imt-ring 1.2.2__py3-none-any.whl → 1.3.0__py3-none-any.whl

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Files changed (11) hide show
  1. {imt_ring-1.2.2.dist-info → imt_ring-1.3.0.dist-info}/METADATA +1 -1
  2. {imt_ring-1.2.2.dist-info → imt_ring-1.3.0.dist-info}/RECORD +11 -11
  3. ring/algorithms/jcalc.py +112 -0
  4. ring/io/examples/exclude/standard_sys.xml +40 -40
  5. ring/io/examples/exclude/standard_sys_rr_imp.xml +40 -40
  6. ring/ml/__init__.py +30 -2
  7. ring/ml/base.py +3 -3
  8. ring/ml/callbacks.py +4 -0
  9. ring/rendering/base_render.py +1 -1
  10. {imt_ring-1.2.2.dist-info → imt_ring-1.3.0.dist-info}/WHEEL +0 -0
  11. {imt_ring-1.2.2.dist-info → imt_ring-1.3.0.dist-info}/top_level.txt +0 -0
{imt_ring-1.2.2.dist-info → imt_ring-1.3.0.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
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  Name: imt-ring
3
- Version: 1.2.2
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+ Version: 1.3.0
4
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  Summary: RING: Recurrent Inertial Graph-based Estimator
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  Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
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  Project-URL: Homepage, https://github.com/SimiPixel/ring
{imt_ring-1.2.2.dist-info → imt_ring-1.3.0.dist-info}/RECORD RENAMED
@@ -6,7 +6,7 @@ ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
6
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  ring/algorithms/__init__.py,sha256=t3YXcgqMJxadUjFiILVD0HlQRPLdrQyc8aKiB36w0vE,1701
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  ring/algorithms/_random.py,sha256=6EG0GHYe6tCq0qUt4Jes8W1EaqqaLa0sSZhnwBbEjCE,13340
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  ring/algorithms/dynamics.py,sha256=nqq5I0RYSbHNlGiLMlohz08IfL9Njsrid4upDnwkGbI,10629
9
- ring/algorithms/jcalc.py,sha256=6bO-_zFbHGDG5oq0t-HZvOSiYSWmZz_k6Z6VlNmSThA,25270
9
+ ring/algorithms/jcalc.py,sha256=oqSiwz3Be1VfIpmJXEFTNM_9_o3tyuTtyZt2aqttyN4,28213
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10
  ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
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11
  ring/algorithms/sensors.py,sha256=Y3Wo9qj3BWKoIHB0V04QwyD-Z5m4BrAjfBX8Pn6y9Lg,18005
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  ring/algorithms/custom_joints/__init__.py,sha256=33WBnaBJMtq3vVcpMm7zmyeMrLY9PyV_8-wk5oSF65g,227
@@ -40,8 +40,8 @@ ring/io/examples/test_randomize_position.xml,sha256=h6Yo5tT8QJBOJEwhE0cpppF-rvbO
40
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  ring/io/examples/test_sensors.xml,sha256=urI_19gzwpDyWjtnse1Iy7CWCB0ezbsDP7FMLFlNw_4,494
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  ring/io/examples/test_three_seg_seg2.xml,sha256=g85tx4V6PahkSbYXKWqk5vqurLos15WB6tBm1dQ_V_o,1022
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  ring/io/examples/exclude/knee_trans_dof.xml,sha256=4Cuv6c7Yqa4T-RirRbrJKTT_41vRTuDlLPRLE_NopjU,1379
43
- ring/io/examples/exclude/standard_sys.xml,sha256=zTn_TVOBVmp0rq-g3aOOpjxHt6lTvPOKlHdvvqEGm-Y,8967
44
- ring/io/examples/exclude/standard_sys_rr_imp.xml,sha256=6aR_eA8RGfAMi36xojn5KyXdSSwAnc9sEotB0ukaPQM,9015
43
+ ring/io/examples/exclude/standard_sys.xml,sha256=1QxyN01TaFPKdzyacomQeA_8elcB2XRQp5D4NTUYNJw,8967
44
+ ring/io/examples/exclude/standard_sys_rr_imp.xml,sha256=1K8aLe4n97qFMQaytXdHVHDfshDhoZf78QzEe-gLjiU,9015
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  ring/io/examples/test_morph_system/four_seg_seg1.xml,sha256=XJvGtEnvedejs_OmCVfQULWJNK8MLDQQ3raqPNRCJbA,1283
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  ring/io/examples/test_morph_system/four_seg_seg3.xml,sha256=HktN7_a_Ly3YflWit5W-WncxApWGMORAGnRXyMEqnoA,1265
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  ring/io/xml/__init__.py,sha256=-3k6ffvFyc4zm0oTyVz3ez-o3Lb9bPp2sjwSub_K1AA,242
@@ -50,9 +50,9 @@ ring/io/xml/from_xml.py,sha256=8b44sPVWgoY8JGJZLpJ8M_eLfcfu3IsMtBzSytPTPmw,9234
