imt-ring 1.3.5__py3-none-any.whl → 1.3.7__py3-none-any.whl

{imt_ring-1.3.5.dist-info → imt_ring-1.3.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.5
+Version: 1.3.7
 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-1.3.5.dist-info → imt_ring-1.3.7.dist-info}/RECORD

@@ -1,6 +1,6 @@
 ring/__init__.py,sha256=iNvbAZi7Qfa69IbL1z4lB7zHL8WusV5fBrKah2la-Gc,1566
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
-ring/base.py,sha256=hZZaH1kOmeV4vK2EyOQdxSKBFLZ1bluRHcj725OHo2I,33913
+ring/base.py,sha256=99GuspRH4QtRRJTAgyvS02FFxoaBptSsz_GPczX8vw0,33947
 ring/maths.py,sha256=jJr_kr78-XDce8B4tXQ2Li-jBntVQhaS8csxglCsj8A,12193
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=t3YXcgqMJxadUjFiILVD0HlQRPLdrQyc8aKiB36w0vE,1701
@@ -8,13 +8,13 @@ ring/algorithms/_random.py,sha256=M9JQSMXSUARWuzlRLP3Wmkuntrk9LZpP30p4_IPgDB4,13
 ring/algorithms/dynamics.py,sha256=nqq5I0RYSbHNlGiLMlohz08IfL9Njsrid4upDnwkGbI,10629
 ring/algorithms/jcalc.py,sha256=6olMYQtgKZE5KBEAHF0Rqxe__1wcZQVEiLgm1vO7_Gw,28260
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
-ring/algorithms/sensors.py,sha256=Y3Wo9qj3BWKoIHB0V04QwyD-Z5m4BrAjfBX8Pn6y9Lg,18005
+ring/algorithms/sensors.py,sha256=MICO9Sn0AfoqRx_9KWR3hufsIID-K6SOIg3oPDgsYMU,17869
 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=oJFU0EnT6yzlSkoA2CegPDLyb8jAk-bGZx4iuZO4nxM,16215
+ring/algorithms/custom_joints/suntay.py,sha256=7-kym1kMDwqYD_2um1roGcBeB8BlTCPe1wljuNGNARA,16676
 ring/algorithms/generator/__init__.py,sha256=p4ucl0zQtp5NwNoXIRjmTzGGRu2WOAWFfNmYRPwQles,912
-ring/algorithms/generator/base.py,sha256=zmrRK_I6BWoo4WbEcEVK7iFKdPfetc6txs7U8iu1xEk,14771
+ring/algorithms/generator/base.py,sha256=AKH7GXEmRGV1kK8okiqa12uq0Ah9VYlqgdLw-99oFoQ,14840
 ring/algorithms/generator/batch.py,sha256=EOCX0vOxDwVOweArGsUneeeYysdSY2mFB55W052Wd9o,9161
 ring/algorithms/generator/motion_artifacts.py,sha256=aKdkZU5OF4_aKyL4Yo-ftZRwrDCve1LuuREGAUlTqtI,8551
 ring/algorithms/generator/pd_control.py,sha256=3pOaYig26vmp8gippDfy2KNJRZO3kr0rGd_PBIuEROM,5759
@@ -56,7 +56,7 @@ ring/ml/callbacks.py,sha256=DkSy5c7IRqAAks2dx8acEBExYxUv-xiUFwZn4odPYq4,13253
 ring/ml/ml_utils.py,sha256=hQEmeZoahdJyFrz0NZXYi1Yijl7GvPBdqwzZBzlUIUM,7638
 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/train.py,sha256=uDW6JMdbMcjUKr3wCL2drWzDUd0Pc3BoroUwLcYoUx4,10914
 ring/ml/training_loop.py,sha256=CEokvPQuuk_WCd-J60ZDodJYcPVvyxLfgXDr_DnbzRI,3359
 ring/ml/params/0x13e3518065c21cd8.pickle,sha256=Zh2k1zK-TNxJl5F7nyTeQ9001qqRE_dfvaq1HWV287A,9355838
 ring/rendering/__init__.py,sha256=Zf7qOdzK3t2hljIrs5P4zFhzHljLSMRyDDZO2YlZk4k,75
@@ -76,8 +76,8 @@ ring/utils/colab.py,sha256=ZLHwP0jNQUsmZJU4l68a5djULPi6T-jYNNHevjIoMn8,1631
 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-1.3.5.dist-info/METADATA,sha256=lfUIi30c7raML41nr1zCkIhhGbXjaQuNFFs7hBgAIZ0,3104
-imt_ring-1.3.5.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.3.5.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.3.5.dist-info/RECORD,,
+ring/utils/utils.py,sha256=mIcKNv5v2de8HrG7bAhl2bNfmwkMZyIIwFkJq2XWMOI,5357
+imt_ring-1.3.7.dist-info/METADATA,sha256=V6Oow_ZZwpBuHuIbyPIoKFtrhFboxMmuIPx1Rilq3-A,3104
+imt_ring-1.3.7.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+imt_ring-1.3.7.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.3.7.dist-info/RECORD,,

