imt-ring 1.6.0__tar.gz → 1.6.2__tar.gz

{imt_ring-1.6.0 → imt_ring-1.6.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.0
+Version: 1.6.2
 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-1.6.0 → imt_ring-1.6.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.0"
+version = "1.6.2"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.0 → imt_ring-1.6.2}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.0
+Version: 1.6.2
 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-1.6.0 → imt_ring-1.6.2}/src/ring/algorithms/sensors.py

@@ -341,7 +341,8 @@ def root_incl(
     def f(_, __, name: str, parent: int):
         if parent != -1:
             return
-        y[name] = maths.quat_project(rots[l_map[name]], jnp.array([0.0, 0, 1]))[1]
+        q_eps_to_i = maths.quat_project(rots[l_map[name]], jnp.array([0.0, 0, 1]))[1]
+        y[name] = maths.quat_inv(q_eps_to_i)
 
     sys.scan(f, "ll", sys.link_names, sys.link_parents)
 
@@ -360,7 +361,8 @@ def root_full(
     def f(_, __, name: str, parent: int):
         if parent != -1:
             return
-        y[name] = rots[l_map[name]]
+        q_eps_to_i = rots[l_map[name]]
+        y[name] = maths.quat_inv(q_eps_to_i)
 
     sys.scan(f, "ll", sys.link_names, sys.link_parents)
 

{imt_ring-1.6.0 → imt_ring-1.6.2}/src/ring/maths.py

@@ -119,7 +119,7 @@ def quat_inv(q: jnp.ndarray) -> jnp.ndarray:
 
 @partial(jnp.vectorize, signature="(3),(4)->(3)")
 def rotate(vector: jnp.ndarray, quat: jnp.ndarray):
-    """Rotates a vector `vector` by a *unit* quaternion `quat`."""
+    """Rotates a vector `vector` by a *unit* quaternion `quat`. q x vec x q^*"""
     qvec = jnp.array([0, *vector])
     return rotate_quat(qvec, quat)[1:4]
 

{imt_ring-1.6.0 → imt_ring-1.6.2}/src/ring/rendering/mujoco_render.py

@@ -157,13 +157,16 @@ def _array_to_str(arr: Sequence[float]) -> str:
     return "".join(["{:.4f} ".format(np.round(value, 4)) for value in arr])[:-1]
 
 
+_default_lights = {-1: '<light pos="0 0 4" dir="0 0 -1"/>'}
+
+
 class MujocoScene:
     def __init__(
         self,
         height: int = 240,
         width: int = 320,
         add_cameras: dict[int, str | Sequence[str]] = {},
-        add_lights: dict[int, str | Sequence[str]] = {},
+        add_lights: dict[int, str | Sequence[str]] = _default_lights,
         show_stars: bool = True,
         show_floor: bool = True,
         debug: bool = False,

imt_ring-1.6.2/src/ring/utils/register_gym_envs/__init__.py

@@ -0,0 +1,3 @@
+import gymnasium as gym
+
+gym.register("Saddle-v0", "ring.utils.register_gym_envs.saddle:Env")

imt_ring-1.6.0/src/ring/utils/register_gym_envs/__init__.py

@@ -1,3 +0,0 @@
-import gymnasium as gym
-
-gym.register("Saddle-v0", "src.ring.utils.register_gym_envs.saddle:Env")