sulib 1.0.0__tar.gz

sulib-1.0.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        python-version:
+          - "3.10"
+          - "3.11"
+          - "3.12"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v7
+
+      - name: Setup Python
+        uses: actions/setup-python@v7
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+          pip install pytest-cov ruff
+          pip install -e .
+          pip install nbconvert jupyter
+
+      - name: Lint
+        run: ruff check .
+
+      - name: Run tests with coverage
+        run: |
+          pytest --cov=sulib --cov-report=xml
+
+      - name: Run all scripts
+        run: |
+          for f in scripts/*.py; do
+            echo "Running $f"
+            python "$f"
+          done
+
+      - name: Run all notebooks
+        run: |
+          for nb in notebooks/*.ipynb; do
+            echo "Running $nb"
+            jupyter nbconvert \
+              --to notebook \
+              --execute "$nb" \
+              --output /tmp/out.ipynb
+          done

sulib-1.0.0/.github/workflows/release.yml

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+name: Release
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  build:
+    name: Build distribution
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v7
+
+      - name: Setup Python
+        uses: actions/setup-python@v7
+        with:
+          python-version: "3.x"
+
+      - name: Install build
+        run: python -m pip install --upgrade build
+
+      - name: Build package
+        run: python -m build
+
+      - name: Upload distribution
+        uses: actions/upload-artifact@v7
+        with:
+          name: python-package
+          path: dist/
+
+  publish:
+    name: Publish to PyPI
+    needs: build
+    runs-on: ubuntu-latest
+
+    environment:
+      name: pypi
+
+    permissions:
+      id-token: write
+
+    steps:
+      - name: Download distribution
+        uses: actions/download-artifact@v7
+        with:
+          name: python-package
+          path: dist/
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1

sulib-1.0.0/.gitignore

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+
+src/__pycache__/
+build/
+dist/
+*.pyc
+*.svg
+.coverage
+*.egg-info/

sulib-1.0.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 Arno Verduyn
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

sulib-1.0.0/PKG-INFO

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+Metadata-Version: 2.5
+Name: sulib
+Version: 1.0.0
+Summary: Python code for SU-decomposition
+License-File: LICENSE
+Requires-Python: >=3.10
+Requires-Dist: numpy
+Requires-Dist: scipy
+Description-Content-Type: text/markdown
+
+[![CI](https://github.com/arnoverduyn/SU_decomposition/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/arnoverduyn/SU_decomposition/actions/workflows/ci.yml)
+
+# SU Decomposition
+
+This repository contains a Python implementation of the **SU-decomposition**, which can be used to compute a coordinate-invariant local representation for rigid-body **motion and force trajectories**. This representation is referred to as the **Dual-Upper-Triangular Invariant Representation (DUTIR)**.
+
+The implementation is intended for trajectory analysis, identification, and generalization across coordinate systems. It provides tools for preprocessing trajectory data, computing screw trajectories, applying the SU-decomposition, and visualizing the resulting representations.
+
+A detailed description of the method is provided in the corresponding paper:
+
+> **A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems**
+
+A preprint is available on [arXiv](https://arxiv.org/abs/2604.10241).
+
+## Installation
+
+The project requires **Python 3.10 or newer**.
+
+Clone the repository and install the required dependencies:
+
+```bash
+git clone https://github.com/arnoverduyn/SU_decomposition.git
+cd SU_decomposition
+pip install -r requirements.txt
+```
+
+The core implementation is located in `src/sulib`.
+
+## Repository structure
+
+```text
+SU_decomposition/
+├── data/
+│   └── demos/
+│       ├── contour_following/
+│       ├── peg_on_hole_alignment/
+│       ├── pouring/
+│       └── pouring_objects/
+│
+├── figures/
+│
+├── notebooks/
+│
+├── scripts/
+│   ├── example_SU_calculation_force.py
+│   └── example_SU_calculation_motion.py
+│
+├── src/
+│   └── sulib/
+│       ├── _data_handling.py
+│       ├── _plotting.py
+│       ├── _preprocessing.py
+│       ├── _robotics.py
+│       └── su_decomp.py
+│
+├── tests/
+│   └── test_su_decomp.py
+│
+├── pyproject.toml
+├── requirements.txt
+├── LICENSE
+└── README.md
+```
+
+### Package modules (public)
+
+* `sulib.su_decomp` — core SU-decomposition and DUTIR computation.
+
+### Package modules (internal)
+
+* `sulib._robotics` — robotics-related operations for rigid-body trajectories.
+* `sulib._preprocessing` — trajectory preprocessing utilities.
+* `sulib._data_handling` — loading and handling trajectory data.
+* `sulib._plotting` — visualization utilities.
+
+## SU-decomposition
+
+The function `sulib.su_decomp.compute_dutir_from_screw_traj()` takes screw trajectories as input. For motion, these screw trajectories correspond to **twist trajectories**. For force/torque data, they correspond to **wrench trajectories**.
+
+For motion data provided as a pose trajectory, `sulib.su_decomp.compute_dutir_from_pose_traj()` first computes the corresponding twist trajectory and then computes the DUTIR from this twist trajectory.
+
+Conceptually:
+
+```text
+Rigid-body pose trajectory
+          │
+          ▼
+    Twist trajectory                         Wrench trajectory
+          │                                         │
+          ▼                                         ▼
+   SU-decomposition                          SU-decomposition
+          │                                         │
+          ▼                                         ▼
+DUTIR of rigid-body motion               DUTIR of force/torque data
+```
+
+More generally, the SU-decomposition can be applied directly to either a twist or wrench trajectory:
+
+## Examples
+
+The `notebooks/` directory contains numerical examples and demonstrations.
+
+Additional example scripts are provided in `scripts/`:
+
+## Reference
+
+If you use this implementation in academic work, please cite the associated paper:
+
+> **A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems**
+
+Preprint: [arXiv:2604.10241](https://arxiv.org/abs/2604.10241)
+
+## License
+
+This project is distributed under the license specified in [`LICENSE`](LICENSE).
+

