imt-ring 1.2.1__py3-none-any.whl → 1.2.2__py3-none-any.whl

{imt_ring-1.2.1.dist-info → imt_ring-1.2.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.2.1
+Version: 1.2.2
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.2.1.dist-info → imt_ring-1.2.2.dist-info}/RECORD

@@ -12,14 +12,14 @@ ring/algorithms/sensors.py,sha256=Y3Wo9qj3BWKoIHB0V04QwyD-Z5m4BrAjfBX8Pn6y9Lg,18
 ring/algorithms/custom_joints/__init__.py,sha256=33WBnaBJMtq3vVcpMm7zmyeMrLY9PyV_8-wk5oSF65g,227
 ring/algorithms/custom_joints/rr_imp_joint.py,sha256=a3JT0w7pB94kZ95eBR8ZO853eSeyjFoiXmhYlaXoHDE,2392
 ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXpoh43MioRaDmY,1000
-ring/algorithms/custom_joints/suntay.py,sha256=dhkuXGhQ-NLVrd5rRXotrJhNfUYd-C8T02GkIB7w5hA,13139
+ring/algorithms/custom_joints/suntay.py,sha256=d0Z54tIXiepMixE40W5H8JKxrT5U6VskPm2L2kKnQPw,13680
 ring/algorithms/generator/__init__.py,sha256=p4ucl0zQtp5NwNoXIRjmTzGGRu2WOAWFfNmYRPwQles,912
 ring/algorithms/generator/base.py,sha256=QDmzMAgtaK5M9WDl39qjXYfBa99d83vCPWEkYYmsplk,14952
 ring/algorithms/generator/batch.py,sha256=MZurZmQDH1vncoNbCspVNGNlfP0R87J6_HC7MMIqQ6A,8478
-ring/algorithms/generator/motion_artifacts.py,sha256=-VUcTMd1UW2oTKM8pnPvPjr988T6SXMyMU3JdKfnHpk,7995
+ring/algorithms/generator/motion_artifacts.py,sha256=aKdkZU5OF4_aKyL4Yo-ftZRwrDCve1LuuREGAUlTqtI,8551
 ring/algorithms/generator/pd_control.py,sha256=3pOaYig26vmp8gippDfy2KNJRZO3kr0rGd_PBIuEROM,5759
 ring/algorithms/generator/randomize.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3699
-ring/algorithms/generator/transforms.py,sha256=3oQtqRFcnJBtuf1_ihsYej3uwNKBlRucaJDxcdEisTs,12748
+ring/algorithms/generator/transforms.py,sha256=nvNDvM20tEw9Zd0ra0TxA25uf01L40Y2UKvtQmOrlGo,12782
 ring/algorithms/generator/types.py,sha256=CAhvDK5qiHnrGtkCVccB07doiz_D6lHJ35B7sW0pyZA,1110
 ring/io/__init__.py,sha256=1gEJdyDCbldbbm8QeZbLmhzSKmaQ-UqTmQgu4DBH2Z4,328
 ring/io/examples.py,sha256=KLf2iCagvRfjs9MCnQsLUlfGBjrQKrD-Qv8U0TtX6Ek,1114
@@ -52,7 +52,7 @@ ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,94
 ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
 ring/ml/__init__.py,sha256=669ueX_IMTmhAE-4xCjjp90mTlj28u8voq5_5KE0ZY0,944
 ring/ml/base.py,sha256=5TpJtdfmlAv2j_f8yDW1U_wY4jZ2lA74pNR524JQTts,8905
-ring/ml/callbacks.py,sha256=qdMp572UTfwf4pUEfziur1kZ5yWBEAblaxDOjpEMfnE,13108
+ring/ml/callbacks.py,sha256=yrh9YWdEATEJq3fi9lQR0OU3hFENPpPO2UD4cyTRlIk,13109
 ring/ml/ml_utils.py,sha256=hQEmeZoahdJyFrz0NZXYi1Yijl7GvPBdqwzZBzlUIUM,7638
 ring/ml/optimizer.py,sha256=OP70P70YcX-2Z-cuoMluFk-L5Vhh_MmqiHdM9OZqyhI,4703
 ring/ml/ringnet.py,sha256=OWRDu2COmptzbpJWlRLbPIn_ioKZCAd_iu-eiY_aPjk,8521
@@ -77,7 +77,7 @@ ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
 ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
 ring/utils/path.py,sha256=hAfSlqRi-ew536RnjDDM7IKapdMJc-EvhrR0Y-BCFWc,1265
 ring/utils/utils.py,sha256=AzOzR95oOyfdtJhjt5iIb35u611NlTb1Ds4QDKrGMOM,4967
-imt_ring-1.2.1.dist-info/METADATA,sha256=ql3agJfHytG7YejDfuifrhleUAwEUQnSuWTz3FJf13U,3104
-imt_ring-1.2.1.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.2.1.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.2.1.dist-info/RECORD,,
+imt_ring-1.2.2.dist-info/METADATA,sha256=rGaRlA9bTJH-N8QLbO4tokVge6UMnx-2Pddy5QwMvXA,3104
+imt_ring-1.2.2.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+imt_ring-1.2.2.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.2.2.dist-info/RECORD,,

ring/algorithms/custom_joints/suntay.py

@@ -8,6 +8,7 @@ from tree_utils import PyTree
 
 import ring
 from ring import maths
+from ring.algorithms import jcalc
 from ring.algorithms._random import random_angle_over_time
 
