Recurrent Inertial Graph-based Estimator (RING)

Installation

Supports Python=3.10/3.11/3.12 (tested).

Install with pip using

pip install imt-ring

Typically, this will install jax as cpu-only version. Afterwards, gpu-enabled version can be installed with

pip install --upgrade "jax[cuda12_pip]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html

Documentation

Available here.

Known fixes

Offscreen rendering with Mujoco

mujoco.FatalError: an OpenGL platform library has not been loaded into this process, this most likely means that a valid OpenGL context has not been created before mjr_makeContext was called

Solution:

import os
os.environ["MUJOCO_GL"] = "egl"

Publications

The following publications utilize this software library, and refer to it as the Random Chain Motion Generator (RCMG) (more specifically the function ring.RCMG):

• RNN-based Observability Analysis for Magnetometer-Free Sparse Inertial Motion Tracking
• Plug-and-Play Sparse Inertial Motion Tracking With Sim-to-Real Transfer
• RNN-based State and Parameter Estimation for Sparse Magnetometer-free Inertial Motion Tracking

Other useful ressources

Particularly useful is the following publication from Roy Featherstone - A Beginner’s Guide to 6-D Vectors (Part 2)

Contact

Simon Bachhuber (simon.bachhuber@fau.de)