sulib-1.0.0/README.md

@@ -0,0 +1,116 @@
+[![CI](https://github.com/arnoverduyn/SU_decomposition/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/arnoverduyn/SU_decomposition/actions/workflows/ci.yml)
+
+# SU Decomposition
+
+This repository contains a Python implementation of the **SU-decomposition**, which can be used to compute a coordinate-invariant local representation for rigid-body **motion and force trajectories**. This representation is referred to as the **Dual-Upper-Triangular Invariant Representation (DUTIR)**.
+
+The implementation is intended for trajectory analysis, identification, and generalization across coordinate systems. It provides tools for preprocessing trajectory data, computing screw trajectories, applying the SU-decomposition, and visualizing the resulting representations.
+
+A detailed description of the method is provided in the corresponding paper:
+
+> **A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems**
+
+A preprint is available on [arXiv](https://arxiv.org/abs/2604.10241).
+
+## Installation
+
+The project requires **Python 3.10 or newer**.
+
+Clone the repository and install the required dependencies:
+
+```bash
+git clone https://github.com/arnoverduyn/SU_decomposition.git
+cd SU_decomposition
+pip install -r requirements.txt
+```
+
+The core implementation is located in `src/sulib`.
+
+## Repository structure
+
+```text
+SU_decomposition/
+├── data/
+│   └── demos/
+│       ├── contour_following/
+│       ├── peg_on_hole_alignment/
+│       ├── pouring/
+│       └── pouring_objects/
+│
+├── figures/
+│
+├── notebooks/
+│
+├── scripts/
+│   ├── example_SU_calculation_force.py
+│   └── example_SU_calculation_motion.py
+│
+├── src/
+│   └── sulib/
+│       ├── _data_handling.py
+│       ├── _plotting.py
+│       ├── _preprocessing.py
+│       ├── _robotics.py
+│       └── su_decomp.py
+│
+├── tests/
+│   └── test_su_decomp.py
+│
+├── pyproject.toml
+├── requirements.txt
+├── LICENSE
+└── README.md
+```
+
+### Package modules (public)
+
+* `sulib.su_decomp` — core SU-decomposition and DUTIR computation.
+
+### Package modules (internal)
+
+* `sulib._robotics` — robotics-related operations for rigid-body trajectories.
+* `sulib._preprocessing` — trajectory preprocessing utilities.
+* `sulib._data_handling` — loading and handling trajectory data.
+* `sulib._plotting` — visualization utilities.
+
+## SU-decomposition
+
+The function `sulib.su_decomp.compute_dutir_from_screw_traj()` takes screw trajectories as input. For motion, these screw trajectories correspond to **twist trajectories**. For force/torque data, they correspond to **wrench trajectories**.
+
+For motion data provided as a pose trajectory, `sulib.su_decomp.compute_dutir_from_pose_traj()` first computes the corresponding twist trajectory and then computes the DUTIR from this twist trajectory.
+
+Conceptually:
+
+```text
+Rigid-body pose trajectory
+          │
+          ▼
+    Twist trajectory                         Wrench trajectory
+          │                                         │
+          ▼                                         ▼
+   SU-decomposition                          SU-decomposition
+          │                                         │
+          ▼                                         ▼
+DUTIR of rigid-body motion               DUTIR of force/torque data
+```
+
+More generally, the SU-decomposition can be applied directly to either a twist or wrench trajectory:
+
+## Examples
+
+The `notebooks/` directory contains numerical examples and demonstrations.
+
+Additional example scripts are provided in `scripts/`:
+
+## Reference
+
+If you use this implementation in academic work, please cite the associated paper:
+
+> **A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems**
+
+Preprint: [arXiv:2604.10241](https://arxiv.org/abs/2604.10241)
+
+## License
+
+This project is distributed under the license specified in [`LICENSE`](LICENSE).
+