imt-ring 1.6.1__tar.gz → 1.6.3__tar.gz

{imt_ring-1.6.1 → imt_ring-1.6.3}/PKG-INFO

@@ -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 → imt_ring-1.6.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.1"
+version = "1.6.3"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.1 → imt_ring-1.6.3}/src/imt_ring.egg-info/PKG-INFO

@@ -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 → imt_ring-1.6.3}/src/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,

{imt_ring-1.6.1 → imt_ring-1.6.3}/src/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)
 

{imt_ring-1.6.1 → imt_ring-1.6.3}/src/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)
 

{imt_ring-1.6.1 → imt_ring-1.6.3}/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-1.6.1 → imt_ring-1.6.3}/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,