imt-ring 1.6.26__py3-none-any.whl → 1.6.28__py3-none-any.whl

{imt_ring-1.6.26.dist-info → imt_ring-1.6.28.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.26
+Version: 1.6.28
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring
@@ -38,6 +38,10 @@ Requires-Dist: nbmake; extra == "dev"
 # Recurrent Inertial Graph-based Estimator (RING)
 <img src="https://raw.githubusercontent.com/simon-bachhuber/ring/main/docs/img/coverage_badge.svg" height="20" />
 
+> **ℹ️ Tip:**
+> 
+> Check out my new plug-and-play interface for inertial motion tracking (RING included) [here](https://github.com/simon-bachhuber/imt.git).
+
 ## Installation
 
 Supports `Python=3.10/3.11/3.12` (tested).

{imt_ring-1.6.26.dist-info → imt_ring-1.6.28.dist-info}/RECORD

@@ -1,4 +1,4 @@
-ring/__init__.py,sha256=ncBRdHvge6uqpzFyk8_HUQNx4kZxENpVXTJTEK_SjCg,5216
+ring/__init__.py,sha256=H1Rd2uXVkux4Z792XyHIkQ8OpDSZBiPqFwyAFDWDU3E,5260
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
 ring/base.py,sha256=yPdbPywwDllCRsJEbnLW4s9Z-bBD8qdxpEDYV3pCLP8,35296
 ring/maths.py,sha256=qPHH6TpHCK3TgExI98gNEySoSRKOwteN9McUlyUFipI,12207
@@ -15,7 +15,7 @@ ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXp
 ring/algorithms/custom_joints/rsaddle_joint.py,sha256=QoMo6NXdYgA9JygSzBvr0eCdd3qKhUgCrGPNO2Qdxko,1200
 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=nFVUcFl7AILnyjuXf_YQJxI12MB4TzJ1SRFREKzqv8Q,16531
+ring/algorithms/generator/base.py,sha256=rrhHg6lFPDJs72kXvzF15v1vzkaUTKtCnpcmWZONYA8,16847
 ring/algorithms/generator/batch.py,sha256=9yFxVv11hij-fJXGPxA3zEh1bE2_jrZk0R7kyGaiM5c,2551
 ring/algorithms/generator/finalize_fns.py,sha256=nY2RKiLbHriTkdec94lc4UGSZKd0v547MDNn4dr8I3E,10398
 ring/algorithms/generator/motion_artifacts.py,sha256=2VJbldVDbI3PSyboshIbtYvSAKzBBwGV7cQfYjqvluM,9167
@@ -47,7 +47,7 @@ ring/io/examples/test_morph_system/four_seg_seg1.xml,sha256=XJvGtEnvedejs_OmCVfQ
 ring/io/examples/test_morph_system/four_seg_seg3.xml,sha256=HktN7_a_Ly3YflWit5W-WncxApWGMORAGnRXyMEqnoA,1265
 ring/io/xml/__init__.py,sha256=-3k6ffvFyc4zm0oTyVz3ez-o3Lb9bPp2sjwSub_K1AA,242
 ring/io/xml/abstract.py,sha256=8Q2ebnUYLmuS9HJAQwDVrDTrRfD5z4G5RAB7MW8Oa60,9742
-ring/io/xml/from_xml.py,sha256=8b44sPVWgoY8JGJZLpJ8M_eLfcfu3IsMtBzSytPTPmw,9234
+ring/io/xml/from_xml.py,sha256=E7JQl_scL5U4LK6mqLMr5qaiZCc6J1fInxD7uwgNCJY,9356
 ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,1562
 ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
 ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
@@ -64,7 +64,7 @@ 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=R8qxqItakBlptbQpCzsZoVfdWYhSMwZYQzaCKbUigYU,7987
+ring/rendering/mujoco_render.py,sha256=bSj1_7YL8wZV6cp9oD2CvbkZRSuxVhmPBA2JECxrnUE,8426
 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
@@ -86,7 +86,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=tJaWXLGOTwkxJQj2l23dX97wO3aZYhM2qd7eNuMRs84,6907
 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-1.6.26.dist-info/METADATA,sha256=ibexS27KESraTLpx1W9rTIHvHS-j92qDOz-BaTOMOds,4089
-imt_ring-1.6.26.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.26.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.26.dist-info/RECORD,,
+imt_ring-1.6.28.dist-info/METADATA,sha256=-3nISq1i9hdIpM_DCCoJ4Q5Xre76R8kLqp2gwDSUa94,4251
+imt_ring-1.6.28.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.28.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.28.dist-info/RECORD,,

ring/__init__.py

@@ -98,7 +98,10 @@ def RING(lam: list[int] | None, Ts: float | None, **kwargs) -> ml.AbstractFilter
         add_Ts = True
 
     ringnet = ml.RING(
-        params=params, lam=None if lam is None else tuple(lam), jit=False, name="RING"
+        params=params,
+        lam=None if lam is None else tuple(lam),
+        jit=config.pop("jit", False),
+        name="RING",
     )
     ringnet = ml.base.ScaleX_FilterWrapper(ringnet)
     if config["use_lpf"]:

ring/algorithms/generator/base.py

@@ -55,6 +55,11 @@ class RCMG:
     ) -> None:
         "Random Chain Motion Generator"
 
