imt-ring 1.2.1__tar.gz → 1.2.2__tar.gz

{imt-ring-1.2.1 → imt_ring-1.2.2}/PKG-INFO

@@ -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 → imt_ring-1.2.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.2.1"
+version = "1.2.2"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt-ring-1.2.1 → imt_ring-1.2.2}/src/imt_ring.egg-info/PKG-INFO

@@ -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 → imt_ring-1.2.2}/src/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

{imt-ring-1.2.1 → imt_ring-1.2.2}/src/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 = []

{imt-ring-1.2.1 → imt_ring-1.2.2}/src/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]),
 }
 
 

{imt-ring-1.2.1 → imt_ring-1.2.2}/src/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:

{imt-ring-1.2.1 → imt_ring-1.2.2}/tests/test_kinematics.py

@@ -1,13 +1,15 @@
 import jax
 import jax.numpy as jnp
+import jaxopt
 import numpy as np
+import tree_utils as tu
+
 import ring
 from ring import base
 from ring import maths
 from ring.algorithms import jcalc
 from ring.algorithms import kinematics
 from ring.sim2real.sim2real import _checks_time_series_of_xs
-import tree_utils as tu
 
 
 def test_forward_kinematics_transforms():
@@ -80,9 +82,9 @@ def test_inv_kinematics_endeffector():
                 "endeffector",
                 endeffector_x,
                 q0=q0,
-                # jaxopt_solver=jaxopt.GradientDescent,
-                # maxiter=5000,
-                # maxls=5,
+                jaxopt_solver=jaxopt.GradientDescent,
+                maxiter=5000,
+                maxls=3,
             )
             return value