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  ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,1562
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  ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
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  ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
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- ring/ml/__init__.py,sha256=669ueX_IMTmhAE-4xCjjp90mTlj28u8voq5_5KE0ZY0,944
54
- ring/ml/base.py,sha256=5TpJtdfmlAv2j_f8yDW1U_wY4jZ2lA74pNR524JQTts,8905
55
- ring/ml/callbacks.py,sha256=yrh9YWdEATEJq3fi9lQR0OU3hFENPpPO2UD4cyTRlIk,13109
53
+ ring/ml/__init__.py,sha256=hHQUeYAdqRoEFtpKW4zXyNkAdeH2cPh17vc29hXcWWw,1746
54
+ ring/ml/base.py,sha256=PQ72VasEqlecBZgWP5HE5rWYyLiLq7nCVLymXo9f0dw,8959
55
+ ring/ml/callbacks.py,sha256=DkSy5c7IRqAAks2dx8acEBExYxUv-xiUFwZn4odPYq4,13253
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  ring/ml/ml_utils.py,sha256=hQEmeZoahdJyFrz0NZXYi1Yijl7GvPBdqwzZBzlUIUM,7638
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  ring/ml/optimizer.py,sha256=OP70P70YcX-2Z-cuoMluFk-L5Vhh_MmqiHdM9OZqyhI,4703
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  ring/ml/ringnet.py,sha256=OWRDu2COmptzbpJWlRLbPIn_ioKZCAd_iu-eiY_aPjk,8521
@@ -60,7 +60,7 @@ ring/ml/train.py,sha256=ftt2MOSSNGCdL7ZoAXcbIgeHW1Wkpgp6XYyLIBUIClI,10872
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  ring/ml/training_loop.py,sha256=CEokvPQuuk_WCd-J60ZDodJYcPVvyxLfgXDr_DnbzRI,3359
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  ring/ml/params/0x13e3518065c21cd8.pickle,sha256=Zh2k1zK-TNxJl5F7nyTeQ9001qqRE_dfvaq1HWV287A,9355838
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  ring/rendering/__init__.py,sha256=Zf7qOdzK3t2hljIrs5P4zFhzHljLSMRyDDZO2YlZk4k,75
63
- ring/rendering/base_render.py,sha256=c3NTRE0VjnWmcHqCalvfQhCwiPyoMRr_2eiU04Y-mzU,8764
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+ ring/rendering/base_render.py,sha256=L2x83oWC2KkneuA5Lubg2qoDInDFBfH5wYlATymP9-0,8764
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  ring/rendering/mujoco_render.py,sha256=aluzQJp3jrDdPfAyNmQuXIHRfgfBTCCZQqxKOx_0D2s,7770
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  ring/rendering/vispy_render.py,sha256=QmRyA7Hqk3uS1SKjcncwc4_vd1m4yWryW2X0i4jRvCw,10260
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  ring/rendering/vispy_visuals.py,sha256=ooBZqppnebeL0ANe6V6zUgnNTtDcdkOsa4vZuM4sx-I,7873
@@ -77,7 +77,7 @@ ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
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  ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
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  ring/utils/path.py,sha256=hAfSlqRi-ew536RnjDDM7IKapdMJc-EvhrR0Y-BCFWc,1265
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  ring/utils/utils.py,sha256=AzOzR95oOyfdtJhjt5iIb35u611NlTb1Ds4QDKrGMOM,4967
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- imt_ring-1.2.2.dist-info/METADATA,sha256=rGaRlA9bTJH-N8QLbO4tokVge6UMnx-2Pddy5QwMvXA,3104
81
- imt_ring-1.2.2.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
82
- imt_ring-1.2.2.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
83
- imt_ring-1.2.2.dist-info/RECORD,,
80
+ imt_ring-1.3.0.dist-info/METADATA,sha256=fYndGMXxYVbuBmGAqpzGezBcD6-ruTt3VOAMdLxTwDE,3104
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+ imt_ring-1.3.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
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+ imt_ring-1.3.0.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
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+ imt_ring-1.3.0.dist-info/RECORD,,
ring/algorithms/jcalc.py CHANGED
@@ -88,6 +88,118 @@ class MotionConfig:
88
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  assert nomotion_config.is_feasible()
89
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  return nomotion_config
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90
 
