imt-ring 1.6.1__py3-none-any.whl → 1.6.3__py3-none-any.whl

{imt_ring-1.6.1.dist-info → imt_ring-1.6.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.1
+Version: 1.6.3
 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-1.6.1.dist-info → imt_ring-1.6.3.dist-info}/RECORD

@@ -1,22 +1,22 @@
 ring/__init__.py,sha256=2v6WHlNPucj1XGhDYw-3AlMQGTqH-e4KYK0IaMnBV5s,4760
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
 ring/base.py,sha256=kzBQ54V2xq4KsqRzflyMQ64V-jl8j7eIAsIPIE0gFDk,33127
-ring/maths.py,sha256=jJr_kr78-XDce8B4tXQ2Li-jBntVQhaS8csxglCsj8A,12193
+ring/maths.py,sha256=zGm5XagiKTaIJp310VcqVEVUuLhv3FPS-TJ-TFzIrwM,12207
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=fc26yEQjSjtf0NluZ41CyeGIRci0ldrRlThueHR9H7U,14007
 ring/algorithms/dynamics.py,sha256=_TwclBXe6vi5C5iJWAIeUIJEIMHQ_1QTmnHvCEpVO0M,10867
 ring/algorithms/jcalc.py,sha256=bM8VARgqEiVPy7632geKYGk4MZddZfI8XHdW5kXF3HI,28594
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
-ring/algorithms/sensors.py,sha256=MICO9Sn0AfoqRx_9KWR3hufsIID-K6SOIg3oPDgsYMU,17869
+ring/algorithms/sensors.py,sha256=06x7RfhoQ6dx1B_TAEuCKxNTiicQDDBxcmzRtsCAxsM,18125
 ring/algorithms/custom_joints/__init__.py,sha256=fzeE7TdUhmGgbbFAyis1tKcyQ4Fo8LigDwD3hUVnH_w,316
 ring/algorithms/custom_joints/rr_imp_joint.py,sha256=_YJK0p8_0MHFtr1NuGnNZoxTbwaMQyUjYv7EtsPiU3A,2402
 ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXpoh43MioRaDmY,1000
 ring/algorithms/custom_joints/suntay.py,sha256=tOEGM304XciHO4pmvxr4faA4xXVO4N2HlPdFmXKbcrw,16726
 ring/algorithms/generator/__init__.py,sha256=bF-CW3x2x-o6KWESKy-DuxzZPh3UNSjJb_MaAcSHGsQ,277
-ring/algorithms/generator/base.py,sha256=KQSg9uhhR-rC563busVFx4gJrqOx3BXdaChozO9gwTA,14224
+ring/algorithms/generator/base.py,sha256=ZW6tJSUiNKtRCYIsbCf6e6kRBbmuCLzbZj4ppNLVwJY,14368
 ring/algorithms/generator/batch.py,sha256=ylootnXmj-JyuB_f5OCknHst9wFKO3gkjQbMrFNXY2g,2513
-ring/algorithms/generator/finalize_fns.py,sha256=L_5wIVA7g0P4P2U6EmgcvsoI-YuF3TOaHBwk5_oEaUU,9077
+ring/algorithms/generator/finalize_fns.py,sha256=LUw1Wc2YrmMRRh4RF704ob3bZOXktAZAbbLoBm_p1yw,9131
 ring/algorithms/generator/motion_artifacts.py,sha256=2VJbldVDbI3PSyboshIbtYvSAKzBBwGV7cQfYjqvluM,9167
 ring/algorithms/generator/pd_control.py,sha256=XJ_Gd5AkIRh-jBrMfQyMXjVwhx2gCNHznjzFbmAwhZs,5767
 ring/algorithms/generator/setup_fns.py,sha256=MFz3czHBeWs1Zk1A8O02CyQpQ-NCyW9PMpbqmKit6es,1455
@@ -63,7 +63,7 @@ ring/ml/params/0x13e3518065c21cd8.pickle,sha256=Zh2k1zK-TNxJl5F7nyTeQ9001qqRE_df
 ring/ml/params/0x1d76628065a71e0f.pickle,sha256=YTNVuvfw-nCRD9BH1PZYcR9uCFpNWDhw8Lc50eDn_EE,9351038
 ring/rendering/__init__.py,sha256=Zf7qOdzK3t2hljIrs5P4zFhzHljLSMRyDDZO2YlZk4k,75
 ring/rendering/base_render.py,sha256=Mv9SRLEmuoPVhi46UIjb6xCkKmbWCwIyENGx7nu9REM,9617
-ring/rendering/mujoco_render.py,sha256=uZ-6s6vshsc49N4xvh5KEWQo1f0DveoZqlJ6sIy1QGI,7912
+ring/rendering/mujoco_render.py,sha256=R8qxqItakBlptbQpCzsZoVfdWYhSMwZYQzaCKbUigYU,7987
 ring/rendering/vispy_render.py,sha256=QmRyA7Hqk3uS1SKjcncwc4_vd1m4yWryW2X0i4jRvCw,10260
 ring/rendering/vispy_visuals.py,sha256=ooBZqppnebeL0ANe6V6zUgnNTtDcdkOsa4vZuM4sx-I,7873
 ring/sim2real/__init__.py,sha256=gCLYg8IoMdzUagzhCFcfjZ5GavtIU772L7HR0G5hUtM,251
@@ -83,7 +83,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=k7t-QxMWrNRnjfNB9rSobmLCmhJigE8__gkT-Il0Ee4,6492
 ring/utils/register_gym_envs/__init__.py,sha256=PtPIRBQJ16339xZ9G9VpvqrvcGbQ_Pk_SUz4tQPa9nQ,94
 ring/utils/register_gym_envs/saddle.py,sha256=tA5CyW_akSXyDm0xJ83CtOrUMVElH0f9vZtEDDJQalI,4422
-imt_ring-1.6.1.dist-info/METADATA,sha256=FrI0S7Njj9yZgqG5Wuek8KFocnUOV18c7Ar2T_V0ums,3104
-imt_ring-1.6.1.dist-info/WHEEL,sha256=Z4pYXqR_rTB7OWNDYFOm1qRk0RX6GFP2o8LgvP453Hk,91
-imt_ring-1.6.1.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.1.dist-info/RECORD,,
+imt_ring-1.6.3.dist-info/METADATA,sha256=uFTNWR0YQbQLE50Oby-D2H3NSpdycgCwzKaz_UxxSP8,3104
+imt_ring-1.6.3.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
+imt_ring-1.6.3.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.3.dist-info/RECORD,,

{imt_ring-1.6.1.dist-info → imt_ring-1.6.3.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (70.3.0)
+Generator: setuptools (71.1.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/algorithms/generator/base.py

@@ -30,6 +30,7 @@ class RCMG:
         add_X_jointaxes_kwargs: dict = dict(),
         add_y_relpose: bool = False,
         add_y_rootincl: bool = False,
+        add_y_rootincl_kwargs: dict = dict(),
         sys_ml: Optional[base.System] = None,
         randomize_positions: bool = False,
         randomize_motion_artifacts: bool = False,
@@ -67,6 +68,7 @@ class RCMG:
                     add_X_jointaxes_kwargs=add_X_jointaxes_kwargs,
                     add_y_relpose=add_y_relpose,
                     add_y_rootincl=add_y_rootincl,
+                    add_y_rootincl_kwargs=add_y_rootincl_kwargs,
                     sys_ml=sys_ml,
                     randomize_positions=randomize_positions,
                     randomize_motion_artifacts=randomize_motion_artifacts,
@@ -232,6 +234,7 @@ def _build_mconfig_batched_generator(
     add_X_jointaxes_kwargs: dict,
     add_y_relpose: bool,
     add_y_rootincl: bool,
+    add_y_rootincl_kwargs: dict,
     sys_ml: base.System,
     randomize_positions: bool,
     randomize_motion_artifacts: bool,

ring/algorithms/generator/finalize_fns.py

@@ -77,12 +77,13 @@ class RelPose:
 
 
 class RootIncl:
-    def __init__(self, sys: base.System):
+    def __init__(self, sys: base.System, **kwargs):
         self.sys = sys
+        self.kwargs = kwargs
 
     def __call__(self, Xy, extras):
         (X, y), (key, q, x, sys_x) = Xy, extras
-        y_root_incl = sensors.root_incl(self.sys, x, sys_x)
+        y_root_incl = sensors.root_incl(self.sys, x, sys_x, **self.kwargs)
         y = utils.dict_union(y, y_root_incl)
         return (X, y), (key, q, x, sys_x)
 

ring/algorithms/sensors.py

@@ -330,7 +330,10 @@ def rel_pose(
 
 
 def root_incl(
-    sys: base.System, x: base.Transform, sys_x: base.System
+    sys: base.System,
+    x: base.Transform,
+    sys_x: base.System,
+    child_to_parent: bool = False,
 ) -> dict[str, jax.Array]:
     # (time, nlinks, 4) -> (nlinks, time, 4)
     rots = x.rot.transpose((1, 0, 2))
@@ -341,7 +344,10 @@ 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_i = maths.quat_project(rots[l_map[name]], jnp.array([0.0, 0, 1]))[1]
+        if child_to_parent:
+            q_i = maths.quat_inv(q_i)
+        y[name] = q_i
 
     sys.scan(f, "ll", sys.link_names, sys.link_parents)
 
@@ -349,7 +355,10 @@ def root_incl(
 
 
 def root_full(
-    sys: base.System, x: base.Transform, sys_x: base.System
+    sys: base.System,
+    x: base.Transform,
+    sys_x: base.System,
+    child_to_parent: bool = False,
 ) -> dict[str, jax.Array]:
     # (time, nlinks, 4) -> (nlinks, time, 4)
     rots = x.rot.transpose((1, 0, 2))
@@ -360,7 +369,10 @@ def root_full(
     def f(_, __, name: str, parent: int):
         if parent != -1:
             return
-        y[name] = rots[l_map[name]]
+        q_i = rots[l_map[name]]
+        if child_to_parent:
+            q_i = maths.quat_inv(q_i)
+        y[name] = q_i
 
     sys.scan(f, "ll", sys.link_names, sys.link_parents)
 

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]
 

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,