diff --git a/configs/celegans_demo.yaml b/configs/celegans_demo.yaml new file mode 100644 index 0000000..9a992f8 --- /dev/null +++ b/configs/celegans_demo.yaml @@ -0,0 +1,4 @@ +defaults: + - stac: stac_celegans + - model: celegans + - _self_ diff --git a/configs/model/celegans.yaml b/configs/model/celegans.yaml new file mode 100644 index 0000000..d189c77 --- /dev/null +++ b/configs/model/celegans.yaml @@ -0,0 +1,197 @@ +MJCF_PATH: "models/celegans/celegans.xml" + +# Tolerance for the optimizations of the full model, limb, and root. +# TODO: Re-implement optimizer loops to use these tolerances +FTOL: 5.0e-03 +ROOT_FTOL: 1.0e-05 +LIMB_FTOL: 1.0e-06 + +# Number of alternating pose and offset optimization rounds. +N_ITERS: 6 + +KP_NAMES: + - 'cl1' + - 'cl2' + - 'cl3' + - 'cl4' + - 'cl5' + - 'cl6' + - 'cl7' + - 'cl8' + - 'cl9' + - 'cl10' + - 'cl11' + - 'cl12' + - 'cl13' + - 'cl14' + - 'cl15' + - 'cl16' + - 'cl17' + - 'cl18' + - 'cl19' + - 'cl20' + - 'cl21' + - 'cl22' + - 'cl23' + - 'cl24' + - 'cl25' + +# The model sites used to register the keypoints. +KEYPOINT_MODEL_PAIRS: + cl1: torso1_body + cl2: torso2_body + cl3: torso3_body + cl4: torso4_body + cl5: torso5_body + cl6: torso6_body + cl7: torso7_body + cl8: torso8_body + cl9: torso9_body + cl10: torso10_body + cl11: torso11_body + cl12: torso12_body + cl13: torso13_body + cl14: torso14_body + cl15: torso15_body + cl16: torso16_body + cl17: torso17_body + cl18: torso18_body + cl19: torso19_body + cl20: torso20_body + cl21: torso21_body + cl22: torso22_body + cl23: torso23_body + cl24: torso24_body + cl25: torso25_body + +# The initial offsets for each keypoint in meters. +KEYPOINT_INITIAL_OFFSETS: + cl1: 0.0 0.0 0.0 + cl2: 0.0 0.0 0.0 + cl3: 0.0 0.0 0.0 + cl4: 0.0 0.0 0.0 + cl5: 0.0 0.0 0.0 + cl6: 0.0 0.0 0.0 + cl7: 0.0 0.0 0.0 + cl8: 0.0 0.0 0.0 + cl9: 0.0 0.0 0.0 + cl10: 0.0 0.0 0.0 + cl11: 0.0 0.0 0.0 + cl12: 0.0 0.0 0.0 + cl13: 0.0 0.0 0.0 + cl14: 0.0 0.0 0.0 + cl15: 0.0 0.0 0.0 + cl16: 0.0 0.0 0.0 + cl17: 0.0 0.0 0.0 + cl18: 0.0 0.0 0.0 + cl19: 0.0 0.0 0.0 + cl20: 0.0 0.0 0.0 + cl21: 0.0 0.0 0.0 + cl22: 0.0 0.0 0.0 + cl23: 0.0 0.0 0.0 + cl24: 0.0 0.0 0.0 + cl25: 0.0 0.0 0.0 + +#ROOT_OPTIMIZATION_KEYPOINT: cl13 + +TRUNK_OPTIMIZATION_KEYPOINTS: [] +# - "cl7" +# - "cl8" +# - "cl9" +# - "cl10" +# - "cl11" +# - "cl12" +# - "cl14" +# - "cl15" +# - "cl16" +# - "cl17" +# - "cl18" + +INDIVIDUAL_PART_OPTIMIZATION: + "head": [ + "torso1_body", + "torso2_body", + "torso3_body", + "torso4_body", + "torso5_body", + ] + "abdomen1": [ + "torso6_body", + "torso7_body", + "torso8_body", + "torso9_body", + "torso10_body", + ] + "abdomen2": [ + "torso11_body", + "torso12_body", + "torso13_body", + "torso14_body", + "torso15_body", + ] + "abdomen3": [ + "torso16_body", + "torso17_body", + "torso18_body", + "torso19_body", + "torso20_body", + ] + "tail": [ + "torso21_body", + "torso22_body", + "torso23_body", + "torso24_body", + "torso25_body", + ] + +KEYPOINT_COLOR_PAIRS: + cl1: 0 .5 1 1 + cl2: 1 0 .3 1 + cl3: 0 .5 .3 1 + cl4: .3 0 .3 1 + cl5: 0.5 0 .3 1 + cl6: 0 1 .3 1 + cl7: 0.3 0 1 1 + cl8: 0 0.5 .3 1 + cl9: 1 0.5 .3 1 + cl10: 0.3 0.3 0.3 1 + cl11: 0.5 0.5 .5 1 + cl12: 0 0 0 1 + cl13: 1 1 1 1 + cl14: 1.0 0.7 0.5 1 + cl15: 0.7 0.5 1.0 1 + cl16: 0.5 1.0 0.7 1 + cl17: 0.5 0.7 1.0 1 + cl18: 1.0 0.7 0.5 1 + cl19: 0.7 1.0 .5 1 + cl20: 0.3 0.5 .7 1 + cl21: 0.3 0.7 .5 1 + cl22: 0.5 0.3 .7 1 + cl23: 0.5 0.7 0.3 1 + cl24: 0.7 0.3 .5 1 + cl25: 0.7 0.5 .3 1 + +# What is the size of the animal you'd like to register, relative to the model? +SCALE_FACTOR: 1.0 #0.4532 + +# Multiplier to put the mocap data into the same scale as the data. Eg, if the +# mocap data is known to be in millimeters and the model is in meters, this is +# .001 +MOCAP_SCALE_FACTOR: 1.0 #1e-6 + +# If you have reason to believe that the initial offsets are correct for particular keypoints, +# you can regularize those sites using this with M_REG_COEF. +SITES_TO_REGULARIZE: [] +# - HandL +# - HandR +# - SpineF +# - SpineL +# - SpineM + +RENDER_FPS: 50 + +N_SAMPLE_FRAMES: 100 + +# If you have reason to believe that the initial offsets are correct for particular keypoints, +# you can regularize those sites using _SITES_TO_REGULARIZE. +M_REG_COEF: 1 diff --git a/configs/stac/stac_celegans.yaml b/configs/stac/stac_celegans.yaml new file mode 100644 index 0000000..4696e16 --- /dev/null +++ b/configs/stac/stac_celegans.yaml @@ -0,0 +1,14 @@ +fit_offsets_path: "celegans_fit_offsets.h5" +ik_only_path: "celegans_ik_only.h5" +#data_path: "tests/data/test_rodent_mocap_1000_frames.mat" + +n_fit_frames: 500 +skip_fit_offsets: False +skip_ik_only: True +infer_qvels: True # Infer qvels from stac output +n_frames_per_clip: 250 # 1 if mocap is one session + +mujoco: + solver: "newton" + iterations: 1 + ls_iterations: 4 diff --git a/demos/stac_celegans.ipynb b/demos/stac_celegans.ipynb new file mode 100644 index 0000000..ecbdbb4 --- /dev/null +++ b/demos/stac_celegans.ipynb @@ -0,0 +1,3876 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/jaxopt/__init__.py:59: DeprecationWarning: JAXopt is no longer maintained. See https://docs.jax.dev/en/latest/ for alternatives.\n", + " warnings.warn(\n", + "/home/aaprasad/projects/con3trol/src/stac-mjx/stac_mjx/utils.py:16: DeprecationWarning: jax.lib.xla_bridge.get_backend is deprecated; use jax.extend.backend.get_backend.