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offsets shape bug #72

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offsets shape bug #72

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6df5655
Commit test changes.
jf514 Oct 9, 2024
963070d
Output shows bug.
jf514 Oct 9, 2024
394025e
reshape offsets before saving
charles-zhng Oct 9, 2024
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6 changes: 3 additions & 3 deletions configs/model/rodent.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
MJCF_PATH: "models/rodent.xml"

# Frames per clip for ik_only.
N_FRAMES_PER_CLIP: 250
N_FRAMES_PER_CLIP: 1

# Tolerance for the optimizations of the full model, limb, and root.
# TODO: Re-implement optimizer loops to use these tolerances
Expand All @@ -10,7 +10,7 @@ ROOT_FTOL: 1.0e-05
LIMB_FTOL: 1.0e-06

# Number of alternating pose and offset optimization rounds.
N_ITERS: 6
N_ITERS: 1

KP_NAMES:
- 'Snout'
Expand Down Expand Up @@ -189,7 +189,7 @@ SITES_TO_REGULARIZE:

RENDER_FPS: 50

N_SAMPLE_FRAMES: 100
N_SAMPLE_FRAMES: 1

# If you have reason to believe that the initial offsets are correct for particular keypoints,
# you can regularize those sites using _SITES_TO_REGULARIZE.
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2 changes: 1 addition & 1 deletion configs/stac/demo.yaml
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Expand Up @@ -4,7 +4,7 @@ data_path: "tests/data/test_rodent_mocap_1000_frames.mat"

n_fit_frames: 1
skip_fit_offsets: False
ik_only: True
skip_ik_only: False

mujoco:
solver: "newton"
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