91
+ @staticmethod
92
+ def from_register(name: str) -> "MotionConfig":
93
+ return _registered_motion_configs[name]
94
+
95
+
96
+ _registered_motion_configs = {
97
+ "hinUndHer": MotionConfig(
98
+ t_min=0.3,
99
+ t_max=1.5,
100
+ dang_max=3.0,
101
+ delta_ang_min=0.5,
102
+ pos_min=-1.5,
103
+ pos_max=1.5,
104
+ randomized_interpolation_angle=True,
105
+ cor=True,
106
+ ),
107
+ "langsam": MotionConfig(
108
+ t_min=0.2,
109
+ t_max=1.25,
110
+ dang_max=2.0,
111
+ randomized_interpolation_angle=True,
112
+ dang_max_free_spherical=2.0,
113
+ cdf_bins_min=1,
114
+ cdf_bins_max=3,
115
+ pos_min=-1.5,
116
+ pos_max=1.5,
117
+ cor=True,
118
+ ),
119
+ "standard": MotionConfig(
120
+ randomized_interpolation_angle=True,
121
+ cdf_bins_min=1,
122
+ cdf_bins_max=5,
123
+ cor=True,
124
+ ),
125
+ "expFast": MotionConfig(
126
+ t_min=0.4,
127
+ t_max=1.1,
128
+ dang_max=jnp.deg2rad(180),
129
+ delta_ang_min=jnp.deg2rad(60),
130
+ delta_ang_max=jnp.deg2rad(110),
131
+ pos_min=-1.5,
132
+ pos_max=1.5,
133
+ range_of_motion_hinge_method="sigmoid",
134
+ randomized_interpolation_angle=True,
135
+ cdf_bins_min=1,
136
+ cdf_bins_max=3,
137
+ cor=True,
138
+ ),
139
+ "expSlow": MotionConfig(
140
+ t_min=0.75,
141
+ t_max=3.0,
142
+ dang_min=0.1,
143
+ dang_max=1.0,
144
+ dang_min_free_spherical=0.1,
145
+ delta_ang_min=0.4,
146
+ dang_max_free_spherical=1.0,
147
+ delta_ang_max_free_spherical=1.0,
148
+ dpos_max=0.3,
149
+ cor_dpos_max=0.3,
150
+ range_of_motion_hinge_method="sigmoid",
151
+ randomized_interpolation_angle=True,
152
+ cdf_bins_min=1,
153
+ cdf_bins_max=5,
154
+ cor=True,
155
+ ),
156
+ "expFastNoSig": MotionConfig(
157
+ t_min=0.4,
158
+ t_max=1.1,
159
+ dang_max=jnp.deg2rad(180),
160
+ delta_ang_min=jnp.deg2rad(60),
161
+ delta_ang_max=jnp.deg2rad(110),
162
+ pos_min=-1.5,
163
+ pos_max=1.5,
164
+ randomized_interpolation_angle=True,
165
+ cdf_bins_min=1,
166
+ cdf_bins_max=3,
167
+ cor=True,
168
+ ),
169
+ "expSlowNoSig": MotionConfig(
170
+ t_min=0.75,
171
+ t_max=3.0,
172
+ dang_min=0.1,
173
+ dang_max=1.0,
174
+ dang_min_free_spherical=0.1,
175
+ delta_ang_min=0.4,
176
+ dang_max_free_spherical=1.0,
177
+ delta_ang_max_free_spherical=1.0,
178
+ dpos_max=0.3,
179
+ cor_dpos_max=0.3,
180
+ randomized_interpolation_angle=True,
181
+ cdf_bins_min=1,
182
+ cdf_bins_max=3,
183
+ cor=True,
184
+ ),
185
+ "verySlow": MotionConfig(
186
+ t_min=1.5,
187
+ t_max=5.0,
188
+ dang_min=jnp.deg2rad(1),
189
+ dang_max=jnp.deg2rad(30),
190
+ delta_ang_min=jnp.deg2rad(20),
191
+ dang_min_free_spherical=jnp.deg2rad(1),
192
+ dang_max_free_spherical=jnp.deg2rad(10),
193
+ delta_ang_min_free_spherical=jnp.deg2rad(5),
194
+ dpos_max=0.3,
195
+ cor_dpos_max=0.3,
196
+ randomized_interpolation_angle=True,
197
+ cdf_bins_min=1,
198
+ cdf_bins_max=3,
199
+ cor=True,
200
+ ),
201
+ }
202
+
91
203
 