\n", + " if xla_bridge.get_backend().platform == \"gpu\":\n" + ] + } + ], + "source": [ + "import stac_mjx \n", + "import os\n", + "import numpy as np\n", + "import mediapy as media\n", + "import h5py\n", + "import gdown\n", + "\n", + "from matplotlib import pyplot as plt\n", + "from pathlib import Path\n", + "\n", + "# Enable XLA flags if on GPU\n", + "stac_mjx.enable_xla_flags()\n" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/gdown/download.py:39: DeprecationWarning: Call to deprecated method findChildren. (Replaced by find_all) -- Deprecated since version 3.0.0.\n", + " for param in form.findChildren(\"input\", attrs={\"type\": \"hidden\"}):\n", + "Downloading...\n", + "From (original): https://drive.google.com/uc?id=1uQZoo2wg7SiF-PL4rhKpQzYcoIWyxwZs\n", + "From (redirected): https://drive.google.com/uc?id=1uQZoo2wg7SiF-PL4rhKpQzYcoIWyxwZs&confirm=t&uuid=e7bb9a4a-1364-49cb-8b6b-4006d85122ed\n", + "To: /home/aaprasad/projects/con3trol/src/stac-mjx/demos/celegans_mocap.npz\n", + "100%|██████████| 305M/305M [00:02<00:00, 107MB/s] \n" + ] + }, + { + "data": { + "text/plain": [ + "'celegans_mocap.npz'" + ] + }, + "execution_count": 2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "gdown.download(\"https://drive.google.com/file/d/1uQZoo2wg7SiF-PL4rhKpQzYcoIWyxwZs/view?usp=sharing\", \"celegans_mocap.npz\", fuzzy=True)" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "/home/aaprasad/projects/con3trol/src/stac-mjx\n", + "Config loaded and validated.\n" + ] + }, + { + "data": { + "text/plain": [ + "{'stac': {'fit_offsets_path': 'celegans_fit_offsets.h5', 'ik_only_path': 'celegans_ik_only.h5', 'n_fit_frames': 500, 'skip_fit_offsets': False, 'skip_ik_only': True, 'infer_qvels': True, 'n_frames_per_clip': 250, 'mujoco': {'solver': 'newton', 'iterations': 1, 'ls_iterations': 4}}, 'model': {'MJCF_PATH': 'models/celegans/celegans.xml', 'FTOL': 0.005, 'ROOT_FTOL': 1e-05, 'LIMB_FTOL': 1e-06, 'N_ITERS': 6, 'KP_NAMES': ['cl1', 'cl2', 'cl3', 'cl4', 'cl5', 'cl6', 'cl7', 'cl8', 'cl9', 'cl10', 'cl11', 'cl12', 'cl13', 'cl14', 'cl15', 'cl16', 'cl17', 'cl18', 'cl19', 'cl20', 'cl21', 'cl22', 'cl23', 'cl24', 'cl25'], 'KEYPOINT_MODEL_PAIRS': {'cl1': 'torso1_body', 'cl2': 'torso2_body', 'cl3': 'torso3_body', 'cl4': 'torso4_body', 'cl5': 'torso5_body', 'cl6': 'torso6_body', 'cl7': 'torso7_body', 'cl8': 'torso8_body', 'cl9': 'torso9_body', 'cl10': 'torso10_body', 'cl11': 'torso11_body', 'cl12': 'torso12_body', 'cl13': 'torso13_body', 'cl14': 'torso14_body', 'cl15': 'torso15_body', 'cl16': 'torso16_body', 'cl17': 'torso17_body', 'cl18': 'torso18_body', 'cl19': 'torso19_body', 'cl20': 'torso20_body', 'cl21': 'torso21_body', 'cl22': 'torso22_body', 'cl23': 'torso23_body', 'cl24': 'torso24_body', 'cl25': 'torso25_body'}, 'KEYPOINT_INITIAL_OFFSETS': {'cl1': '0.0 0.0 0.0', 'cl2': '0.0 0.0 0.0', 'cl3': '0.0 0.0 0.0', 'cl4': '0.0 0.0 0.0', 'cl5': '0.0 0.0 0.0', 'cl6': '0.0 0.0 0.0', 'cl7': '0.0 0.0 0.0', 'cl8': '0.0 0.0 0.0', 'cl9': '0.0 0.0 0.0', 'cl10': '0.0 0.0 0.0', 'cl11': '0.0 0.0 0.0', 'cl12': '0.0 0.0 0.0', 'cl13': '0.0 0.0 0.0', 'cl14': '0.0 0.0 0.0', 'cl15': '0.0 0.0 0.0', 'cl16': '0.0 0.0 0.0', 'cl17': '0.0 0.0 0.0', 'cl18': '0.0 0.0 0.0', 'cl19': '0.0 0.0 0.0', 'cl20': '0.0 0.0 0.0', 'cl21': '0.0 0.0 0.0', 'cl22': '0.0 0.0 0.0', 'cl23': '0.0 0.0 0.0', 'cl24': '0.0 0.0 0.0', 'cl25': '0.0 0.0 0.0'}, 'TRUNK_OPTIMIZATION_KEYPOINTS': [], 'INDIVIDUAL_PART_OPTIMIZATION': {'head': ['torso1_body', 'torso2_body', 'torso3_body', 'torso4_body', 'torso5_body'], 'abdomen1': ['torso6_body', 'torso7_body', 'torso8_body', 'torso9_body', 'torso10_body'], 'abdomen2': ['torso11_body', 'torso12_body', 'torso13_body', 'torso14_body', 'torso15_body'], 'abdomen3': ['torso16_body', 'torso17_body', 'torso18_body', 'torso19_body', 'torso20_body'], 'tail': ['torso21_body', 'torso22_body', 'torso23_body', 'torso24_body', 'torso25_body']}, 'KEYPOINT_COLOR_PAIRS': {'cl1': '0 .5 1 1', 'cl2': '1 0 .3 1', 'cl3': '0 .5 .3 1', 'cl4': '.3 0 .3 1', 'cl5': '0.5 0 .3 1', 'cl6': '0 1 .3 1', 'cl7': '0.3 0 1 1', 'cl8': '0 0.5 .3 1', 'cl9': '1 0.5 .3 1', 'cl10': '0.3 0.3 0.3 1', 'cl11': '0.5 0.5 .5 1', 'cl12': '0 0 0 1', 'cl13': '1 1 1 1', 'cl14': '1.0 0.7 0.5 1', 'cl15': '0.7 0.5 1.0 1', 'cl16': '0.5 1.0 0.7 1', 'cl17': '0.5 0.7 1.0 1', 'cl18': '1.0 0.7 0.5 1', 'cl19': '0.7 1.0 .5 1', 'cl20': '0.3 0.5 .7 1', 'cl21': '0.3 0.7 .5 1', 'cl22': '0.5 0.3 .7 1', 'cl23': '0.5 0.7 0.3 1', 'cl24': '0.7 0.3 .5 1', 'cl25': '0.7 0.5 .3 1'}, 'SCALE_FACTOR': 1.0, 'MOCAP_SCALE_FACTOR': 1.0, 'SITES_TO_REGULARIZE': [], 'RENDER_FPS': 50, 'N_SAMPLE_FRAMES': 100, 'M_REG_COEF': 1}}" + ] + }, + "execution_count": 3, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "\n", + "# Choose parent directory as base path for data files\n", + "base_path = Path.cwd().parent\n", + "print(base_path)\n", + "# Load configs\n", + "cfg = stac_mjx.load_configs(base_path / \"configs\", \"celegans_demo\")\n", + "cfg" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,\n", + " 0., 0., 0., 0., 0., 0., 0., 0.]),\n", + " (422926, 75))" + ] + }, + "execution_count": 4, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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+Y9XV1UycOBGfz8eCBQuOOG7u3Ln1JwQ7nU7S09NbuksiIiJyDMs9dfMdVihEREbamqXFMy8zZsxg4sSJRx3Ts2dPtmzZwsGDBxuty8vLIzk5+ajbV1dXc9lll7Fnzx7ef//9I866ANxxxx3cfPPN9a89Ho8KjIiISCsp83q58Mnl7Ml2AdAvPt/mRMdRXlwuFy6X65jjRo4cidvt5pNPPmHYsGEArF+/HrfbzZlnnnnE7Q4Xl127dvHBBx+QkJBw1N/jcDhwOBwt2wkRERE5pjKvl18ueoP9OfEA9EktYPWsq2xO5ccTdgcNGsTYsWOZNm0a69atY926dUybNo1x48Y1uNJo4MCBrFixAoCamhouueQSNmzYwNKlS6mtrSUnJ4ecnByqquy9m5+IiEhn4nEXc86it9ifU3dl0Qmpufxz1hSbU9Xx64XaS5cuZciQIYwePZrRo0dz0kkn8dxzzzUYs2PHDtxuNwDfffcdK1eu5LvvvuOUU04hNTW1/qclVyiJiIjI8cvO3s+oxe+RmxOFAU5JPcDbs6baHaueZYwxdodoTR6PB6fTidvtPuq5MiIiItLY7t1fc9Hyz/HkOzAWjEjZx7JZ0/3+e1vy99tvl0qLiIhIYNm67QsuW/U13oK64jIqeQ9LZs2wO1YjKi8iIiJC1vp/M/XDfCqKQjFBMDpxN4tm32h3rCapvIiIiHRy77//HtPXl1PlDoFgGJ/4FY/MnmV3rCOy98lKIiIiYqsVK1/n2qwKqtxBEAKXtPPiAiovIiIindbSl1/k95+HUlNiQahFRvLXPNDOiwvoayMREZFOaeGSp7h/TzK+csBhcW3KHu68fqbdsZpF5UVERKSTefCJx3n0QHdMBVhdYFa3fcy+5r/tjtVsKi8iIiKdyN8WPMqig72h0hAUAbf3zOXaKdfZHatFVF5EREQ6if95+GGez+sL1YbgSMNfB3q54tL2c+fc5lJ5ERER6eD27d3L7BWZfJbXB2oMIdE+/vcUH+MvvNzuaMdF5UVERKSD+nzLJv7wwUa2FqVgKroCEOasZeHwCM4773yb0x0/lRcREZEO5uOP1vCXTXvYkZ8EVSl1C8MsBrhyuf+ckzn5pKH2BvyJVF5EREQ6iLffWcXfvyxkT14C1CQCBqsLDI7L4W/nnsrJJ11gd8RWofIiIiIS4F58ZRkLDtSyL9cJtfFA3ZVEQ537+fuvf0Hv3hfaHbFVqbyIiIgEqCeWPM1TheFk50Zj+eqWBUcZhkfvY/6kS0hMTLQ3oJ+ovIiIiASYB594nBdKXeTnJWEZsIDQGB9nhe9l/tWTiXHG2h3Rr1ReREREAsSfH32E1yrTKM7rjkVdaXHE1nJel294cNrviIiMtDtim1B5ERERaedunz+ft6q6U1rQG6grLRHx1YxxfMtDs9r/gxRbm8qLiIhIOzVz3nxWV/akvKgvAAaIcVXy67DvuGdmYDxE0R9UXkRERNqRMq+XWU88xZqKHlS5D5UWC+ITy7k0/CB3Xh84D1D0F5UXERGRdsDjLua/n15KlrcHNSV1Xw8ZC5KSvFwZXcysa661OWH7ofIiIiJio+zs/cx++U02eNKp9fYEwARBWpKHaxOrmTp5ir0B2yGVFxERERvs3LmdW//vYz4vTsOUp9ctDIHuicXM7O7gkglX2BuwHVN5ERERaUMrVr7Ooj1FbCtMgsq0uoWhFn1c+dx6QhJjfjnZ3oABQOVFRETEz5a+/CIvZXvZVZFIeXEolkmqW+GAQQm5/OXMQZx+esd47lBbUHkRERHxgyefe5blhbV8Xeaiwh2DRQxQd4+WkCjDCTE5PDD2Z/Tv37GeO9QWVF5ERERayaNPPclbJSF87U2g2uOqX3749v29owq4IKJKVw79RCovIiIiP8EDix7nnbII9pQmUFOSWr/cAA6nj74R+YyPM0yfcrV9ITsYlRcREZEW+tuCR/lnjZNvPXHUlnavX26ALrG19AvP49IkB1ddcaV9ITswlRcREZFjKPN6uXfxYtaYePZ54vB5e9WvMxZExNYwoEsuV6Q7ufziy2xM2jmovIiIiDShzOvlz08+yb9JZH+xE195n/p1xoLIuGoGOXKZOiCNcWN/Y2PSzkflRURE5BCPu5i7n36GLJLJLo7BVPStX2eCIDquisFhB7luSF/OO09XCdlF5UVERDq1vLw8/rL0BT4hmZyiaKjsV7/OBIEzvpIhITnMGHkyI4f/zMakcpjKi4iIdDrZ2fv587LX2GCSySuKhqrvZ1gIhtj4Ck4KzuamUSMZOvQ0+4JKk1ReRESkU9i9+2vuWfk2m3wpFBRFQvXhc1gMhFjEx3sZGpTDbRecT//+g2zNKken8iIiIh3W1m1f8MA7/2KzSaaoMBxqeh9aYyDUwhVfymnk8D//dRHp3bsf9b2k/VB5ERGRDuWd1Zks2bqb/9Qm4y7sArU9v18ZZpEUX8IZJof/mXgJqaldbcspx0/lRUREAtrWbV/w2Lsf8IWVQI43hipPEBY96tdbDkiJ8zCcXP489SpinLH2hZVWofIiIiIBJS8vjwdfeIHPiGVfRSzl7hAs3/f3YLGAoEhIjXZzppXLH3/7WxWWDkblRURE2rUyr5fHlj7Lv8rD+KY6npLiLlDz/dVBFoAD4pzl9A0u4AJXOFMnT7Etr/ifyouIiLQ7z720lLcOlrCrNoEiTwSmoscP1hoIgShnFT3CCvlZWAWzp/yWiMhI2/JK21J5ERER23245p88s3E7X1ou8kqiqfXGArH1640FXZy1pEcUMdQUcfNll+pk205M5UVERNrczp3beeTtd9liJZBd5qTSE4RlfvCwQyA02pAa5WGwyee6UT/TzeKknsqLiIj4ncddzP3PLuFTYthbEUdZcQiWr+F5K0ERkBBdykArn8sH9mDc2HH2BZZ2TeVFRERaXZnXyxMvPs8H3iD2VCfgcXf5wR1tD51kG2bhdJbTN6SAX8aFMH3K1bbllcCi8iIiIq1i2fKXeX1vATt9Lgo9EZiKbj9YayAYImOr6RFWxIjgUn4/9WqdZCvHReVFRESOS9b6f7M4ayNbcZFbGk1taSTwfRk5fJJtWribUyjk5gkTdAt+aRUqLyIi0iz79u7lweUr2GzFc6DMSaUnGMv0bjAmJMqQFOVhsCngurPP4PTTR9iUVjoylRcREWmSx13Mg0uW8ImJ5tuKOLzuUKzahifZWuGQEOOlf1ABF3dP5JIJl9gXWDoNlRcREQEgO3s/819+lc1WDN9VxlLqcTQ+yTbUwhlbTq+QQs6NNMy65lrb8krnpfIiItJJ7dy5nQVvv8t/gmLZf+gZQfxgZgUMJggiYmvo4ShimOXh91dN0XOCxHYqLyIincSGDet46qNP2BYUT3Z5DBWe4Ab3WgEgBCKd1XRzFHOSKWbmhIt1kq20OyovIiId1Pvvv8fSLdvZYSVw0BtNVUkQlml8r5XomAq6hxZzmlXKjVdcQWJiom2ZRZpD5UVEpIN4dcWrvPHtQXYRT743muoSC4vvrwayAMsBzpgKeoYUMtxRyayMqbrXigQclRcRkQD15HPPsrqwjN2+BApKI/F5w4Ge9esP33I/LqqM3sGFjIoO5urLr1BZkYCn8iIiEgAO327/I6/Fnto4ikoiMOWuRuOCIw0J0V76UcDYFCcZEyfbkFbEv1ReRETaIY+7mPnPP8cnNeHsrYnD7ekCld0ajKl78rKPpMhS+lPAxf3SGX/hb+wJLNKGVF5ERNqBvLw8HnrxRTabaPZWHb7HSsO71xoLHDE+kiM8DDKFTBp6AueM+oVNiUXso/IiImKD3bu/5pE33+I/xLK/0kmZJxRq+vxgRN09VsKdNaR28TDYV8i0X/yck08aaltmkfbCr+WlqKiImTNnsnLlSgDGjx/PI488QmxsbLO2v+6663jiiSd46KGHmD17tv+Cioj42aZNn/Hkhx+zLSieA+XOI95jJSLm8D1W3Nwwfhy9e/dp+g1FOjG/lpdJkybx3XffkZmZCcC1115LRkYGb7755jG3ff3111m/fj1paWn+jCgi4hcff7SGZzds4cugeA6WxVDpCcIyDZ8LRKhFtLOC9LBiTqWUWbrHikiz+K28bN++nczMTNatW8fw4cMBWLRoESNHjmTHjh0MGDDgiNvu37+fGTNm8M4773DhhRf6K6KISKv5cM0/eX7TNr5scEO4hvdY4Yf3WAmrYvaU3+qyZZHj4LfykpWVhdPprC8uACNGjMDpdLJ27dojlhefz0dGRga33HILgwcP9lc8EZGf5PDda78kgdyyaKo8QY1vCBcOcdFl9Aou4ueRMO2KySorIq3Ab+UlJyeHpKSkRsuTkpLIyck54nb33XcfISEhzJw5s1m/p7KyksrKyvrXHo+n5WFFRI7h/fff4/kt2/nSSiC3NJrqkqbLSnx0GX2CCjkvPpTpU662L7BIB9bi8jJnzhzuvvvuo4759NNPAbAsq9E6Y0yTywE+++wz5s+fz8aNG4845sfmzp17zDwiIi31zupMXvzPV+y04sn1xjR9q/1DZaVvUAG/iHdw7ZSp9gUW6UQsY4xpyQb5+fnk5+cfdUzPnj154YUXuPnmmykuLm6wLjY2loceeoipUxv/I583bx4333wzQUFB9ctqa2sJCgoiPT2db775ptE2Tc28pKen43a7iYmJacmuiUgn9vY7q3hl2zfssOLJrX8uUENB4RAf46VPUCG/jA/nmoyrbMkq0hF5PB6cTmez/n63eObF5XLhcjW+JfWPjRw5ErfbzSeffMKwYcMAWL9+PW63mzPPPLPJbTIyMjj//PMbLBszZgwZGRlNlh0Ah8OBw+Fo4V6ISGf3VuZbvPrlN+wggbz6stKzfv3h5wLFR3vpE1TAWFckUydPsS2viHzPb+e8DBo0iLFjxzJt2jT+8Y9/AHWXSo8bN67ByboDBw5k7ty5TJgwgYSEBBISEhq8T2hoKCkpKUe9OklE5FjeynyLV778lh3Ek18aTXWphUWv+vU/LCt9rQJ+lRzNVVdcaV9gETkiv97nZenSpcycOZPRo0cDdTepe/TRRxuM2bFjB263258xRKQTWrnqDV7dtY+duMgrjaKmtOmZlYRDZeWClBg9xFAkQLT4nJf2riXfmYlIx7Fi5ess372fXSSQVxpFbWnjk/6DIiEhqpR+QYX8KlllRaQ98es5LyIi7cGrK17ljW8PshMX+aWR1JaGwg9mVuD7stLfKuCCtDgmX3aFLVlFpHWpvIhIQFi2/GVW7s3nK5NAfmkUtd5wflxWgiMhIbqUfhQwrmsCV1x6uS1ZRcS/VF5EpF36cM0/eWbTdrabxENlJRJoeHfa4EhwRZXS1ypgfHcXl198mT1hRaRNqbyISLuQnb2fB5a9wkYrgf1lsYceZNirwZjgSIMr2kt/8vlNj2QumXCJTWlFxE4qLyJim3lP/oP3y4LZXZVAaXEY1PSrX2dRd1O4hJhSBlr5XNy7KxPGX2RbVhFpP1ReRKTNvLM6k+e3fs2XJpF8TySmvFvDASEQHVtJn9ACfhEFN/5umj1BRaRdU3kREb/Zt3cvDy5fwSYrgQNe56EnL/esX28s6BJTS9eIYk6jkFsnTSYxMdG+wCISEFReRKTVlHm9PLb0WdaUO9hTFY+3OAxq+9avP3xjuKSYEgaafK45fQhnnT3KvsAiEpBUXkTkJ3kr8y1e/HIvO4yLAnckpqJHwwGhFs7YcvqEFDA6LoTpU662J6iIdBgqLyLSIrt3f81DK9/ic8tFtjfm0FdB3xcWY0EXZy3p4UWcYRVzx1VXEeOMtS+wiHQ4Ki8iclRlXi/zljzDx9XhfFMRj9cdivWjr4KCIyEp2sNg8pl+1hmcfvoI+wKLSIen8iIijby64lVe/TaPnT4Xhe4IqOxZv86C+q+C+oXkc6ErnKmTp9gVVUQ6IZUXEWHnzu3Me3s1X1gusktjqCkJB7rXrzdBEO6soXuXIoYHebhlyhR9FSQitlF5EemEyrxeHnj6Kdb6ovi2Ip6y4hAsX58GY4KjDMlRHoaYfG74xdmcfNJQm9KKiDSk8iLSSXy45p88vnkXO2tdFLkjoLJ3/ToLIMwiLraM/kH5jE9z6gnMItJuqbyIdGB5eXn8cemLrKvtSlFBFyxf+qE1BhMEEbE19OhSyMigUm6ZejURkZFHfT8RkfZA5UWkA7rn8cf4v6pY9hXGQmXd10GHbxDX1elmiC+f/x5zLoNPGGJrThGR46HyItJBrFz1Bk98lc8ObxLVnp7frwixSEwo4ZygbO6+ZppmV0Qk4Km8