 Params = PyTree
@@ -258,6 +259,9 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
             mconfig.cdf_bins_max,
             mconfig.interpolation_method,
         )
+        return _apply_rom(qs_flexion)
+
+    def _apply_rom(qs_flexion):
         return restrict(
             qs_flexion,
             sconfig.flexion_rot_min,
@@ -267,16 +271,26 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
             method=sconfig.flexion_rot_restrict_method,
         )
 
+    def coordinate_vector_to_q_suntay(q_flexion):
+        q_flexion = ring.maths.wrap_to_pi(q_flexion)
+        return _apply_rom(q_flexion)
+
     joint_model = ring.JointModel(
         transform=_transform_suntay,
+        motion=[jcalc.mrx],
         rcmg_draw_fn=_draw_flexion_angle,
+        p_control_term=jcalc._p_control_term_rxyz,
+        qd_from_q=jcalc._qd_from_q_cartesian,
+        coordinate_vector_to_q=coordinate_vector_to_q_suntay,
+        inv_kin=None,
         init_joint_params=_init_joint_params_suntay,
         utilities=dict(
             Q_S_H_alpha_beta_gamma=_utils_Q_S_H_alpha_beta_gamma,
             find_suntay_joint=_utils_find_suntay_joint,
+            sconfig=sconfig,
         ),
     )
-    ring.register_new_joint_type(name, joint_model, 1, qd_width=0, overwrite=True)
+    ring.register_new_joint_type(name, joint_model, 1, overwrite=True)
 
 
 def MLP_DrawnFnPair(
@@ -291,6 +305,8 @@ def MLP_DrawnFnPair(
 
         if flexion_center is None:
             flexion_center = (flexion_mn + flexion_mx) / 2
+        else:
+            flexion_center = jnp.array(flexion_center)
 
         @hk.without_apply_rng
         @hk.transform

ring/algorithms/generator/motion_artifacts.py

@@ -2,9 +2,10 @@ import warnings
 
 import jax
 import jax.numpy as jnp
+import tree_utils
+
 from ring import base
 from ring import io
-import tree_utils
 
 
 def imu_reference_link_name(imu_link_name: str) -> str:
@@ -15,11 +16,21 @@ def unactuated_subsystem(sys) -> list[str]:
     return [imu_reference_link_name(name) for name in sys.findall_imus()]
 
 
-def _subsystem_factory(imu_name: str, pos_min_max: float) -> base.System:
+def _subsystem_factory(
+    imu_name: str,
+    pos_min_max: float,
+    translational_stif: float,
+    translational_damp: float,
+) -> base.System:
     assert pos_min_max >= 0
     pos = f'pos_min="-{pos_min_max} -{pos_min_max} -{pos_min_max}" pos_max="{pos_min_max} {pos_min_max} {pos_min_max}"'  # noqa: E501
-    stiff = 'spring_stiff="50 50 50"'
-    damping = 'damping="5 5 5"'
+    stiff = (
+        f'spring_stiff="{translational_stif} {translational_stif} {translational_stif}"'
+    )
+    translational_damp = translational_stif * translational_damp
+    damping = (
+        f'damping="{translational_damp} {translational_damp} {translational_damp}"'
+    )
     return io.load_sys_from_str(
         f"""
         <x_xy>
@@ -34,12 +45,16 @@ def _subsystem_factory(imu_name: str, pos_min_max: float) -> base.System:
 def inject_subsystems(
     sys: base.System,
     pos_min_max: float = 0.0,
+    rotational_stif: float = 0.3,
+    rotational_damp: float = 0.1,
+    translational_stif: float = 50.0,
+    translational_damp: float = 0.1,
     **kwargs,
 ) -> base.System:
     imu_idx_to_name_map = {sys.name_to_idx(imu): imu for imu in sys.findall_imus()}
 
-    default_spher_stif = jnp.ones((3,)) * 0.3
-    default_spher_damp = default_spher_stif * 0.1
+    default_spher_stif = jnp.ones((3,)) * rotational_stif
+    default_spher_damp = default_spher_stif * rotational_damp
     for imu in sys.findall_imus():
         sys = sys.unfreeze(imu, "spherical")
         # set default stiffness and damping of spherical joint
@@ -51,7 +66,12 @@ def inject_subsystems(
 
         _imu = imu_reference_link_name(imu)
         sys = sys.change_link_name(imu, _imu)
-        sys = sys.inject_system(_subsystem_factory(imu, pos_min_max), _imu)
+        sys = sys.inject_system(
+            _subsystem_factory(
+                imu, pos_min_max, translational_stif, translational_damp
+            ),
+            _imu,
+        )
 
     # attach geoms to newly injected link
     new_geoms = []

ring/algorithms/generator/transforms.py

@@ -277,6 +277,7 @@ _P_gains = {
     "p3d": jnp.array(3 * [P_pos]),
     "saddle": jnp.array([P_rot, P_rot]),
     "frozen": jnp.array([]),
+    "suntay": jnp.array([P_rot]),
 }
 
 

ring/ml/callbacks.py

@@ -245,7 +245,7 @@ class SaveParamsTrainingLoopCallback(training_loop.TrainingLoopCallback):
                     extension="pickle",
                 )
 
-            pickle_save(ele.params, filename, overwrite=True)
+            pickle_save(ele.params, filename, overwrite=False)
             if self.upload:
                 success = False
                 for logger in self._loggers: