imt-ring 1.6.27__py3-none-any.whl → 1.6.29__py3-none-any.whl

{imt_ring-1.6.27.dist-info → imt_ring-1.6.29.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.27
+Version: 1.6.29
 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-1.6.27.dist-info → imt_ring-1.6.29.dist-info}/RECORD

@@ -1,7 +1,7 @@
-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
+ring/base.py,sha256=_TgFrggsZfam0VPxvD4J5xp977vgiLnKTlDIJVzik5M,35362
+ring/maths.py,sha256=R22SNQutkf9v7Hp9klo0wvJVIyBQz0O8_5oJaDQcFis,12652
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=UMyv-VPZLcErrKqs0XB83QJjs8GrmoNsv-zRSxGXvnI,14490
@@ -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
@@ -50,7 +50,7 @@ ring/io/xml/abstract.py,sha256=8Q2ebnUYLmuS9HJAQwDVrDTrRfD5z4G5RAB7MW8Oa60,9742
 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
+ring/io/xml/to_xml.py,sha256=Wo4iySLw9nM-iVW42AGvMRqjtU2qRc2FD_Zlc7w1IrE,3438
 ring/ml/__init__.py,sha256=nbh48gaswWeY4S4vT1sply_3ROj2DQ7agjoLR4Ho3T8,1517
 ring/ml/base.py,sha256=lfwEZLBDglOSRWChUHoH1kezefhttPV9TMEpNIqsMNw,9972
 ring/ml/callbacks.py,sha256=W19QF6_uvaNCjs8ObsjNXD7mv9gFgJBixdRSbB_BynE,13301
@@ -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=_aesWMf_KfxvG8JaXTj4SNmRvzsJrluSMz0iHTbXbLg,8256
+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-1.6.27.dist-info/METADATA,sha256=ekZVHth31C6ZXF_k2J_XnfDeSWCao-pF_fT9BDdfOAs,4089
-imt_ring-1.6.27.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.27.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.27.dist-info/RECORD,,
+imt_ring-1.6.29.dist-info/METADATA,sha256=2LQEbqA9aoAoMTJbVgd7MAWtdnHYWYv43M1-BhdW84o,4251
+imt_ring-1.6.29.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.29.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.29.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/base.py

@@ -558,6 +558,7 @@ class System(_Base):
         new_stif: Optional[jax.Array] = None,
         new_zero: Optional[jax.Array] = None,
         seed: int = 1,
+        warn: bool = True,
     ):
         "By default damping, stiffness are set to zero."
         from ring.algorithms import get_joint_model
@@ -587,7 +588,7 @@ class System(_Base):
 
         jm = get_joint_model(new_joint_type)
         if jm.init_joint_params is not None:
-            sys = sys.from_str(sys.to_str(), seed=seed)
+            sys = sys.from_str(sys.to_str(warn=warn), seed=seed)
 
         return sys
 
@@ -786,8 +787,8 @@ class System(_Base):
     def from_str(xml: str, seed: int = 1):
         return ring.io.load_sys_from_str(xml, seed)
 
-    def to_str(self) -> str:
-        return ring.io.save_sys_to_str(self)
+    def to_str(self, warn: bool = True) -> str:
+        return ring.io.save_sys_to_str(self, warn=warn)
 
     def to_xml(self, path: str) -> None:
         ring.io.save_sys_to_xml(self, path)

ring/io/xml/to_xml.py

@@ -5,18 +5,19 @@ from xml.etree.ElementTree import SubElement
 from xml.etree.ElementTree import tostring
 
 import jax.numpy as jnp
-from ring import base
 from tree_utils import batch_concat
 
+from ring import base
+
 from . import abstract
 from .abstract import _to_str
 
 
-def save_sys_to_str(sys: base.System) -> str:
+def save_sys_to_str(sys: base.System, warn: bool = True) -> str:
     for joint_type in sys.links.joint_params:
         for i, link_name in enumerate(sys.link_names):
             joint_params_flat = batch_concat((sys.links[i]).joint_params[joint_type], 0)
-            if not jnp.all(joint_params_flat == 0.0):
+            if warn and (not jnp.all(joint_params_flat == 0.0)):
                 warnings.warn(
                     "The system has `sys.links.joint_params` unequal to the 'default'"
                     f" value (of zeros). In particular the link `{link_name}` has for"

ring/maths.py

@@ -90,6 +90,19 @@ def angle_error(q, qhat):
     return jnp.abs(quat_angle(quat_mul(quat_inv(q), qhat)))
 
 
+def inclination_loss(q, qhat):
+    """Absolute inclination angle in radians. `q`'s are from body-to-eps.
+    This function fullfills
+        inclination_loss(q1, q2)
+        == inclination_loss(qmt.addHeading(q1, H), q2)
+        == inclination_loss(q1, qmt.addHeading(q2, H))`
+    for any q1, q2, H
+    """
+    q_rel = quat_mul(q, quat_inv(qhat))
+    q_rel_incl = quat_project(q_rel, [0, 0, 1.0])[1]
+    return jnp.abs(quat_angle(q_rel_incl))
+
+
 def unit_quats_like(array):
     "Array of *unit* quaternions of identical shape."
     if array.shape[-1] != 4:

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 -0.84" 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:
@@ -94,7 +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}
@@ -171,6 +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
@@ -185,6 +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]))
@@ -193,6 +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,
         )