iASwfXv38qfX3mRDbSqeAgeWSQHqbhQXFV/NKaEHuOuCc+nff5DNSUVEWo/Ki0iAKfN6uWfxYt7zJZJT4ITqnsChm8VFGfrH5DElNYIrLr3c1pwiIv6i8iISIJa+/CLPZVeyq8RFbenhy5oNhFmkxbs5PyiPP8+caWtGEZG2oPIi0o5t3fYFf1v9MZsrU/EWxWCZuuXGAmdCJWeE7Oevl19MampXe4OKiLQhlReRdqbM6+UPTz7JR75U8gsioabuTrcWEBrjY1DUQaYPSOWCMRfbG1RExCYqLyLtxIKnF/OqJ5Rv3An4yn7w4MMukB5XzIUON7dNv8HGhCIi7YPKi4iNstb/mwfX/YcvylOpLE6pX26CIT6hnJFBB7h3qp4jJCLyQyovIm3M4y7m9qeXkOVLo7AgHKu2W/06R2wtQ8Kz+X8jTmTk8AttTCki0n6pvIi0kb8/sYA3y53sK4rFVDS8621PZwGXxFRzw9Tf2RtSRCQAqLyI+NHb76xi4Y5stpcmU+3p8f2KEEhM8PJz6wB/maa73oqItITKi4gfLFv+MvfsCaa4oAuWLxWou7w5Mq6aoWEHuHP02XqukIjIcVJ5EWlls+fN4/WiflD5/V1v+0Xnk5HqYPJlV9gdT0Qk4Km8iLSSMq+X/1r8MtsO9sMyEBQJl8TsYo4ehigi0qpUXkRawYdr/smNn7opyU/CApyJFSw8K4WRw2fbHU1EpMNReRH5if786CM8U9gbX5kDY8GJKQd55ZrLNdsiIuInKi8iP8Hl8xey7mBvLB9YDrgk7isemDXL7lgiIh2ayovIcdi5czuTV20h72A6FtAlroa/9q/mkgkqLiIi/qbyItJCC55ezEPZSVR7ogDokVrEq5PGkJiYaHMyEZHOQeVFpAWmPfQIqwv7QLWBEIvzXV/z5Kwb7Y4lItKpqLyINENeXh6XvpDJnoO9sTCERBtmp2Yz42oVFxGRtqbyInIMK1a+zp3bLcqL4rGAxGQvz4wZxOATxtkdTUSkU1J5ETmKW+fP45WifpgKMEEwLPk7Xpl1nd2xREQ6NZUXkSaUeb1c/uRLbMk5dLfcCLgqfjd3zdDXRCIidlN5EfmRDRvW8bs1+3HnpWAB0a5K5p8aw3nnqbiIiLQHKi8iPzB34aM8mdeLWm8XjAWDUvJYfs2luluuiEg7ovIicshV8x5jTV4vqAUcFhfF7WK+7pYrItLuqLyIAPv27mVNfk+oBUdsLX/q7WXyZSouIiLtkcqLCLBh80aoCQXg/y4bTO/efWxOJCIiRxJkdwCR9mBvbi5Qdzm0iouISPum8iIC5JdXAGCFWDYnERGRY1F5EQHctQaAoBBjcxIRETkWlRcRwHvon0JQsM/mJCIiciwqLyKA99C56yEhKi8iIu2dyosIUG4dKi9BKi8iIu2dyosIUGHVXSYdGlxrcxIRETkWlRcRoMLUzbyEWSovIiLtncqLCFB5uLwE1dicREREjkXlRQSo8gUD0AWVFxGR9k7lRQSoVnkREQkYKi8iQHVtXXmJMNU2JxERkWNReREBamvr/ilEGJ2wKyLS3qm8iPB9eYnU10YiIu2eX8tLUVERGRkZOJ1OnE4nGRkZFBcXH3O77du3M378eJxOJ9HR0YwYMYK9e/f6M6oIALuDYuyOICIix+DX8jJp0iQ2b95MZmYmmZmZbN68mYyMjKNu8/XXX3PWWWcxcOBAPvzwQz7//HP++Mc/0qVLF39GlU5uUEwOAFsPJjF34aM2pxERkaOxjDF+eYzu9u3bOeGEE1i3bh3Dhw8HYN26dYwcOZIvv/ySAQMGNLndxIkTCQ0N5bnnnjuu3+vxeHA6nbjdbmJi9H/R0jwedzHDF66hvCiEkGgfH2ScTHr37nbHEhHpNFry99tvMy9ZWVk4nc764gIwYsQInE4na9eubXIbn8/HqlWr6N+/P2PGjCEpKYnhw4fz+uuvH/H3VFZW4vF4GvyItFSMM5Zbu7khxKKmJIgrV/zL7kgiInIEfisvOTk5JCUlNVqelJRETk5Ok9vk5uZSWlrKvffey9ixY3n33XeZMGECF198MWvWrGlym7lz59afU+N0OklPT2/V/ZDOY+rkKfzM9Q0A32TH8ft58+0NJCIiTWpxeZkzZw6WZR31Z8OGDQBYltVoe2NMk8uhbuYF4De/+Q033XQTp5xyCrfffjvjxo1j4cKFTW5zxx134Ha763/27dvX0l0Sqbd09g3EJpVjAcvdfcla/2+7I4mIyI+EtHSDGTNmMHHixKOO6dmzJ1u2bOHgwYON1uXl5ZGcnNzkdi6Xi5CQEE444YQGywcNGsTHH3/c5DYOhwOHw9HM9CLHdt+QKKb/uxZfOdy4dj8bhh97GxERaTstLi8ulwuXy3XMcSNHjsTtdvPJJ58wbNgwANavX4/b7ebMM89scpuwsDDOOOMMduzY0WD5zp076dGjR0ujihyXMb8cywX/mc+qir7kH4zk6nmP8NTsG+2OJSIih/jtnJdBgwYxduxYpk2bxrp161i3bh3Tpk1j3LhxDa40GjhwICtWrKh/fcstt7Bs2TIWLVrEV199xaOPPsqbb77JDTfc4K+oIo08dtMs0lLqTv5+v7APr6541eZEIiJymF/v87J06VKGDBnC6NGjGT16NCeddFKjS6B37NiB2+2ufz1hwgQWLlzI/fffz5AhQ3jyySd57bXXOOuss/wZVaSRRaNPJDjSQJVhzlfBlHm9dkcSERH8eJ8Xu+g+L9Ka/vTwwzyb3QfLwKmp+1k+61q7I4mIdEjt4j4vIh3Bn2fOZEBKHgAbc7sy/8knbE4kIiIqLyLHsHTShThia6EWHstLJS8vz+5IIiKdmsqLyDEkJiZyY1IuBEOVO4hJL7xtdyQRkU5N5UWkGWZcfQ2nJ30HwM4cF//z8MM2JxIR6bxUXkSaack1VxLtqsQy8IK7DytXvWF3JBGRTknlRaSZIiIj+XP/IHBY+Lwwe2MITyx52u5YIiKdjsqLSAtMGH8R05J3YznA54W5u5OYu/BRu2OJiHQqKi8iLfSHG2ZwW5+DBEWAqYB/7O/NrfPn2R1LRKTTUHkROQ7Tp1zNg6dUExrjg2rDstx+XPeQTuIVEWkLKi8ix2nC+ItY8ot4usTVYNVCZm4fJs573O5YIiIdnsqLyE8wcvjPePvSE3EmVmAZyMrpzoXzn7I7lohIh6byIvIT9e7dh4+u+QXJKaVYwNbsZEbNf14PchQR8ROVF5FWEOOM5YNp4+idWgDAt9lxjHpilR4lICLiByovIq0kIjKS92dN4eTUAxgg72Ak5z37ETt3brc7mohIh6LyItLK3pg1jbNSvsVYUJLvYPyKnXy45p92xxIR6TBUXkT8YOnsG7gw+WsIhoqiEK75uJwXX1lmdywRkQ5B5UXETxbMnsmk5K8h1KKmxOIP26J4ZPEiu2OJiAQ8lRcRP7pn5kxmdP8Wqwv4yuHBb7ty1yO6mZ2IyE+h8iLiZ7+fdj1zBhQRHGWgyvDswT7Mmjff7lgiIgFL5UWkDVx1xZUsGB5CmLMWauD13L5Mfegxu2OJiAQklReRNjLml2N55cJ0IhOqsHzwfm5PfvuQnkgtItJSKi8ibejkk4by3pXD6h8n8EFuL6bP0zkwIiItofIi0sZSU7uSOWkE0a5KLAP/l6tzYEREWkLlRcQGqaldeePik4mIr8bywRt5fbl1/jy7Y4mIBASVFxGb9O7dhxfH9sARWwu18HJef11GLSLSDCovIjY6+aShPHNuAmFOH9QYns3ty9yFOolXRORoVF5EbDZy+M945PRQQqINVBv+kd2L+U8+YXcsEZF2S+VFpB0Y88ux/H1IDcGRQCXM+64rTyx52u5YIiLtksqLSDsxYfxFzOlXTFA4mAq495skPcxRRKQJKi8i7UjGxMnc2utg3bOQyuB/voxk5ao37I4lItKuqLyItDPTp1zNrG7fgcOi1mtx8+Zg3n//PbtjiYi0GyovIu3Q7GuuY1rybgi1qCmxmL6+nA0b1tkdS0SkXVB5EWmn/nDDDDKSvoIQqHIHceU/D/L5lk12xxIRsZ3Ki0g79pcbZ3Jp4i4IhoqiEK7I/Jbdu7+2O5aIiK1UXkTaub/Pms34xK8wQVBWGMpvln9OdvZ+u2OJiNhG5UUkADw8exZjE7/GWFCS72D8Sx/bHUlExDYqLyIB4h83zeTc5D0A5OZG6RJqEem0VF5EAsgzs2cQEmWwDDzz1UG744iI2ELlRSTA9IguBODLyiSbk4iI2EPlRSTAnO/wAOAtCuWd1Zk2pxERaXsqLyIB5o7pMwiOBMvA4q3f2h1HRKTNqbyIBKD0mCIAtlXrqyMR6XxUXkQC0LnBdeWlpCiMjz9aY3MaEZG2pfIiEoBumXo1QRFg+WDBxm12xxERaVMqLyIBKCIykq7OYgC+qE62N4yISBtTeREJUGdZ+QB4Ch1s2vSZzWlERNqOyotIgPrj767B6lL31dH/rllndxwRkTaj8iISoCIiI0mNdQOwpTbF5jQiIm1H5UUkgI0kFwB3YRd27txucxoRkbah8iISwO6a+ltwALVw79vv2R1HRKRNqLyIBLAYZywpcSUAbPKl2pxGRKRtqLyIBLhh1D1duqgwHI+72N4wIiJtQOVFJMAVEVL/3yEhoTYmERFpGyovIgGszOsly9sDgB6JRURERtqcSETE/1ReRALYTU8spqbEwgTB7F5RdscREWkTKi8iAezDyp4ApCV5mDD+IluziIi0FZUXkQA1e958KouDMRZcm1htdxwRkTaj8iISoN6tqjvXJTHJy9TJU2xOIyLSdlReRALQHx95mLLCUAxwRWSB3XFERNqUX8tLUVERGRkZOJ1OnE4nGRkZFBcXH3Wb0tJSZsyYQbdu3QgPD2fQoEE8/vjj/owpEnDeqOoGQGxiBf/v2uttTiMi0rb8Wl4mTZrE5s2byczMJDMzk82bN5ORkXHUbW666SYyMzN5/vnn2b59OzfddBM33ngjb7zxhj+jigSM+xYuwJ3nAOBixwGb04iItD2/lZft27eTmZnJk08+yciRIxk5ciSLFi3irbfeYseOHUfcLisri6uuuopzzjmHnj17cu2113LyySezYcMGf0UVCSjLyhKxgMiEKu6acaPdcURE2pzfyktWVhZOp5Phw4fXLxsxYgROp5O1a9cecbuzzjqLlStXsn//fowxfPDBB+zcuZMxY8Y0Ob6yshKPx9PgR6SjWrjkKQryIgD4Vehem9OIiNjDb+UlJyeHpKSkRsuTkpLIyck54nYPP/wwJ5xwAt26dSMsLIyxY8eyYMECzjrrrCbHz507t/6cGqfTSXp6eqvtg0h780xhBJaBLnE1PDB7lt1xRERs0eLyMmfOHCzLOurP4a94LMtqtL0xpsnlhz388MOsW7eOlStX8tlnn/Hggw9yww038N577zU5/o477sDtdtf/7Nu3r6W7JBIQli1/mezcaADOC/vW5jQiIvYJOfaQhmbMmMHEiROPOqZnz55s2bKFgwcPNlqXl5dHcnJyk9uVl5dz5513smLFCi688EIATjrpJDZv3swDDzzA+eef32gbh8OBw+Fo6W6IBJxH91Vj+SA0xscD1/7O7jgiIrZpcXlxuVy4XK5jjhs5ciRut5tPPvmEYcOGAbB+/Xrcbjdnnnlmk9tUV1dTXV1NUFDDCaHg4GB8Pl9Lo4p0GO+szmRfXiwAZ4Xv1QMYRaRT89s5L4MGDWLs2LFMmzaNdevWsW7dOqZNm8a4ceMYMGBA/biBAweyYsUKAGJiYhg1ahS33HILH374IXv27OGZZ55hyZIlTJgwwV9RRdq1J5Y8zeyNlVADwZGG+VdPtjuSiIitWjzz0hJLly5l5syZjB49GoDx48fz6KOPNhizY8cO3G53/euXXnqJO+64g8mTJ1NYWEiPHj3429/+xvTp0/0ZVaTd8biLyXjmFT7PTYNaMBacF7WHGOc4u6OJiNjKMsYYu0O0Jo/Hg9PpxO12ExMTY3cckeMy78l/8Hh+KpXFwQCEOX38NnYvd17/3zYnExHxj5b8/fbrzIuItExeXh5XvfAWWw92w/KBCYLBybk8O2kciYm/tjueiEi7oPIi0k7c8/hjPFPcnSp3EhbgiK3lelc2s6+5zu5oIiLtisqLiM327d3L1BUfsCunJ5YBguGUpAMs+e2lxDhj7Y4nItLuqLyI2OiPjzzMi57e1JS4sICI+GpmpxRx7ZRpdkcTEWm3VF5EbLBz53am/d9nfJPTp262JcRimGsfz0y7UvdwERE5BpUXkTZ2y/x5LPf0o9YbhwVEuyq5vXslky/TuS0iIs2h8iLSRjZt+oz/XrOD/Tn9sADCLH4W/w1LZ99gdzQRkYCi8iLSBm6cN59V7r74yp1YQGxSOX8eEMr4C1VcRERaSuVFxI8+/mgNN3+WQ25O37oFDvhF3G4Wz77R3mAiIgFM5UXET66d9wiri3tjKqIAcCV7uf/keM47T8VFROSnUHkRaWVvv7OK/9laRmFubwCscPhVzNcsuGmmzclERDoGlReRVnTVvMdYU9gLqiIwQGqKh0fP6sXpp19odzQRkQ5D5UXkJ/p8yyb+/MGnfF6aSk1JT8AQFAHjY3Yxb/Zsm9OJiHQ8Ki8ix+nBJx7ntTInB/JjoaYrAMaC7inFLPzlSQw+QbMtIiL+oPIi0gJ5eXnc8vwy1lenU17Y/dBSg9UF+sbncV16FJdMmGxrRhGRjk7lRaQZXl3xKv/Y6+WrIhemohcABoiMr2ZE2D7umzyRxMREe0OKiHQSKi8iR1Dm9fKnRU/ynq8rRXnhWCa8bkWoRZqrmMsiS5h9jW7pLyLS1lReRH5k06bP+PO/NvJFaSo1JXU3l7OA0BgfJ0Vm86dzz+Dkky6wN6SISCem8iJyyN+fWMDysjiy82OgJg0AEwQJrjJ+GXyA+2bNsjmhiIiAyot0ctnZ+7lj2QrWVaZTUdSjfrkVDv3j8vjvPnGMv/BSGxOKiMiPqbxIp/TiK8tYnF3B14UNT8CNSqhmZOg+/ndqBjHOWFsziohI01RepNMo83q5c9EiPqhNpzg/CsvUPXOIUIt0VzGXRXm58XfT7A0pIiLHpPIiHV7W+n9z37ptfFGSSm1pP+D7E3CHRhzgrtFnMvgEnYArIhIoVF6kw5q78FHeqHCRkx/d4ARcl6uMMSHZ3DNTD0oUEQlEKi/SoWRn7+fWZa/zaWU3Kop61S8PCocBcbncOCCJC8boBFwRkUCm8iIdwtKXX2RxTg27C+KhsidQdwJudEIVPwvZx9+vnqITcEVEOgiVFwlIHncxc599lvUmju/K4qh0x2AdXhlq0d1VxMSYCm6Y+js7Y4qIiB+ovEjAWLnqDV7YdYAdvkSKiiOgqm/9OgsIc/oYGvEdf/nVOfTvrxNwRUQ6KpUXabfy8vL4+wtL+ZQEvvPGUuUJweL7JzkTDFGxVfQNy2dsXDDTp1xta14REWkbKi/Srry64lVe+TafL2sTcReHQ3W/+nUWEBxlSI32cIovj5t/M47evfvYF1ZERGyh8iK2ysvL496lS9lgudhf6qS6JByL9ENrDYRAdGwl/ULz+bWrC1MnT7E1r4iI2E/lRdrci68s47UDxeyqceEuCoeahrMrIdGG1Cg3p5p8fn/xBNK7dz/ym4mISKej8iJ+l529n/uWvcpGy8WBUic1JVHAoVvzH5pdiYmrpF9IPhclR5IxcbKdcUVEpJ1TeRG/ePbF53kjt4yvql14ih1Q07fB+pBoQ9eoYk6lgFsvu4TU1K42JRURkUCj8iKtYt/evdy/fAWbrUQOlMRQWxoHxH0/INTCGVvOgOB8/qt7HJdffJltWUVEJLCpvMhxe/K5Z3mrsIqvql2UFoVB7fezKwYIi/HRNbKYMyjg1kmTSUxMtC+siIh0GCov0my7d3/NAytXsdlycdATQ63X1XBAqEVsXBkDgvOY2CuVCeMvsiWniIh0bCovclQLnl5MZolhd2UCpcVhUPv9fVUM4HD66BZZzDBTyJ2/vUrPDxIREb9TeRGg7llBzy9/jc+LvewLiiLPF0lBaRQ+b0rDgWEWcbFlDArOY9KAdMaN/bU9gUVEpNNSeelkstb/mzfXf8bXJpSDRFNYE4G3PIyaMgvLl9JovLHAEVNL98gihuHm9qv0dGYREbGXyksH9MNZlO+CosgzkXgqu1BRFgKVAI1vqW9RV1SCIyAivIq40DK6GzdTBvdmzC8vbOtdEBEROSKVlwD241mUoppwSssdR5xFqRdm4QivIbpLBa6gMtJMCYMjQpj06/G634qIiLR7Ki/tnMddzAtvLGdTQWmDWZTKshBMc2ZRulQRF1ZGEl56mXLOG9SXC8Zc0Na7ISIi0mpUXtqJw7Mou32h5Fg/nkVJBpKb3jDUwhFRN4uSEFxGV18JJ0SGMHmcZlFERKRjUnlpQz+eRcn3ReKuOr5ZlJ6mjHMH9mXcWJ2PIiIinYvKix80NYviLXdQ3YxZlLCIGmI0iyIiInJEKi/H6fAsyubCUvZZxzuLUk4SpZpFERERaQGVl2Z6Z3Umc7flUVQT0aJZlGhHJa4QL6m1pZwYFaxZFBERkZ9I5aWZEuJi+Sa7tv61ZlFERETsofLSTKefPoK0j18gOqiK1NpSBkcGMXHsONK7d7c7moiISKei8tICa2dPsjuCiIhIpxdkdwARERGRllB5ERERkYCi8iIiIiIBReVFREREAorKi4iIiAQUlRcREREJKCovIiIiElBUXkRERCSg+LW8/O1vf+PMM88kIiKC2NjYZm1jjGHOnDmkpaURHh7OOeecw9atW/0ZU0RERAKIX8tLVVUVl156Kddff32zt7n//vv53//9Xx599FE+/fRTUlJS+OUvf0lJSYkfk4qIiEig8Gt5ufvuu7npppsYMmRIs8YbY5g3bx5/+MMfuPjiiznxxBN59tlnKSsr44UXXvBnVBEREQkQ7eqclz179pCTk8Po0aPrlzkcDkaNGsXatWub3KayshKPx9PgR0RERDqudlVecnJyAEhOTm6wPDk5uX7dj82dOxen01n/k56e7vecIiIiYp8WP1V6zpw53H333Ucd8+mnn3L66acfdyjLshq8NsY0WnbYHXfcwc0331z/2u120717d83AiIiIBJDDf7eNMccc2+LyMmPGDCZOnHjUMT179mzp2wKQkpIC1M3ApKam1i/Pzc1tNBtzmMPhwOFw1L8+vPOagREREQk8JSUlOJ3Oo45pcXlxuVy4XK7jDnU0vXr1IiUlhdWrVzN06FCg7oqlNWvWcN999zXrPdLS0ti3bx/R0dFHnK1pax6Ph/T0dPbt20dMTIzdcQKKjt3x0XE7fjp2x0fH7fjouH3PGENJSQlpaWnHHNvi8tISe/fupbCwkL1791JbW8vmzZsB6Nu3L1FRUQAMHDiQuXPnMmHCBCzLYvbs2dxzzz3069ePfv36cc899xAREcGkSZOa9TuDgoLo1q2bv3bpJ4mJien0H87jpWN3fHTcjp+O3fHRcTs+Om51jjXjcphfy8uf/vQnnn322frXh2dTPvjgA8455xwAduzYgdvtrh9z6623Ul5ezg033EBRURHDhw/n3XffJTo62p9RRUREJEBYpjlnxshP4vF4cDqduN1uNesW0rE7Pjpux0/H7vjouB0fHbfj064ule6oHA4Hd911V4MTi6V5dOyOj47b8dOxOz46bsdHx+34aOZFREREAopmXkRERCSgqLyIiIhIQFF5ERERkYCi8iIiIiIBReWlFRQVFZGRkVH/cMiMjAyKi4uPOL66uprbbruNIUOGEBkZSVpaGlOmTOHAgQMNxlVWVnLjjTficrmIjIxk/PjxfPfdd37em7bV0mMHsHz5csaMGYPL5cKyrPqbH/7QOeecg2VZDX6O9ViLQOKv46bPXNOMMcyZM4e0tDTCw8M555xz2Lp1a4MxHe0zt2DBAnr16kWXLl047bTT+Oijj446fs2aNZx22ml06dKF3r17s3DhwkZjXnvtNU444QQcDgcnnHACK1as8Fd8W7X2sXvmmWcafbYsy6KiosKfu9G+GfnJxo4da0488USzdu1as3btWnPiiSeacePGHXF8cXGxOf/8882yZcvMl19+abKysszw4cPNaaed1mDc9OnTTdeuXc3q1avNxo0bzbnnnmtOPvlkU1NT4+9dajMtPXbGGLNkyRJz9913m0WLFhnAbNq0qdGYUaNGmWnTppns7Oz6n+LiYj/tRdvz13HTZ65p9957r4mOjjavvfaa+eKLL8zll19uUlNTjcfjqR/TkT5zL730kgkNDTWLFi0y27ZtM7NmzTKRkZHm22+/bXL87t27TUREhJk1a5bZtm2bWbRokQkNDTWvvvpq/Zi1a9ea4OBgc88995jt27ebe+65x4SEhJh169a11W61CX8cu6efftrExMQ0+GxlZ2e31S61SyovP9G2bdsM0OAfYFZWlgHMl19+2ez3+eSTTwxQ/wEvLi42oaGh5qWXXqofs3//fhMUFGQyMzNbbwds9FOP3Z49e45aXmbNmtWKadsPfx03feaaPnY+n8+kpKSYe++9t35ZRUWFcTqdZuHChfXLOtJnbtiwYWb69OkNlg0cONDcfvvtTY6/9dZbzcCBAxssu+6668yIESPqX1922WVm7NixDcaMGTPGTJw4sZVStw/+OHZPP/20cTqdrZ41kOlro58oKysLp9PJ8OHD65eNGDECp9PJ2rVrm/0+brcby7KIjY0F4LPPPqO6uprRo0fXj0lLS+PEE09s0fu2Z6117I5k6dKluFwuBg8ezO9//3tKSkp+8nu2B/46bvrMNb2Pe/bsIScnp8FxcTgcjBo1qtE2HeEzV1VVxWeffdZgfwFGjx59xGOUlZXVaPyYMWPYsGED1dXVRx3TUT5b4L9jB1BaWkqPHj3o1q0b48aNY9OmTa2/AwHEr8826gxycnJISkpqtDwpKYmcnJxmvUdFRQW33347kyZNqr89dE5ODmFhYcTFxTUYm5yc3Oz3be9a49gdyeTJk+ufUv6f//yHO+64g88//5zVq1f/pPdtD/x13PSZa3ofDy9PTk5usDw5OZlvv/22/nVH+czl5+dTW1vb5P4e7Rg1Nb6mpob8/HxSU1OPOKajfLbAf8du4MCBPPPMMwwZMgSPx8P8+fP52c9+xueff06/fv38tj/tmWZejmDOnDlNniD1w58NGzYAYFlWo+2NMU0u/7Hq6momTpyIz+djwYIFxxzf3Pe1U1sdu6OZNm0a559/PieeeCITJ07k1Vdf5b333mPjxo0/6X39qT0ct6boM0eT2/14m0D8zB3Nsfa3OeN/vLyl7xmoWvvYjRgxgiuvvJKTTz6Zs88+m5dffpn+/fvzyCOPtHLywKGZlyOYMWPGMa8U6NmzJ1u2bOHgwYON1uXl5TVq0z9WXV3NZZddxp49e3j//fcbPJQrJSWFqqoqioqKGvyfcG5uLmeeeWYL96ZttcWxa6lTTz2V0NBQdu3axamnntqq791a7D5u+sw1fexSUlKAuv9DTk1NrV+em5t71OMdCJ+5prhcLoKDgxvNFBxtf1NSUpocHxISQkJCwlHHtPa/dTv569j9WFBQEGeccQa7du1qneCByJ5TbTqOwycArl+/vn7ZunXrjnnyZFVVlbnooovM4MGDTW5ubqP1h0+eXLZsWf2yAwcOdMiTJ1t67A472gm7P/bFF18YwKxZs+anRG4X/HXc9Jk7+gm79913X/2yysrKRifs/lggf+aGDRtmrr/++gbLBg0adNSTTgcNGtRg2fTp0xudsPurX/2qwZixY8d2yBN2W/vY/ZjP5zOnn366mTp16k8PHKBUXlrB2LFjzUknnWSysrJMVlaWGTJkSKNLLwcMGGCWL19ujDGmurrajB8/3nTr1s1s3ry5waVvlZWV9dtMnz7ddOvWzbz33ntm48aN5rzzzuuQl6225NgZY0xBQYHZtGmTWbVqlQHMSy+9ZDZt2lR/6eBXX31l7r77bvPpp5+aPXv2mFWrVpmBAweaoUOHdphj54/jZow+c4f9+Njde++9xul0muXLl5svvvjCXHHFFQ0ule5on7nDl/suXrzYbNu2zcyePdtERkaab775xhhjzO23324yMjLqxx++3Pemm24y27ZtM4sXL250ue+///1vExwcbO69916zfft2c++993boS6Vb89jNmTPHZGZmmq+//tps2rTJTJ061YSEhDQo4Z2NyksrKCgoMJMnTzbR0dEmOjraTJ482RQVFTUYA5inn37aGPP9//k29fPBBx/Ub1NeXm5mzJhh4uPjTXh4uBk3bpzZu3dv2+1YG2jpsTOm7rLBpo7dXXfdZYwxZu/evebnP/+5iY+PN2FhYaZPnz5m5syZpqCgoO12zM/8cdyM0WfusB8fO5/PZ+666y6TkpJiHA6H+fnPf26++OKL+vUd8TP32GOPmR49epiwsDBz6qmnNphBuuqqq8yoUaMajP/www/N0KFDTVhYmOnZs6d5/PHHG73nK6+8YgYMGGBCQ0PNwIEDzWuvvebv3bBFax+72bNnm+7du5uwsDCTmJhoRo8ebdauXdsWu9JuWcYcOjNIREREJADoaiMREREJKCovIiIiElBUXkRERCSgqLyIiIhIQFF5ERERkYCi8iIiIiIBReVFREREAorKi4iIiAQUlRcREREJKCovIiIiElBUXkRERCSgqLyIiIhIQPn/0hRQza0YZ6oAAAAASUVORK5CYII=", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "\n", + "# Load data\n", + "sorted_kp_names = [f\"cl{i}\" for i in range(1, 26)]\n", + "microns_per_pixel = 1.44\n", + "\n", + "kp_data_raw = np.load(\"./celegans_mocap.npz\")[\"all_frames\"]\n", + "\n", + "kp_data_microns = kp_data_raw * microns_per_pixel\n", + "kp_data_meters = kp_data_microns * 1e-6\n", + "kp_data_rescaled = kp_data_microns * 1e-3\n", + "kp_data_units = kp_data_rescaled\n", + "kp_data_recentered = kp_data_units - kp_data_units[0,0,:]\n", + "\n", + "z = np.zeros((kp_data_recentered.shape[0], kp_data_recentered.shape[1], 1)) #np.abs(np.random.normal(0, 1e-2, (kp_data_recentered.shape[0], kp_data_recentered.shape[1], 1))) \n", + "kp_data_3d = np.concatenate([kp_data_recentered, z], axis=-1)\n", + "\n", + "kp_data = kp_data_3d.reshape(kp_data_3d.shape[0], kp_data_3d.shape[1]*kp_data_3d.shape[2])\n", + "\n", + "plt.plot(kp_data[0,::3], kp_data[0,1::3]) \n", + "for i in range(10):\n", + " plt.plot(kp_data[0,::3], kp_data[0,1::3])\n", + "kp_data[0,0::3], kp_data.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Running fit. Mocap data shape: (500, 75)\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid1\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid2\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid3\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid4\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid5\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid6\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid7\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid8\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid9\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid10\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid11\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid12\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid13\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid14\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid15\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid16\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid17\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid18\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid19\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid20\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid21\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid22\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid23\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid24\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n", + "/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/mujoco/mjx/_src/mesh.py:141: UserWarning: Mesh \"ellipsoid25\" has a coplanar face with more than 20 vertices. This may lead to performance issues and inaccuracies in collision detection. Consider decimating the mesh.\n", + " warnings.warn(\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "ROOT_OPTIMIZATION_KEYPOINT not specified, skipping Root Optimization.\n", + "Calibration iteration: 1/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 163.56149792671204\n", + "Frame 1 done in 88.83541345596313 with a final error of 0.0\n", + "Frame 2 done in 0.14677858352661133 with a final error of 0.0\n", + "Frame 3 done in 0.14684677124023438 with a final error of 0.0\n", + "Frame 4 done in 0.1493825912475586 with a final error of 0.0\n", + "Frame 5 done in 0.1463792324066162 with a final error of 0.0\n", + "Frame 6 done in 0.14745640754699707 with a final error of 0.0\n", + "Frame 7 done in 0.14908719062805176 with a final error of 0.0\n", + "Frame 8 done in 0.14605140686035156 with a final error of 0.0\n", + "Frame 9 done in 0.14776039123535156 with a final error of 0.0\n", + "Frame 10 done in 0.14900922775268555 with a final error of 0.0\n", + "Frame 11 done in 0.14759492874145508 with a final error of 0.0\n", + "Frame 12 done in 0.14441418647766113 with a final error of 0.0\n", + "Frame 13 done in 0.14648842811584473 with a final error of 0.0\n", + "Frame 14 done in 0.14954400062561035 with a final error of 0.0\n", + "Frame 15 done in 0.14641165733337402 with a final error of 0.0\n", + "Frame 16 done in 0.14637398719787598 with a final error of 0.0\n", + "Frame 17 done in 0.1473073959350586 with a final error of 0.0\n", + "Frame 18 done in 0.146561861038208 with a final error of 0.0\n", + "Frame 19 done in 0.14462757110595703 with a final error of 0.0\n", + "Frame 20 done in 0.14754557609558105 with a final error of 0.0\n", + "Frame 21 done in 0.1470346450805664 with a final error of 0.0\n", + "Frame 22 done in 0.1464080810546875 with a final error of 0.0\n", + "Frame 23 done in 0.14474177360534668 with a final error of 0.0\n", + "Frame 24 done in 0.14753961563110352 with a final error of 0.0\n", + "Frame 25 done in 0.1444838047027588 with a final error of 0.0\n", + "Frame 26 done in 0.14765453338623047 with a final error of 0.0\n", + "Frame 27 done in 0.14551329612731934 with a final error of 0.0\n", + "Frame 28 done in 0.1464214324951172 with a final error of 0.0\n", + "Frame 29 done in 0.14680242538452148 with a final error of 0.0\n", + "Frame 30 done in 0.1479794979095459 with a final error of 0.0\n", + "Frame 31 done in 0.14781475067138672 with a final error of 0.0\n", + "Frame 32 done in 0.147369384765625 with a final error of 0.0\n", + "Frame 33 done in 0.14675426483154297 with a final error of 0.0\n", + "Frame 34 done in 0.1467447280883789 with a final error of 0.0\n", + "Frame 35 done in 0.14773154258728027 with a final error of 0.0\n", + "Frame 36 done in 0.14533281326293945 with a final error of 0.0\n", + "Frame 37 done in 0.14678692817687988 with a final error of 0.0\n", + "Frame 38 done in 0.14454436302185059 with a final error of 0.0\n", + "Frame 39 done in 0.1466386318206787 with a final error of 0.0\n", + "Frame 40 done in 0.14616799354553223 with a final error of 0.0\n", + "Frame 41 done in 0.14792871475219727 with a final error of 0.0\n", + "Frame 42 done in 0.14677715301513672 with a final error of 0.0\n", + "Frame 43 done in 0.14570021629333496 with a final error of 0.0\n", + "Frame 44 done in 0.14669370651245117 with a final error of 0.0\n", + "Frame 45 done in 0.14798998832702637 with a final error of 0.0\n", + "Frame 46 done in 0.14732646942138672 with a final error of 0.0\n", + "Frame 47 done in 0.14826607704162598 with a final error of 0.0\n", + "Frame 48 done in 0.14884114265441895 with a final error of 0.0\n", + "Frame 49 done in 0.14581060409545898 with a final error of 0.0\n", + "Frame 50 done in 0.14766764640808105 with a final error of 0.0\n", + "Frame 51 done in 0.14808201789855957 with a final error of 0.0\n", + "Frame 52 done in 0.14800381660461426 with a final error of 0.0\n", + "Frame 53 done in 0.14624953269958496 with a final error of 0.0\n", + "Frame 54 done in 0.14684391021728516 with a final error of 0.0\n", + "Frame 55 done in 0.14504623413085938 with a final error of 0.0\n", + "Frame 56 done in 0.1483299732208252 with a final error of 0.0\n", + "Frame 57 done in 0.1459033489227295 with a final error of 0.0\n", + "Frame 58 done in 0.14783000946044922 with a final error of 0.0\n", + "Frame 59 done in 0.14676809310913086 with a final error of 0.0\n", + "Frame 60 done in 0.14757752418518066 with a final error of 0.0\n", + "Frame 61 done in 0.147141695022583 with a final error of 0.0\n", + "Frame 62 done in 0.1474144458770752 with a final error of 0.0\n", + "Frame 63 done in 0.14697718620300293 with a final error of 0.0\n", + "Frame 64 done in 0.14642667770385742 with a final error of 0.0\n", + "Frame 65 done in 0.148085355758667 with a final error of 0.0\n", + "Frame 66 done in 0.14617514610290527 with a final error of 0.0\n", + "Frame 67 done in 0.14889764785766602 with a final error of 0.0\n", + "Frame 68 done in 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a final error of 0.0\n", + "Frame 83 done in 0.14828824996948242 with a final error of 0.0\n", + "Frame 84 done in 0.1493377685546875 with a final error of 0.0\n", + "Frame 85 done in 0.14809942245483398 with a final error of 0.0\n", + "Frame 86 done in 0.1484546661376953 with a final error of 0.0\n", + "Frame 87 done in 0.1473996639251709 with a final error of 0.0\n", + "Frame 88 done in 0.14892816543579102 with a final error of 0.0\n", + "Frame 89 done in 0.146240234375 with a final error of 0.0\n", + "Frame 90 done in 0.14822936058044434 with a final error of 0.0\n", + "Frame 91 done in 0.14678049087524414 with a final error of 0.0\n", + "Frame 92 done in 0.14838004112243652 with a final error of 0.0\n", + "Frame 93 done in 0.14660859107971191 with a final error of 0.0\n", + "Frame 94 done in 0.147629976272583 with a final error of 0.0\n", + "Frame 95 done in 0.14690160751342773 with a final error of 0.0\n", + "Frame 96 done in 0.14675211906433105 with a final error of 0.0\n", + "Frame 97 done in 0.14783096313476562 with a final error of 0.0\n", + "Frame 98 done in 0.14773082733154297 with a final error of 0.0\n", + "Frame 99 done in 0.1479201316833496 with a final error of 0.0\n", + "Frame 100 done in 0.14708638191223145 with a final error of 0.0\n", + "Frame 101 done in 0.1475694179534912 with a final error of 0.0\n", + "Frame 102 done in 0.14873147010803223 with a final error of 0.0\n", + "Frame 103 done in 0.1465303897857666 with a final error of 0.0\n", + "Frame 104 done in 0.1466684341430664 with a final error of 0.0\n", + "Frame 105 done in 0.14856958389282227 with a final error of 0.0\n", + "Frame 106 done in 0.14766502380371094 with a final error of 0.0\n", + "Frame 107 done in 0.14835762977600098 with a final error of 0.0\n", + "Frame 108 done in 0.14707589149475098 