imt-ring 1.3.2__py3-none-any.whl → 1.3.4__py3-none-any.whl

{imt_ring-1.3.2.dist-info → imt_ring-1.3.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.2
+Version: 1.3.4
 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-1.3.2.dist-info → imt_ring-1.3.4.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=_kUyC4TbzjngTQrJVtS6JBKPzTMNbH27jVRJYXViepI,270
+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=3aFDfqdC2vUAhD30kkuQltgU_WZmYDyVhKPSoEotEYo,15292
+ring/algorithms/custom_joints/suntay.py,sha256=CN0q6G2bjmufNMr7eAjKwIKwXpFp9qFjqrJCey-xIYE,15858
 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
@@ -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-1.3.2.dist-info/METADATA,sha256=OQmB5-CEpy-JWv2K9vYo9fUNQDW0Jg-fFU4kBkiVRGQ,3104
-imt_ring-1.3.2.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.3.2.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.3.2.dist-info/RECORD,,
+imt_ring-1.3.4.dist-info/METADATA,sha256=oMI6d91TaCBndSOQJjoVBzqsYDg3oGtAxDzSmSamWmg,3104
+imt_ring-1.3.4.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+imt_ring-1.3.4.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.3.4.dist-info/RECORD,,

ring/algorithms/custom_joints/__init__.py

@@ -1,5 +1,6 @@
 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

ring/algorithms/custom_joints/suntay.py

@@ -295,14 +295,15 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
 
 def Polynomial_DrawnFnPair(
     order: int = 2,
-    val: float = 2.0,
     center: bool = False,
     flexion_center: Optional[float] = None,
+    include_bias: bool = True,
 ) -> DrawnFnPairFactory:
-    assert val >= 0.0
+    assert not (order == 0 and not include_bias)
 
     # because 0-th order is also counted
     order += 1
+    powers = jnp.arange(order) if include_bias else jnp.arange(1, order)
 
     def factory(xs, mn, mx):
         nonlocal flexion_center
@@ -311,7 +312,7 @@ def Polynomial_DrawnFnPair(
         flexion_mx = jnp.max(xs)
 
         def _apply_poly_factors(poly_factors, q):
-            return poly_factors @ jnp.power(q, jnp.arange(order))
+            return poly_factors @ jnp.power(q, powers)
 
         if flexion_center is None:
             flexion_center = (flexion_mn + flexion_mx) / 2
@@ -319,16 +320,19 @@ def Polynomial_DrawnFnPair(
             flexion_center = jnp.array(flexion_center)
 
         def init(key):
-            c1, c2 = jax.random.split(key)
+            c1, c2, c3 = jax.random.split(key, 3)
             poly_factors = jax.random.uniform(
-                c1, shape=(order,), minval=-val, maxval=val
+                c1, shape=(len(powers),), minval=-1.0, maxval=1.0
             )
             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
             )
-            amax = jnp.max(values)
-            amin = jnp.min(values)
+            eps = 1e-6
+            amin, amax = jnp.min(values), jnp.max(values) + eps
+            delta = amax - amin
+            scale_delta = jnp.clip(jax.random.normal(c3) + 0.5, 1.0)
+            amax = amin + delta * scale_delta
             return amin, amax, poly_factors, q0
 
         def _apply(params, q):
@@ -350,6 +354,22 @@ def Polynomial_DrawnFnPair(
     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 = {}, {}