imt-ring 1.3.1__py3-none-any.whl → 1.3.3__py3-none-any.whl

{imt_ring-1.3.1.dist-info → imt_ring-1.3.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.1
+Version: 1.3.3
 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-1.3.1.dist-info → imt_ring-1.3.3.dist-info}/RECORD

@@ -1,6 +1,6 @@
 ring/__init__.py,sha256=iNvbAZi7Qfa69IbL1z4lB7zHL8WusV5fBrKah2la-Gc,1566
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
-ring/base.py,sha256=gqdXejZ4E4liB5mZ6gPof3EDYTThlfro2MQs0bc5eOM,33530
+ring/base.py,sha256=ZAoe9B1HbAX9NYiKaisssTBn-1VBXoJTsWgFAvlQoZw,33705
 ring/maths.py,sha256=jJr_kr78-XDce8B4tXQ2Li-jBntVQhaS8csxglCsj8A,12193
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=t3YXcgqMJxadUjFiILVD0HlQRPLdrQyc8aKiB36w0vE,1701
@@ -9,10 +9,10 @@ ring/algorithms/dynamics.py,sha256=nqq5I0RYSbHNlGiLMlohz08IfL9Njsrid4upDnwkGbI,1
 ring/algorithms/jcalc.py,sha256=oqSiwz3Be1VfIpmJXEFTNM_9_o3tyuTtyZt2aqttyN4,28213
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 ring/algorithms/sensors.py,sha256=Y3Wo9qj3BWKoIHB0V04QwyD-Z5m4BrAjfBX8Pn6y9Lg,18005
-ring/algorithms/custom_joints/__init__.py,sha256=33WBnaBJMtq3vVcpMm7zmyeMrLY9PyV_8-wk5oSF65g,227
+ring/algorithms/custom_joints/__init__.py,sha256=fzeE7TdUhmGgbbFAyis1tKcyQ4Fo8LigDwD3hUVnH_w,316
 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=d0Z54tIXiepMixE40W5H8JKxrT5U6VskPm2L2kKnQPw,13680
+ring/algorithms/custom_joints/suntay.py,sha256=0Oym3KQssj3QDOldnz9PTy5jPg9ZLk85mMK2YX1qvB4,15600
 ring/algorithms/generator/__init__.py,sha256=p4ucl0zQtp5NwNoXIRjmTzGGRu2WOAWFfNmYRPwQles,912
 ring/algorithms/generator/base.py,sha256=zmrRK_I6BWoo4WbEcEVK7iFKdPfetc6txs7U8iu1xEk,14771
 ring/algorithms/generator/batch.py,sha256=BGzmwH1AItXjPRyHtsYnAfYnoogw8jxhng9oyVw72lw,9019
@@ -50,11 +50,11 @@ ring/io/xml/from_xml.py,sha256=8b44sPVWgoY8JGJZLpJ8M_eLfcfu3IsMtBzSytPTPmw,9234
 ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,1562
 ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
 ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
-ring/ml/__init__.py,sha256=4eK8P-pjAe_TcURaXaHKykZ3IfTbmxnQyOaI-EGQzg4,1795
+ring/ml/__init__.py,sha256=-bryExVoKJYSF_G_KYc5hI_GciIhj2xZ8WGi6TdRghw,1836
 ring/ml/base.py,sha256=PQ72VasEqlecBZgWP5HE5rWYyLiLq7nCVLymXo9f0dw,8959
 ring/ml/callbacks.py,sha256=DkSy5c7IRqAAks2dx8acEBExYxUv-xiUFwZn4odPYq4,13253
 ring/ml/ml_utils.py,sha256=hQEmeZoahdJyFrz0NZXYi1Yijl7GvPBdqwzZBzlUIUM,7638
-ring/ml/optimizer.py,sha256=OP70P70YcX-2Z-cuoMluFk-L5Vhh_MmqiHdM9OZqyhI,4703
+ring/ml/optimizer.py,sha256=fWyF__ezUltrA16SLfOC1jvS3zBh9NJsMYa6-V0frhs,4709
 ring/ml/ringnet.py,sha256=OWRDu2COmptzbpJWlRLbPIn_ioKZCAd_iu-eiY_aPjk,8521
 ring/ml/train.py,sha256=ftt2MOSSNGCdL7ZoAXcbIgeHW1Wkpgp6XYyLIBUIClI,10872
 ring/ml/training_loop.py,sha256=CEokvPQuuk_WCd-J60ZDodJYcPVvyxLfgXDr_DnbzRI,3359
@@ -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=I2f6-DMBrrgy5tpLzPLlezifQgkO2fERZWyX3cfb4sI,5303
-imt_ring-1.3.1.dist-info/METADATA,sha256=sCl08586u_XLy0LUsEuIhyIUPxj3R3pzmXtXgFuRw1c,3104
-imt_ring-1.3.1.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.3.1.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.3.1.dist-info/RECORD,,
+imt_ring-1.3.3.dist-info/METADATA,sha256=nTihurycKYmLCI61Cojd7VLrnb1gpd-H8nwUupysaC8,3104
+imt_ring-1.3.3.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+imt_ring-1.3.3.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.3.3.dist-info/RECORD,,

ring/algorithms/custom_joints/__init__.py

@@ -1,6 +1,8 @@
 from .rr_imp_joint import register_rr_imp_joint
 from .rr_joint import register_rr_joint
+from .suntay import ConstantValue_DrawnFnPair
 from .suntay import GP_DrawFnPair
 from .suntay import MLP_DrawnFnPair
+from .suntay import Polynomial_DrawnFnPair
 from .suntay import register_suntay
 from .suntay import SuntayConfig

ring/algorithms/custom_joints/suntay.py

@@ -293,6 +293,79 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
     ring.register_new_joint_type(name, joint_model, 1, overwrite=True)
 