with a final error of 0.0\n", + "Frame 109 done in 0.147263765335083 with a final error of 0.0\n", + "Frame 110 done in 0.14446234703063965 with a final error of 0.0\n", + "Frame 111 done 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"offset optimization finished in 19.663307428359985\n", + "Calibration iteration: 2/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 69.57246708869934\n", + "Frame 1 done in 0.14649748802185059 with a final error of 0.0\n", + "Frame 2 done in 0.14109420776367188 with a final error of 0.0\n", + "Frame 3 done in 0.13730359077453613 with a final error of 0.0\n", + "Frame 4 done in 0.13565850257873535 with a final error of 0.0\n", + "Frame 5 done in 0.1353161334991455 with a final error of 0.0\n", + "Frame 6 done in 0.13428568840026855 with a final error of 0.0\n", + "Frame 7 done in 0.13529157638549805 with a final error of 0.0\n", + "Frame 8 done in 0.1367959976196289 with a final error of 0.0\n", + "Frame 9 done in 0.13751864433288574 with a final error of 0.0\n", + "Frame 10 done in 0.13686895370483398 with a final error of 0.0\n", + "Frame 11 done in 0.13881707191467285 with a final error of 0.0\n", + "Frame 12 done in 0.13728117942810059 with a final error of 0.0\n", + 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69.10396718978882\n", + "Frame 1 done in 0.1454296112060547 with a final error of 0.0\n", + "Frame 2 done in 0.14240550994873047 with a final error of 0.0\n", + "Frame 3 done in 0.14249777793884277 with a final error of 0.0\n", + "Frame 4 done in 0.13918161392211914 with a final error of 0.0\n", + "Frame 5 done in 0.14322161674499512 with a final error of 0.0\n", + "Frame 6 done in 0.1407337188720703 with a final error of 0.0\n", + "Frame 7 done in 0.14138364791870117 with a final error of 0.0\n", + "Frame 8 done in 0.1399693489074707 with a final error of 0.0\n", + "Frame 9 done in 0.14322447776794434 with a final error of 0.0\n", + "Frame 10 done in 0.14266347885131836 with a final error of 0.0\n", + "Frame 11 done in 0.14214611053466797 with a final error of 0.0\n", + "Frame 12 done in 0.14263582229614258 with a final error of 0.0\n", + "Frame 13 done in 0.14873886108398438 with a final error of 0.0\n", + "Frame 14 done in 0.14914679527282715 with a final error of 0.0\n", + "Frame 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0.1382908821105957 with a final error of 0.0\n", + "Mean: 0.0\n", + "Standard deviation: 0.0\n", + "starting offset optimization\n", + "Begining offset optimization:\n", + "Final error of 0.0009574428549967706\n", + "offset optimization finished in 4.567426919937134\n", + "Final pose optimization\n", + "Pose Optimization:\n", + "Pose Optimization done in 69.68974685668945\n", + "Frame 1 done in 0.1454622745513916 with a final error of 0.0\n", + "Frame 2 done in 0.14265966415405273 with a final error of 0.0\n", + "Frame 3 done in 0.14233016967773438 with a final error of 0.0\n", + "Frame 4 done in 0.1417233943939209 with a final error of 0.0\n", + "Frame 5 done in 0.14373779296875 with a final error of 0.0\n", + "Frame 6 done in 0.14036107063293457 with a final error of 0.0\n", + "Frame 7 done in 0.14073395729064941 with a final error of 0.0\n", + "Frame 8 done in 0.14037752151489258 with a final error of 0.0\n", + "Frame 9 done in 0.14147067070007324 with a final error of 0.0\n", + 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/home/aaprasad/projects/con3trol/src/stac-mjx/celegans_fit_offsets.h5\n", + "Skipping IK-only phase. To change this behavior, set cfg.stac.skip_ik_only to 0.\n" + ] + } + ], + "source": [ + "\n", + "# Run stac\n", + "fit_path, ik_only_path = stac_mjx.run_stac(\n", + " cfg,\n", + " kp_data, \n", + " sorted_kp_names, \n", + " base_path=base_path,\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "0it [00:00, ?it/s]/home/aaprasad/miniforge3/envs/stac-mjx/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.\n", + " self.pid = _fork_exec(\n", + "500it [00:05, 96.34it/s] \n" + ] + }, + { + "data": { + "text/html": [ + "
" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "data_path = base_path / \"celegans_fit_offsets.h5\"\n", + "\n", + "\n", + "save_path = base_path / f\"registration_celegans.mp4\"\n", + "cfg, frames = stac_mjx.viz_stac(data_path,\n", + " cfg.stac.n_fit_frames,\n", + " save_path, \n", + " start_frame=0, \n", + " camera=\"track\", \n", + " base_path=Path.cwd().parent,\n", + " show_marker_error=True)\n", + "media.show_video(frames, fps=cfg.model.RENDER_FPS)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "stac-mjx", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.13" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/models/celegans/celegans.xml b/models/celegans/celegans.xml new file mode 100644 index 0000000..06d31bc --- /dev/null +++ b/models/celegans/celegans.xml @@ -0,0 +1,1246 @@ + + + + + + + + \ No newline at end of file diff --git a/models/celegans/celegans_muscle_range.xml b/models/celegans/celegans_muscle_range.xml new file mode 100644 index 0000000..c25c18d --- /dev/null +++ b/models/celegans/celegans_muscle_range.xml @@ -0,0 +1,145 @@ + + + + \ No newline at end of file diff --git a/models/celegans/celegans_v0.xml b/models/celegans/celegans_v0.xml new file mode 100644 index 0000000..5380fbc --- /dev/null +++ b/models/celegans/celegans_v0.xml @@ -0,0 +1,1211 @@ + + + diff --git a/models/celegans/celegans_v1.xml b/models/celegans/celegans_v1.xml new file mode 100644 index 0000000..88d1a47 --- /dev/null +++ b/models/celegans/celegans_v1.xml @@ -0,0 +1,1248 @@ + + + + + + + diff --git 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