Liecasadi - liecasadi implements Lie groups operation written in CasADi

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Deep Learningliecasadi
Overview

liecasadi

liecasadi implements Lie groups operation written in CasADi, mainly directed to optimization problem formulation.

Inspired by A micro Lie theory for state estimation in robotics and the library Manif.

Install

pip install "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"

Implemented Groups

Group Description
SO3 3D Rotations
SE3 3D Rigid Transform

Example

from liecasadi import SE3, SO3, SE3Tangent, SO3Tangent

# Random quaternion + normalization
quat = (np.random.rand(4) - 0.5) * 5
quat = quat / np.linalg.norm(quat)
# Random vector
vector3d = (np.random.rand(3) - 0.5) * 2 * np.pi

# Create SO3 object
rotation = SO3(quat)

# Create Identity
identity = SO3.Identity()

# Create SO3Tangent object
tangent = SO3Tangent(vector3d)

# Random translation vector
pos = (np.random.rand(3) - 0.5) * 5

# Create SE3 object
transform = SE3(pos=pos, xyzw=quat)

# Random vector
vector6d = (np.random.rand(3) - 0.5) * 5

# Create SE3Tangent object
tangent = SO3Tangent(vector6d)
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Comments
  • Problems running the example

    Problems running the example

    I tried installing the library as documented in the README and running the example.

    By installing the example as documented in the README:

    (castest) [email protected]:~$ pip install "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"
Collecting liecasadi@ git+https://github.com/ami-iit/lie-casadi.git
  Cloning https://github.com/ami-iit/lie-casadi.git to /tmp/pip-install-jld36pa2/liecasadi_02974e872e9a41da95da2ba742a2bb6a
  Running command git clone --filter=blob:none --quiet https://github.com/ami-iit/lie-casadi.git /tmp/pip-install-jld36pa2/liecasadi_02974e872e9a41da95da2ba742a2bb6a
  Resolved https://github.com/ami-iit/lie-casadi.git to commit 4f538f354781243e600ce771c9236a43df83745d
  Installing build dependencies ... done
  Getting requirements to build wheel ... done
  Preparing metadata (pyproject.toml) ... done
Collecting numpy>=1.20
  Using cached numpy-1.22.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (16.8 MB)
Collecting casadi
  Using cached casadi-3.5.5-cp38-none-manylinux1_x86_64.whl (34.2 MB)
Building wheels for collected packages: liecasadi
  Building wheel for liecasadi (pyproject.toml) ... done
  Created wheel for liecasadi: filename=liecasadi-0.1.dev39-py3-none-any.whl size=7882 sha256=078ab323d4479d39e5aa0a577a6150df54d9224d416b94c89d26adc5db0616be
  Stored in directory: /tmp/pip-ephem-wheel-cache-v0j9nv_a/wheels/7a/26/6a/62ad9ab4f348e178408f7d79d44555ed51514496949fcdb644
Successfully built liecasadi
Installing collected packages: casadi, numpy, liecasadi
Successfully installed casadi-3.5.5 liecasadi-0.1.dev39 numpy-1.22.1

    You can see that casadi got installed via pip.

    Then, I tried to run the example and the example fails with:

    (castest) [email protected]:~/liecasadi/examples$ python manifold_optimization.py
Traceback (most recent call last):
  File "manifold_optimization.py", line 4, in <module>
    import matplotlib.pyplot as plt
ModuleNotFoundError: No module named 'matplotlib'

    This is due to matplotlib missing, and it make sense that this is not part of the dependencies of the library. If I then install matplot lib, then the example fails with:

    (castest) [email protected]:~/liecasadi/examples$ python manifold_optimization.py
Traceback (most recent call last):
  File "manifold_optimization.py", line 9, in <module>
    from liecasadi import SO3, SO3Tangent
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/liecasadi/__init__.py", line 3, in <module>
    from .so3 import SO3, SO3Tangent
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/liecasadi/so3.py", line 9, in <module>
    from attr import field
ModuleNotFoundError: No module named 'attr'

    This is a bit more tricky, as it requires to install the attrs package (note the final s, as the attr package will not work).

    After installing also attr, I get this error:

    (castest) [email protected]:~/liecasadi/examples$ python manifold_optimization.py
Traceback (most recent call last):
  File "manifold_optimization.py", line 21, in <module>
    opti.subject_to(quat[k + 1] == (vector_SO3 + rotation_SO3).as_quat())
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/casadi/casadi.py", line 28146, in subject_to
    ret = self._subject_to(*args)
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/casadi/casadi.py", line 27470, in _subject_to
    return _casadi.Opti__subject_to(self, *args)
RuntimeError: Error in Opti::subject_to [OptiNode] at .../casadi/core/optistack.cpp:96:
.../casadi/core/optistack_internal.cpp:905: Assertion "!g.is_constant()" failed:
You passed a constant to `subject_to`. You need a symbol to form a constraint.

    Furthermore, even if I did not reached this point, I noticed that the example refers ma27 (https://github.com/ami-iit/liecasadi/blob/c79d29e87d6d654e78d258a10bac9b2bbae35773/examples/manifold_optimization.py#L47), but by following the instruction of the repo casadi gets installed by pip, and I do not think that that version of casadi has hsl support enabled.