 
+def Polynomial_DrawnFnPair(
+    order: int = 2,
+    val: float = 2.0,
+    center: bool = False,
+    flexion_center: Optional[float] = None,
+) -> DrawnFnPairFactory:
+    assert val >= 0.0
+
+    # because 0-th order is also counted
+    order += 1
+
+    def factory(xs, mn, mx):
+        nonlocal flexion_center
+
+        flexion_mn = jnp.min(xs)
+        flexion_mx = jnp.max(xs)
+
+        def _apply_poly_factors(poly_factors, q):
+            return poly_factors @ jnp.power(q, jnp.arange(order))
+
+        if flexion_center is None:
+            flexion_center = (flexion_mn + flexion_mx) / 2
+        else:
+            flexion_center = jnp.array(flexion_center)
+
+        def init(key):
+            c1, c2 = jax.random.split(key)
+            poly_factors = jax.random.uniform(
+                c1, shape=(order,), minval=-val, maxval=val
+            )
+            q0 = jax.random.uniform(c2, minval=flexion_mn, maxval=flexion_mx)
+            values = jax.vmap(_apply_poly_factors, in_axes=(None, 0))(
+                poly_factors, xs - q0
+            )
+            eps = 1e-6
+            amin, amax = jnp.min(values), jnp.max(values) + eps
+            return amin, amax, poly_factors, q0
+
+        def _apply(params, q):
+            amin, amax, poly_factors, q0 = params
+            q = q - q0
+            value = _apply_poly_factors(poly_factors, q)
+            return restrict(value, mn, mx, amin, amax)
+
+        if center:
+
+            def apply(params, q):
+                return _apply(params, q) - _apply(params, flexion_center)
+
+        else:
+            apply = _apply
+
+        return DrawnFnPair(init, apply)
+
+    return factory
+
+
+def ConstantValue_DrawnFnPair(value: float) -> DrawnFnPairFactory:
+    value = jnp.array(value)
+
+    def factory(xs, mn, mx):
+
+        def init(key):
+            return {}
+
+        def apply(params, q):
+            return value
+
+        return DrawnFnPair(init, apply)
+
+    return factory
+
+
 def MLP_DrawnFnPair(
     center: bool = False, flexion_center: Optional[float] = None
 ) -> DrawnFnPairFactory:

ring/base.py

@@ -929,16 +929,22 @@ def _parse_system_calculate_inertia(sys: System):
 def _scan_sys(sys: System, f: Callable, in_types: str, *args, reverse: bool = False):
     assert len(args) == len(in_types)
     for in_type, arg in zip(in_types, args):
-        B = len(arg)
+
         if in_type == "l":
-            assert B == sys.num_links()
+            required_length = sys.num_links()
         elif in_type == "q":
-            assert B == sys.q_size()
+            required_length = sys.q_size()
         elif in_type == "d":
-            assert B == sys.qd_size()
+            required_length = sys.qd_size()
         else:
             raise Exception("`in_types` must be one of `l` or `q` or `d`")
 
+        B = len(arg)
+        B_re = required_length
+        assert (
+            B == B_re
+        ), f"arg={arg} has a length of B={B} which isn't the required length={B_re}"
+
     order = range(sys.num_links())
     q_idx, qd_idx = 0, 0
     q_idxs, qd_idxs = {}, {}

ring/ml/__init__.py

@@ -41,6 +41,7 @@ def RNNO(
     return_quats: bool = False,
     params=None,
     eval: bool = True,
+    samp_freq: float | None = None,
     **kwargs,
 ):
     assert "message_dim" not in kwargs
@@ -57,7 +58,7 @@ def RNNO(
     ringnet = base.NoGraph_FilterWrapper(ringnet, quat_normalize=return_quats)
     ringnet = base.ScaleX_FilterWrapper(ringnet)
     if eval and return_quats:
-        ringnet = base.LPF_FilterWrapper(ringnet, _lpf_cutoff_freq, samp_freq=None)
+        ringnet = base.LPF_FilterWrapper(ringnet, _lpf_cutoff_freq, samp_freq=samp_freq)
     if return_quats:
         ringnet = base.GroundTruthHeading_FilterWrapper(ringnet)
     return ringnet

ring/ml/optimizer.py

@@ -14,10 +14,10 @@ from optax._src.transform import AddNoiseState
 def make_optimizer(
     lr: float,
     n_episodes: int,
-    n_steps_per_episode: int,
+    n_steps_per_episode: int = 6,
     adap_clip: Optional[float] = 0.1,
     glob_clip: Optional[float] = 0.2,
-    skip_large_update_max_normsq: float = 5.0,
+    skip_large_update_max_normsq: float = 100.0,
     skip_large_update_warmup: int = 300,
     inner_opt=optax.lamb,
     cos_decay_twice: bool = False,