+        # add some default values
+        randomize_hz_kwargs_defaults = dict(add_dt=True)
+        randomize_hz_kwargs_defaults.update(randomize_hz_kwargs)
+        randomize_hz_kwargs = randomize_hz_kwargs_defaults
+
         sys, config = utils.to_list(sys), utils.to_list(config)
         sys_ml = sys[0] if sys_ml is None else sys_ml
 
@@ -409,7 +414,11 @@ def _build_mconfig_batched_generator(
         @jax.vmap
         def _vmapped_context(key, q, sys):
             x, _ = jax.vmap(kinematics.forward_kinematics_transforms, (None, 0))(sys, q)
-            X = {"dt": jnp.array(sys.dt)} if randomize_hz else {}
+            X = (
+                {"dt": jnp.array(sys.dt)}
+                if (randomize_hz and randomize_hz_kwargs["add_dt"])
+                else {}
+            )
             Xy, extras = (X, {}), (key, q, x, sys)
             return _finalize_fn(Xy, extras)
 

ring/io/xml/from_xml.py

@@ -2,6 +2,7 @@ from xml.etree import ElementTree
 
 import jax
 import numpy as np
+
 from ring import base
 from ring.algorithms import jcalc
 from ring.utils import parse_path
@@ -181,7 +182,10 @@ def load_sys_from_str(xml_str: str, seed: int = 1) -> base.System:
 
         link_parents[current_link_idx] = parent
         link_types[current_link_idx] = current_link_typ
-        link_names[current_link_idx] = body.attrib["name"]
+        current_name = body.attrib["name"]
+        link_names[current_link_idx] = (
+            current_name if isinstance(current_name, str) else str(int(current_name))
+        )
 
         transform = abstract.AbsTrans.from_xml(body.attrib)
         pos_min, pos_max = abstract.AbsPosMinMax.from_xml(body.attrib, transform.pos)

ring/rendering/mujoco_render.py

@@ -8,7 +8,10 @@ from ring import maths
 
 _skybox = """<texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" width="800" height="800" mark="random" markrgb="1 1 1"/>"""  # noqa: E501
 _skybox_white = """<texture name="skybox" type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" mark="random" markrgb="1 1 1"/>"""  # noqa: E501
-_floor = """<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane" mass="0"/>"""  # noqa: E501
+
+
+def _floor(floor_z: float) -> str:
+    return f"""<geom name="floor" pos="0 0 {floor_z}" size="0 0 1" type="plane" material="matplane" mass="0"/>"""  # noqa: E501
 
 
 def _build_model_of_geoms(
@@ -16,6 +19,7 @@ def _build_model_of_geoms(
     cameras: dict[int, Sequence[str]],
     lights: dict[int, Sequence[str]],
     floor: bool,
+    floor_z: float,
     stars: bool,
     debug: bool,
 ) -> mujoco.MjModel:
@@ -75,6 +79,8 @@ def _build_model_of_geoms(
   <asset>
     <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
     <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="2 2" reflectance="0.2"/>
     {_skybox if stars else ''}
     <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
     <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
@@ -92,7 +98,7 @@ def _build_model_of_geoms(
 <camera pos="0 -1 1" name="target" mode="targetbodycom" target="{targetbody}"/>
 <camera pos="0 -3 3" name="targetfar" mode="targetbodycom" target="{targetbody}"/>
 <camera pos="0 -5 5" name="targetFar" mode="targetbodycom" target="{targetbody}"/>
-{_floor if floor else ''}
+{_floor(floor_z) if floor else ''}
 {inside_worldbody_cameras}
 {inside_worldbody_lights}
 {inside_worldbody}
@@ -169,6 +175,7 @@ class MujocoScene:
         add_lights: dict[int, str | Sequence[str]] = _default_lights,
         show_stars: bool = True,
         show_floor: bool = True,
+        floor_z: float = -0.84,
         debug: bool = False,
     ) -> None:
         self.debug = debug
@@ -183,6 +190,7 @@ class MujocoScene:
         self.add_cameras, self.add_lights = to_list(add_cameras), to_list(add_lights)
         self.show_stars = show_stars
         self.show_floor = show_floor
+        self.floor_z = floor_z
 
     def init(self, geoms: list[base.Geometry]):
         self._parent_ids = list(set([geom.link_idx for geom in geoms]))
@@ -191,6 +199,7 @@ class MujocoScene:
             self.add_cameras,
             self.add_lights,
             floor=self.show_floor,
+            floor_z=self.floor_z,
             stars=self.show_stars,
             debug=self.debug,
         )