Hi,

When running the following example:

from morpho_symm.utils.robot_utils import load_symmetric_system

robot, G = load_symmetric_system(robot_name='mini_cheetah')
_, v_js = robot.get_joint_space_state()

rep_TqQ_js = G.representations["TqQ_js"]
for g in G.elements:
  g_v_js = rep_TqQ_js(g) @ v_js

I get this error:

Issue

With the provided permutation and reflection matrice in cfg yaml file, I try to build the representations of Q_js and TqQ_js by using load_symmetric_system,
but it always causes an error from the builtin function group_rep_from_gens as follows:

TypeError Traceback (most recent call last)
Cell In[27], line 1
----> 1 G, value_in_type, policy_in_type, value_out_type, policy_out_type = load_cartpole_G()

Cell In[26], line 31, in load_cartpole_G()
28 rep_po[g_gen] = gen_permutation_matrix(oneline_notation=perm, reflections=refx)
30 # Generate the entire group
---> 31 rep_Q_js = group_rep_from_gens(G, rep_Q_js)
32 rep_po = group_rep_from_gens(G, rep_po)
33 rep_Q_js.name = 'Q_js'

File ~/autodl-tmp/MorphoSymm/morpho_symm/utils/group_utils.py:96, in group_rep_from_gens(G, rep_H)
93 raise NotImplementedError(f"Group {G} not implemented yet.")
95 # Convert Dict[GroupElement, np.ndarray] to escnn Representation
---> 96 rep_escnn = escnn_representation_form_mapping(G, rep_H)
98 return rep_escnn

File ~/autodl-tmp/MorphoSymm/morpho_symm/groups/isotypic_decomposition.py:278, in escnn_representation_form_mapping(G, representation)
276 rep(G.sample()).shape[0] # Size of the representation
277 # Find Q such that iso_cplx(g) = Q @ rep(g) @ Q^-1 is block diagonal with blocks being complex irreps.
--> 278 cplx_irreps, Q = cplx_isotypic_decomposition(G, rep)
279 # Get the size and location of each cplx irrep in iso_cplx(g)
280 cplx_irreps_size = [irrep(G.sample()).shape[0] for irrep in cplx_irreps]

File ~/autodl-tmp/MorphoSymm/morpho_symm/groups/isotypic_decomposition.py:181, in cplx_isotypic_decomposition(G, representation)
179 # Check if each subrepresentation can be further decomposed.
180 for subrep in subreps:
--> 181 n_sub = subrep(G.sample()).shape[0] # Dimension of sub representation
182 is_irred, _ = is_complex_irreducible(G, subrep)
183 if is_irred:

TypeError: 'dict' object is not callable

Environment

Ubuntu 20.04
Python 3.8.10
Latest morpho_symm version

https://github.com/Danfoa/MorphoSymm/blob/29e0c0fe5281f13304437da492a7ca53d6b98595/morpho_symm/utils/rep_theory_utils.py#L91C1-L93C1

Hi,

In the installation section there is the command:

python morpho_symm.robot_symmetry_visualization.py robot=<robot> gui=True

I guess it should be:

python morpho_symm/robot_symmetry_visualization.py robot=<robot> gui=True

When trying to launch the visualization example I get the following error:

It seems like some of the representations in the robot_cfg dictionary are None. Any idea why?

Hi,

When I try lo load the symmetries for the robot aliengo as follows:

robot, G = load_symmetric_system(robot_name='aliengo')

I get the following error (which does not happen only for mini_cheetah but it does for the others robots as well like atlas, solo and others):

I would like to request that the UniTree Go2 robot be added to this library.

The URDF, xacro files, and other supporting materials for the Go2 robot can be found here: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description