92
204
  def _is_feasible_config1(c: MotionConfig) -> bool:
93
205
  t_min, t_max = c.t_min, _to_float(c.t_max, 0.0)
ring/io/examples/exclude/standard_sys.xml CHANGED
@@ -2,101 +2,101 @@
2
2
  <x_xy model="arm_1Seg">
3
3
  <options dt="0.01" gravity="0.0 0.0 9.81"/>
4
4
  <worldbody>
5
- <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">
5
+ <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">
6
6
  <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"/>
7
7
  <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"/>
8
8
  <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"/>
9
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
10
- <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">
9
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
10
+ <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">
11
11
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
12
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
12
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
13
13
  </body>
14
14
  </body>
15
- <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">
15
+ <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">
16
16
  <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"/>
17
17
  <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"/>
18
18
  <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"/>
19
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
20
- <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">
19
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
20
+ <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">
21
21
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
22
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
22
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
23
23
  </body>
24
- <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">
24
+ <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">
25
25
  <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"/>
26
26
  <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"/>
27
27
  <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"/>
28
- <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
29
- <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">
28
+ <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
29
+ <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">
30
30
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
31
- <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
31
+ <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
32
32
  </body>
33
33
  </body>
34
34
  </body>
35
- <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">
35
+ <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">
36
36
  <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"/>
37
37
  <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"/>
38
38
  <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"/>
39
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
40
- <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">
39
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
40
+ <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">
41
41
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
42
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
42
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
43
43
  </body>
44
- <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">
44
+ <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">
45
45
  <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"/>
46
46
  <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"/>
47
47
  <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"/>
48
- <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
49
- <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">
48
+ <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
49
+ <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">
50
50
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
51
- <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
51
+ <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
52
52
  </body>
53
- <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">
53
+ <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">
54
54
  <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"/>
55
55
  <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"/>
56
56
  <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"/>
57
- <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
58
- <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">
57
+ <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
58
+ <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">
59
59
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
60
- <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
60
+ <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
61
61
  </body>
62
62
  </body>
63
63
  </body>
64
64
  </body>
65
- <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">
65
+ <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">
66
66
  <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"/>
67
67
  <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"/>
68
68
  <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"/>
69
- <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="2"/>
70
- <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">
69
+ <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="2"/>
70
+ <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">
71
71
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
72
- <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="2"/>
72
+ <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="2"/>
73
73
  </body>
74
- <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">
74
+ <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">
75
75
  <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"/>
76
76
  <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"/>
77
77
  <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"/>
78
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
79
- <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">
78
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
79
+ <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">
80
80
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
81
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
81
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
82
82
  </body>
83
- <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">
83
+ <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">
84
84
  <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"/>
85
85
  <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"/>
86
86
  <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"/>
87
- <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
88
- <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">
87
+ <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
88
+ <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">
89
89
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
90
- <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
90
+ <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
91
91
  </body>
92
- <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">
92
+ <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">
93
93
  <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"/>
94
94
  <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"/>
95
95
  <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"/>
96
- <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
97
- <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">
96
+ <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
97
+ <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">
98
98
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
99
- <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
99
+ <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
100
100
  </body>
101
101
  </body>
102
102
  </body>
ring/io/examples/exclude/standard_sys_rr_imp.xml CHANGED
