imt-ring 1.2.2__tar.gz → 1.3.1__tar.gz

{imt_ring-1.2.2 → imt_ring-1.3.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.2.2
+Version: 1.3.1
 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-1.2.2 → imt_ring-1.3.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.2.2"
+version = "1.3.1"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.2.2 → imt_ring-1.3.1}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.2.2
+Version: 1.3.1
 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-1.2.2 → imt_ring-1.3.1}/src/ring/algorithms/generator/base.py

@@ -4,6 +4,8 @@ import warnings
 
 import jax
 import jax.numpy as jnp
+import tree_utils
+
 from ring import base
 from ring import utils
 from ring.algorithms import jcalc
@@ -13,7 +15,6 @@ from ring.algorithms.generator import motion_artifacts
 from ring.algorithms.generator import randomize
 from ring.algorithms.generator import transforms
 from ring.algorithms.generator import types
-import tree_utils
 
 
 class RCMG:
@@ -108,23 +109,20 @@ class RCMG:
                         partial_build_gen(sys=_sys, config=_config, sys_ml=sys_ml)
                     )
 
-    def _to_data(self, sizes, seed, jit):
-        return batch.batch_generators_eager_to_list(
-            self.gens, sizes, seed=seed, jit=jit
-        )
+    def _to_data(self, sizes, seed):
+        return batch.batch_generators_eager_to_list(self.gens, sizes, seed=seed)
 
-    def to_list(self, sizes: int | list[int] = 1, seed: int = 1, jit: bool = False):
-        return self._to_data(sizes, seed, jit)
+    def to_list(self, sizes: int | list[int] = 1, seed: int = 1):
+        return self._to_data(sizes, seed)
 
     def to_pickle(
         self,
         path: str,
         sizes: int | list[int] = 1,
         seed: int = 1,
-        jit: bool = False,
         overwrite: bool = True,
     ) -> None:
-        data = tree_utils.tree_batch(self._to_data(sizes, seed, jit))
+        data = tree_utils.tree_batch(self._to_data(sizes, seed))
         utils.pickle_save(data, path, overwrite=overwrite)
 
     def to_hdf5(
@@ -132,10 +130,9 @@ class RCMG:
         path: str,
         sizes: int | list[int] = 1,
         seed: int = 1,
-        jit: bool = False,
         overwrite: bool = True,
     ) -> None:
-        data = tree_utils.tree_batch(self._to_data(sizes, seed, jit))
+        data = tree_utils.tree_batch(self._to_data(sizes, seed))
         utils.hdf5_save(path, data, overwrite=overwrite)
 
     def to_eager_gen(
@@ -143,11 +140,8 @@ class RCMG:
         batchsize: int = 1,
         sizes: int | list[int] = 1,
         seed: int = 1,
-        jit: bool = False,
     ) -> types.BatchedGenerator:
-        return batch.batch_generators_eager(
-            self.gens, sizes, batchsize, seed=seed, jit=jit
-        )
+        return batch.batch_generators_eager(self.gens, sizes, batchsize, seed=seed)
 
     def to_lazy_gen(
         self, sizes: int | list[int] = 1, jit: bool = True

{imt_ring-1.2.2 → imt_ring-1.3.1}/src/ring/algorithms/generator/batch.py

@@ -6,12 +6,13 @@ import warnings
 import jax
 import jax.numpy as jnp
 import numpy as np
-from ring import utils
-from ring.algorithms.generator import types
 from tqdm import tqdm
 import tree_utils
 from tree_utils import tree_batch
 
+from ring import utils
+from ring.algorithms.generator import types
+
 
 def _build_batch_matrix(batchsizes: list[int]) -> jax.Array:
     arr = []
@@ -61,11 +62,24 @@ def batch_generators_lazy(
     return generator
 
