhuber (simon.bachhuber@fau.de)

imt_ring-1.2.1.dist-info/RECORD

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imt_ring-1.2.1.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: bdist_wheel (0.43.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

imt_ring-1.2.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+ring

ring/__init__.py

@@ -0,0 +1,63 @@
+from . import algebra
+from . import algorithms
+from . import base
+from . import io
+from . import maths
+from . import ml
+from . import rendering
+from . import sim2real
+from . import spatial
+from . import sys_composer
+from . import utils
+from .algorithms import join_motionconfigs
+from .algorithms import JointModel
+from .algorithms import MotionConfig
+from .algorithms import RCMG
+from .algorithms import register_new_joint_type
+from .algorithms import step
+from .base import State
+from .base import System
+from .base import Transform
+from .ml import RING
+
+_TRAIN_TIMING_START = None
+_UNIQUE_ID = None
+
+
+def setup(
+    rr_joint_kwargs: None | dict = dict(),
+    rr_imp_joint_kwargs: None | dict = dict(),
+    suntay_joint_kwargs: None | dict = None,
+    train_timing_start: None | float = None,
+    unique_id: None | str = None,
+):
+    import time
+
+    from ring.algorithms import custom_joints
+
+    global _TRAIN_TIMING_START
+    global _UNIQUE_ID
+
+    if rr_joint_kwargs is not None:
+        custom_joints.register_rr_joint(**rr_joint_kwargs)
+
+    if rr_imp_joint_kwargs is not None:
+        custom_joints.register_rr_imp_joint(**rr_imp_joint_kwargs)
+
+    if suntay_joint_kwargs is not None:
+        custom_joints.register_suntay(**suntay_joint_kwargs)
+
+    if _TRAIN_TIMING_START is None:
+        _TRAIN_TIMING_START = time.time()
+
+    if train_timing_start is not None:
+        _TRAIN_TIMING_START = train_timing_start
+
+    if _UNIQUE_ID is None:
+        _UNIQUE_ID = hex(hash(time.time()))
+
+    if unique_id is not None:
+        _UNIQUE_ID = unique_id
+
+
+setup()