@@ -2,101 +2,101 @@
2
2
  <x_xy model="arm_1Seg">
3
3
  <options dt="0.01" gravity="0.0 0.0 9.81"/>
4
4
  <worldbody>
5
- <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">
5
+ <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">
6
6
  <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"/>
7
7
  <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"/>
8
8
  <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"/>
9
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
10
- <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">
9
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
10
+ <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">
11
11
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
12
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
12
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
13
13
  </body>
14
14
  </body>
15
- <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">
15
+ <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">
16
16
  <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"/>
17
17
  <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"/>
18
18
  <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"/>
19
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
20
- <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">
19
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
20
+ <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">
21
21
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
22
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
22
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
23
23
  </body>
24
- <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">
24
+ <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">
25
25
  <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"/>
26
26
  <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"/>
27
27
  <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"/>
28
- <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
29
- <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">
28
+ <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
29
+ <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">
30
30
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
31
- <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
31
+ <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
32
32
  </body>
33
33
  </body>
34
34
  </body>
35
- <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">
35
+ <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">
36
36
  <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"/>
37
37
  <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"/>
38
38
  <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"/>
39
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
40
- <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">
39
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
40
+ <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">
41
41
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
42
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
42
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
43
43
  </body>
44
- <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">
44
+ <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">
45
45
  <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"/>
46
46
  <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"/>
47
47
  <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"/>
48
- <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
49
- <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">
48
+ <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
49
+ <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">
50
50
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
51
- <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
51
+ <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
52
52
  </body>
53
- <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">
53
+ <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">
54
54
  <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"/>
55
55
  <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"/>
56
56
  <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"/>
57
- <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
58
- <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">
57
+ <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
58
+ <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">
59
59
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
60
- <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
60
+ <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
61
61
  </body>
62
62
  </body>
63
63
  </body>
64
64
  </body>
65
- <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">
65
+ <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">
66
66
  <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"/>
67
67
  <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"/>
68
68
  <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"/>
69
- <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="2"/>
70
- <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">
69
+ <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="2"/>
70
+ <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">
71
71
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
72
- <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="2"/>
72
+ <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="2"/>
73
73
  </body>
74
- <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">
74
+ <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">
75
75
  <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"/>
76
76
  <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"/>
77
77
  <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"/>
78
- <omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
79
- <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">
78
+ <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="1"/>
79
+ <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">
80
80
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
81
- <omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
81
+ <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="1"/>
82
82
  </body>
83
- <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">
83
+ <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">
84
84
  <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"/>
85
85
  <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"/>
86
86
  <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"/>
87
- <omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
88
- <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">
87
+ <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="2"/>
88
+ <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">
89
89
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
90
- <omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
90
+ <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="2"/>
91
91
  </body>
92
- <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">
92
+ <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">
93
93
  <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"/>
94
94
  <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"/>
95
95
  <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"/>
96
- <omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
97
- <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">
96
+ <omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="4"/>
97
+ <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">
98
98
  <geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
99
- <omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
99
+ <omc pos="0.1 0.0 0.015" name="seg5" pos_marker="4"/>
100
100
  </body>
101
101
  </body>
102
102
  </body>
ring/ml/__init__.py CHANGED
@@ -13,7 +13,7 @@ from .ringnet import RING
13
13
  from .train import train_fn
14
14
 