    Environments in which I run the tests:

    (castest) [email protected]:~/liecasadi/examples$ mamba list
# packages in environment at /home/traversaro/mambaforge/envs/castest:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       1_gnu    conda-forge
attrs                     21.4.0                   pypi_0    pypi
ca-certificates           2021.10.8            ha878542_0    conda-forge
casadi                    3.5.5                    pypi_0    pypi
cycler                    0.11.0                   pypi_0    pypi
fonttools                 4.29.1                   pypi_0    pypi
kiwisolver                1.3.2                    pypi_0    pypi
ld_impl_linux-64          2.36.1               hea4e1c9_2    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libgcc-ng                 11.2.0              h1d223b6_12    conda-forge
libgomp                   11.2.0              h1d223b6_12    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libstdcxx-ng              11.2.0              he4da1e4_12    conda-forge
libzlib                   1.2.11            h36c2ea0_1013    conda-forge
liecasadi                 0.1.dev39                pypi_0    pypi
matplotlib                3.5.1                    pypi_0    pypi
ncurses                   6.3                  h9c3ff4c_0    conda-forge
numpy                     1.22.1                   pypi_0    pypi
openssl                   3.0.0                h7f98852_2    conda-forge
packaging                 21.3                     pypi_0    pypi
pillow                    9.0.0                    pypi_0    pypi
pip                       22.0.2             pyhd8ed1ab_0    conda-forge
pyparsing                 3.0.7                    pypi_0    pypi
python                    3.8.12          h0744224_3_cpython    conda-forge
python-dateutil           2.8.2                    pypi_0    pypi
python_abi                3.8                      2_cp38    conda-forge
readline                  8.1                  h46c0cb4_0    conda-forge
setuptools                60.6.0           py38h578d9bd_0    conda-forge
six                       1.16.0                   pypi_0    pypi
sqlite                    3.37.0               h9cd32fc_0    conda-forge
tk                        8.6.11               h27826a3_1    conda-forge
wheel                     0.37.1             pyhd8ed1ab_0    conda-forge
xz                        5.2.5                h516909a_1    conda-forge
zlib                      1.2.11            h36c2ea0_1013    conda-forge
(castest) [email protected]:~/liecasadi/examples$ pip list --verbose
Package         Version   Location                                                             Installer
--------------- --------- -------------------------------------------------------------------- ---------
attrs           21.4.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
casadi          3.5.5     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
cycler          0.11.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
fonttools       4.29.1    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
kiwisolver      1.3.2     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
liecasadi       0.1.dev39 /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
matplotlib      3.5.1     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
numpy           1.22.1    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
packaging       21.3      /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
Pillow          9.0.0     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
pip             22.0.2    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages
pyparsing       3.0.7     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
python-dateutil 2.8.2     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
setuptools      60.6.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages
six             1.16.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
wheel           0.37.1    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages
    opened by traversaro 6
  • Fix manifpy test dependency

    Fix manifpy test dependency

    In order to check the correctness of the computations, I wrote some tests against Manif.

    It seems manifpy cannot be installed via PyPI. However, they provide installation instruction in https://github.com/artivis/manif/blob/devel/docs/pages/python/Quick-start.md.

    Although I can install the library using conda on my system, I'm not able to move the same logic in a workflow. manifpy seems to be installed but it is not found:

    ModuleNotFoundError: No module named 'manifpy'

    Am I doing something wrong?

    @traversaro @GiulioRomualdi do you have any suggestions?

    opened by Giulero 4
  • Remove `R_from_rpy(rpy)` method

    Remove `R_from_rpy(rpy)` method

    The method was badly implemented. Moreover, it's not really useful (it should be ok to call SO3.from_euler(rpy).as_matrix().

    • changed from_angle to from_euler
    • implemented to_euler
    opened by Giulero 1
Releases(v0.0.4)

  • v0.0.4(Nov 21, 2022)

    What's Changed

    • Remove R_from_rpy(rpy) method and add from/to Euler methods by @Giulero in https://github.com/ami-iit/liecasadi/pull/6

    Full Changelog: https://github.com/ami-iit/liecasadi/compare/v0.0.3...v0.0.4

    Source code(tar.gz)
    Source code(zip)

  • v0.0.3(Oct 12, 2022)

    What's Changed

    • Add quaternion derivative by @Giulero in https://github.com/ami-iit/liecasadi/pull/4
    • Add dual quaternion class by @Giulero in https://github.com/ami-iit/liecasadi/pull/5

    Full Changelog: https://github.com/ami-iit/liecasadi/compare/v0.0.2...v0.0.3

    Source code(tar.gz)
    Source code(zip)

  • v0.0.2(May 18, 2022)

    What's Changed

    • Deploy library on PyPi by @Giulero in https://github.com/ami-iit/liecasadi/pull/3

    Full Changelog: https://github.com/ami-iit/liecasadi/compare/v0.0.1...v0.0.2

    Source code(tar.gz)
    Source code(zip)

  • v0.0.1(Feb 16, 2022)

Owner
Artificial and Mechanical Intelligence
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