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bayes3d/genjax/model.py

@@ -7,6 +7,7 @@
 from genjax.incremental import Diff, NoChange, UnknownChange
 
 import bayes3d as b
+import bayes3d.scene_graph
 
 from .genjax_distributions import (
     contact_params_uniform,
@@ -127,14 +128,14 @@ def get_far_plane(trace):
 
 
 def add_object(trace, key, obj_id, parent, face_parent, face_child):
-    N = b.get_indices(trace).shape[0] + 1
+    N = get_indices(trace).shape[0] + 1
     choices = trace.get_choices()
     choices[f"parent_{N-1}"] = parent
     choices[f"id_{N-1}"] = obj_id
     choices[f"face_parent_{N-1}"] = face_parent
     choices[f"face_child_{N-1}"] = face_child
     choices[f"contact_params_{N-1}"] = jnp.zeros(3)
-    return model.importance(key, choices, (jnp.arange(N), *trace.get_args()[1:]))[1]
+    return model.importance(key, choices, (jnp.arange(N), *trace.get_args()[1:]))[0]
 
 
 add_object_jit = jax.jit(add_object)
@@ -151,7 +152,7 @@ def print_trace(trace):
 
 
 def viz_trace_meshcat(trace, colors=None):
-    b.clear()
+    b.clear_visualizer()
     b.show_cloud(
         "1", b.apply_transform_jit(trace["image"].reshape(-1, 3), trace["camera_pose"])
     )
@@ -223,14 +224,14 @@ def enumerator(trace, key, *args):
             key,
             chm_builder(addresses, args, chm_args),
             argdiff_f(trace),
-        )[2]
+        )[0]
 
     def enumerator_with_weight(trace, key, *args):
         return trace.update(
             key,
             chm_builder(addresses, args, chm_args),
             argdiff_f(trace),
-        )[1:3]
+        )[0:2]
 
     def enumerator_score(trace, key, *args):
         return enumerator(trace, key, *args).get_score()
@@ -301,4 +302,4 @@ def update_address(trace, key, address, value):
         key,
         genjax.choice_map({address: value}),
         tuple(map(lambda v: Diff(v, UnknownChange), trace.args)),
-    )[2]
+    )[0]

demo.py

@@ -7,6 +7,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import bayes3d as b
+from bayes3d import distributions
 
 # Can be helpful for debugging:
 # jax.config.update('jax_enable_checks', True)