15
15
 
16
- def RING_ICML24(params=None, **kwargs):
16
+ def RING_ICML24(params=None, eval: bool = True, **kwargs):
17
17
  """Create the RING network used in the icml24 paper.
18
18
 
19
19
  X[..., :3] = acc
@@ -28,6 +28,34 @@ def RING_ICML24(params=None, **kwargs):
28
28
 
29
29
  ringnet = RING(params=params, **kwargs) # noqa: F811
30
30
  ringnet = base.ScaleX_FilterWrapper(ringnet)
31
- ringnet = base.LPF_FilterWrapper(ringnet, 10.0, samp_freq=None)
31
+ if eval:
32
+ ringnet = base.LPF_FilterWrapper(ringnet, 10.0, samp_freq=None)
32
33
  ringnet = base.GroundTruthHeading_FilterWrapper(ringnet)
33
34
  return ringnet
35
+
36
+
37
+ def RNNO(
38
+ output_dim: int,
39
+ return_quats: bool = False,
40
+ params=None,
41
+ eval: bool = True,
42
+ **kwargs,
43
+ ):
44
+ assert "message_dim" not in kwargs
45
+ assert "link_output_normalize" not in kwargs
46
+ assert "link_output_dim" not in kwargs
47
+
48
+ ringnet = RING( # noqa: F811
49
+ params=params,
50
+ message_dim=0,
51
+ link_output_normalize=False,
52
+ link_output_dim=output_dim,
53
+ **kwargs,
54
+ )
55
+ ringnet = base.NoGraph_FilterWrapper(ringnet, quat_normalize=return_quats)
56
+ ringnet = base.ScaleX_FilterWrapper(ringnet)
57
+ if eval and return_quats:
58
+ ringnet = base.LPF_FilterWrapper(ringnet, 10.0, samp_freq=None)
59
+ if return_quats:
60
+ ringnet = base.GroundTruthHeading_FilterWrapper(ringnet)
61
+ return ringnet
ring/ml/base.py CHANGED
@@ -34,9 +34,9 @@ class AbstractFilter(ABC):
34
34
  def _apply_batched(self, X, params, state, y, lam):
35
35
  pass
36
36
 
37
- @abstractmethod
38
37
  def init(self, bs, X, lam, seed: int):
39
- pass
38
+ params = state = None
39
+ return params, state
40
40
 
41
41
  def apply(self, X, params=None, state=None, y=None, lam=None):
42
42
  "X.shape = (B, T, N, F) or (T, N, F)"
@@ -286,7 +286,7 @@ class NoGraph_FilterWrapper(AbstractFilterWrapper):
286
286
  yhat = yhat.reshape((T, N, -1))
287
287
 
288
288
  if self._quat_normalize:
289
- assert yhat.shape[-1] == 4
289
+ assert yhat.shape[-1] == 4, f"yhat.shape={yhat.shape}"
290
290
  yhat = ring.maths.safe_normalize(yhat)
291
291
 
292
292
  return yhat, state
ring/ml/callbacks.py CHANGED
@@ -108,6 +108,10 @@ class EvalXyTrainingLoopCallback(training_loop.TrainingLoopCallback):
108
108
  if (i_episode % self.eval_every) == 0:
109
109
  point_estimates = self.eval_fn(params)
110
110
  self.last_metrices = {self.metric_identifier: point_estimates}
111
+
112
+ assert (
113
+ self.metric_identifier not in metrices
114
+ ), f"`{self.metric_identifier}` is already in `{metrices.keys()}`"
111
115
  metrices.update(self.last_metrices)
112
116
 
113
117
 
ring/rendering/base_render.py CHANGED
@@ -229,7 +229,7 @@ def _color_to_rgba(geom: base.Geometry) -> base.Geometry:
229
229
  def _xyz_to_three_capsules(xyz: base.XYZ) -> list[base.Geometry]:
230
230
  capsules = []
231
231
  length = xyz.size
232
- radius = length / 6
232
+ radius = length / 7
233
233
  colors = ["red", "green", "blue"]
234
234
  rot_axis = [1, 0, 2]
235
235