v1.6.28; adds floor_z to MujocoScene´; adds add_dt to randomize…

…_hz_kwargs` in `RCMG`; adds `jit` as kwarg to `ring.RING`

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.27"
+version = "1.6.28"
 authors = [
   { name="Simon Bachhuber", email="[email protected]" },
 ]

readme.md

@@ -5,6 +5,10 @@
 # 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).

src/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"]:

src/ring/algorithms/generator/base.py

@@ -55,6 +55,11 @@ def __init__(
     ) -> 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 _gen(key: types.PRNGKey):
         @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)
 

src/ring/rendering/mujoco_render.py

@@ -8,14 +8,18 @@
 
 _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(
     geoms: list[base.Geometry],
     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 @@ def __init__(
         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 @@ def to_list(dic: dict):
         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 @@ def init(self, geoms: list[base.Geometry]):
             self.add_cameras,
             self.add_lights,
             floor=self.show_floor,
+            floor_z=self.floor_z,
             stars=self.show_stars,
             debug=self.debug,
         )