ring/algebra.py

@@ -0,0 +1,100 @@
+import jax.numpy as jnp
+from ring import base
+from ring import maths
+from ring import spatial
+
+
+def inertia_mul_motion(it: base.Inertia, m: base.Motion) -> base.Force:
+    ang = it.it_3x3 @ m.ang + jnp.cross(it.h, m.vel)
+    vel = it.mass * m.vel - jnp.cross(it.h, m.ang)
+    return base.Force(ang, vel)
+
+
+def motion_dot(m: base.Motion, f: base.Force) -> base.Scalar:
+    return m.ang @ f.ang + m.vel @ f.vel
+
+
+def motion_cross(m1: base.Motion, m2: base.Motion) -> base.Motion:
+    ang = jnp.cross(m1.ang, m2.ang)
+    vel = jnp.cross(m1.ang, m2.vel) + jnp.cross(m1.vel, m2.ang)
+    return base.Motion(ang, vel)
+
+
+def motion_cross_star(m: base.Motion, f: base.Force) -> base.Force:
+    ang = jnp.cross(m.ang, f.ang) + jnp.cross(m.vel, f.vel)
+    vel = jnp.cross(m.ang, f.vel)
+    return base.Force(ang, vel)
+
+
+def transform_mul(t2: base.Transform, t1: base.Transform) -> base.Transform:
+    """Chains two transformations `t1` and `t2`.
+    t1: Plücker A -> Plücker B,
+    t2: Plücker B -> Plücker C
+    =>
+    Returns: Plücker A -> Plücker C
+    """
+    pos = t1.pos + maths.rotate(t2.pos, maths.quat_inv(t1.rot))
+    rot = maths.quat_mul(t2.rot, t1.rot)
+    return base.Transform(pos, rot)
+
+
+def transform_inv(t: base.Transform) -> base.Transform:
+    "Inverts the transform. A -> B becomes B -> A"
+    pos = maths.rotate(-t.pos, t.rot)
+    rot = maths.quat_inv(t.rot)
+    return base.Transform(pos, rot)
+
+
+def transform_move_into_frame(
+    t: base.Transform, new_frame: base.Transform
+) -> base.Transform:
+    """Express transform `t`: A -> B, in frame C using `new_frame`: A -> C.
+
+    Suppose you are given a transform `t` that maps from A -> B.
+    Then, you think of this operation as something abstract.
+    Then, you want to do this operation that maps from A -> B but
+    apply it in frame C. The connection between A -> C is given by `new_frame`.
+    """
+    q_C_to_A = new_frame.rot
+    rot = maths.rotate_quat(t.rot, q_C_to_A)
+    pos = maths.rotate(t.pos, q_C_to_A)
+    return base.Transform(pos, rot)
+
+
+def transform_motion(t: base.Transform, m: base.Motion) -> base.Motion:
+    """Transforms motion vector `m`.
+    t: Plücker A -> Plücker B,
+    m: Plücker A
+    =>
+    Returns: m in Plücker B
+    """
+    ang = maths.rotate(m.ang, t.rot)
+    vel = maths.rotate(-jnp.cross(t.pos, m.ang) + m.vel, t.rot)
+    return base.Motion(ang, vel)
+
+
+def transform_force(t: base.Transform, f: base.Force) -> base.Force:
+    """Transforms force vector `f`.
+    t: Plücker A -> Plücker B,
+    f: Plücker A
+    =>
+    Returns: f in Plücker B
+    """
+    ang = maths.rotate(f.ang - jnp.cross(t.pos, f.vel), t.rot)
+    vel = maths.rotate(f.vel, t.rot)
+    return base.Force(ang, vel)
+
+
+def transform_inertia(t: base.Transform, it: base.Inertia) -> base.Inertia:
+    "Transforms inertia matrix `it`"
+    r = t.pos
+    I_ = it.it_3x3
+    rcross = spatial.cross(r)
+
+    hmr = it.h - it.mass * t.pos
+    new_h = maths.rotate(hmr, t.rot)
+    new_it_3x3 = maths.rotate_matrix(
+        I_ + rcross @ spatial.cross(it.h) + spatial.cross(hmr) @ rcross,
+        t.rot,
+    )
+    return base.Inertia(new_it_3x3, new_h, it.mass)

ring/algorithms/__init__.py

@@ -0,0 +1,45 @@
+from . import _random
+from . import dynamics
+from . import generator
+from . import jcalc
+from . import kinematics
+from . import sensors
+from ._random import random_angle_over_time
+from ._random import random_position_over_time
+from .dynamics import compute_mass_matrix
+from .dynamics import forward_dynamics
+from .dynamics import inverse_dynamics
+from .dynamics import step
+from .generator import batch_generators_eager
+from .generator import batch_generators_eager_to_list
+from .generator import batch_generators_lazy
+from .generator import batched_generator_from_list
+from .generator import batched_generator_from_paths
+from .generator import FINALIZE_FN
+from .generator import Generator
+from .generator import GeneratorPipe
+from .generator import GeneratorTrafo
+from .generator import GeneratorTrafoExpandFlatten
+from .generator import GeneratorTrafoRandomizePositions
+from .generator import GeneratorTrafoRemoveInputExtras
+from .generator import GeneratorTrafoRemoveOutputExtras
+from .generator import RCMG
+from .generator import SETUP_FN
+from .jcalc import get_joint_model
+from .jcalc import jcalc_motion
+from .jcalc import jcalc_tau
+from .jcalc import jcalc_transform
+from .jcalc import join_motionconfigs
+from .jcalc import JointModel
+from .jcalc import MotionConfig
+from .jcalc import register_new_joint_type
+from .kinematics import forward_kinematics
+from .kinematics import forward_kinematics_transforms
+from .kinematics import inverse_kinematics
+from .kinematics import inverse_kinematics_endeffector
+from .sensors import accelerometer
+from .sensors import add_noise_bias
+from .sensors import gyroscope
+from .sensors import imu
+from .sensors import joint_axes
+from .sensors import rel_pose