 
+def _number_of_executions_required(size: int) -> int:
+    vmap_threshold = 128
+    _, vmap = utils.distribute_batchsize(size)
+
+    primes = iter(utils.primes(vmap))
+    n_calls = 1
+    while vmap > vmap_threshold:
+        prime = next(primes)
+        n_calls *= prime
+        vmap /= prime
+
+    return n_calls
+
+
 def batch_generators_eager_to_list(
     generators: types.Generator | list[types.Generator],
     sizes: int | list[int],
     seed: int = 1,
-    jit: bool = True,
 ) -> list[tree_utils.PyTree]:
     "Returns list of unbatched sequences as numpy arrays."
     generators, sizes = _process_sizes_batchsizes_generators(generators, sizes)
@@ -73,11 +87,20 @@ def batch_generators_eager_to_list(
     key = jax.random.PRNGKey(seed)
     data = []
     for gen, size in tqdm(zip(generators, sizes), desc="eager data generation"):
-        key, consume = jax.random.split(key)
-        sample = batch_generators_lazy(gen, size, jit=jit)(consume)
-        # converts also to numpy
-        sample = jax.device_get(sample)
-        data.extend([jax.tree_map(lambda a: a[i], sample) for i in range(size)])
+
+        n_calls = _number_of_executions_required(size)
+        # decrease size by n_calls times
+        size = int(size / n_calls)
+        jit = True if n_calls > 1 else False
+        gen_jit = batch_generators_lazy(gen, size, jit=jit)
+
+        for _ in range(n_calls):
+            key, consume = jax.random.split(key)
+            sample = gen_jit(consume)
+            # converts also to numpy
+            sample = jax.device_get(sample)
+            data.extend([jax.tree_map(lambda a: a[i], sample) for i in range(size)])
+
     return data
 
 
@@ -243,12 +266,11 @@ def batch_generators_eager(
     shuffle: bool = True,
     drop_last: bool = True,
     seed: int = 1,
-    jit: bool = True,
 ) -> types.BatchedGenerator:
     """Eagerly create a large precomputed generator by calling multiple generators
     and stacking their output."""
 
-    data = batch_generators_eager_to_list(generators, sizes, seed=seed, jit=jit)
+    data = batch_generators_eager_to_list(generators, sizes, seed=seed)
     return batched_generator_from_list(data, batchsize, shuffle, drop_last)
 
 
@@ -270,7 +292,7 @@ def _process_sizes_batchsizes_generators(
 
     assert len(generators) == len(list_sizes)
 
-    _WARN_SIZE = 4096
+    _WARN_SIZE = 1e6  # disable this warning
     for size in list_sizes:
         if size >= _WARN_SIZE:
             warnings.warn(

{imt_ring-1.2.2 → imt_ring-1.3.1}/src/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)

{imt_ring-1.2.2 → imt_ring-1.3.1}/src/ring/base.py

@@ -99,15 +99,15 @@ class _Base:
     def ndim(self):
         return tu.tree_ndim(self)
 
-    def shape(self, axis=0) -> int:
-        return tu.tree_shape(self, axis)
-
-    def __len__(self) -> int:
-        Bs = tree_map(lambda arr: arr.shape[0], self)
+    def shape(self, axis: int = 0) -> int:
+        Bs = tree_map(lambda arr: arr.shape[axis], self)
         Bs = set(jax.tree_util.tree_flatten(Bs)[0])
         assert len(Bs) == 1
         return list(Bs)[0]
 
+    def __len__(self) -> int:
+        return self.shape(axis=0)
+
 
 @struct.dataclass
 class Transform(_Base):
@@ -685,14 +685,13 @@ class System(_Base):
         self,
         xs: Transform | list[Transform],
         yhat: dict | jax.Array | np.ndarray,
-        stepframe: int = 1,
         # by default we don't predict the global rotation
         transparent_segment_to_root: bool = True,
         **kwargs,
     ):
         "`xs` matches `sys`. `yhat` matches `sys_noimu`. `yhat` are child-to-parent."
         return ring.rendering.render_prediction(
-            self, xs, yhat, stepframe, transparent_segment_to_root, **kwargs
+            self, xs, yhat, transparent_segment_to_root, **kwargs
         )
 
     def delete_system(self, link_name: str | list[str], strict: bool = True):

{imt_ring-1.2.2 → imt_ring-1.3.1}/src/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>