ring/algorithms/custom_joints/suntay.py

@@ -293,12 +293,25 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
     ring.register_new_joint_type(name, joint_model, 1, overwrite=True)
 
 
+def _scale_delta(method: str, key, xs, mn, mx, amin, amax, **kwargs):
+    if method == "normal":
+        delta = jnp.clip(jax.random.normal(key) + 0.5, 1.0)
+    elif method == "uniform":
+        delta = 1 / (jax.random.uniform(key) + 1e-2)
+    else:
+        raise NotImplementedError
+
+    return delta
+
+
 def Polynomial_DrawnFnPair(
     order: int = 2,
     center: bool = False,
     flexion_center_deg: Optional[float] = None,
     include_bias: bool = True,
     enable_scale_delta: bool = True,
+    scale_delta_method: str = "normal",
+    scale_delta_kwargs: dict = dict(),
 ) -> DrawnFnPairFactory:
     assert not (order == 0 and not include_bias)
 
@@ -343,7 +356,9 @@ def Polynomial_DrawnFnPair(
             amin, amax = jnp.min(values), jnp.max(values) + eps
             if enable_scale_delta:
                 delta = amax - amin
-                scale_delta = jnp.clip(jax.random.normal(c3) + 0.5, 1.0)
+                scale_delta = _scale_delta(
+                    scale_delta_method, c3, xs, mn, mx, amin, amax, **scale_delta_kwargs
+                )
                 amax = amin + delta * scale_delta
             return amin, amax, poly_factors, q0
 

ring/algorithms/generator/base.py

@@ -140,8 +140,11 @@ class RCMG:
         batchsize: int = 1,
         sizes: int | list[int] = 1,
         seed: int = 1,
+        shuffle: bool = True,
     ) -> types.BatchedGenerator:
-        return batch.batch_generators_eager(self.gens, sizes, batchsize, seed=seed)
+        return batch.batch_generators_eager(
+            self.gens, sizes, batchsize, seed=seed, shuffle=shuffle
+        )
 
     def to_lazy_gen(
         self, sizes: int | list[int] = 1, jit: bool = True

ring/algorithms/sensors.py

@@ -3,6 +3,7 @@ from typing import Optional
 
 import jax
 import jax.numpy as jnp
+
 from ring import algebra
 from ring import algorithms
 from ring import base
@@ -445,22 +446,18 @@ def _joint_axes_from_xs(sys, xs, sys_xs):
 
 def _joint_axes_from_sys(sys: base.Transform, N: int) -> dict:
     "`sys` should be `sys_noimu`. `N` is number of timesteps"
-    xaxis = jnp.array([1.0, 0, 0])
-    yaxis = jnp.array([0.0, 1, 0])
-    zaxis = jnp.array([0.0, 0, 1])
-    id_to_axis = {"x": xaxis, "y": yaxis, "z": zaxis}
     X = {}
 
     def f(_, __, name, link_type, link):
         joint_params = link.joint_params
         if link_type in ["rx", "ry", "rz"]:
-            joint_axes = id_to_axis[link_type[1]]
+            joint_axes = maths.unit_vectors(link_type[1])
         elif link_type == "rr":
             joint_axes = joint_params["rr"]["joint_axes"]
         elif link_type[:6] == "rr_imp":
             joint_axes = joint_params[link_type]["joint_axes"]
         else:
-            joint_axes = xaxis
+            joint_axes = maths.x_unit_vector
         X[name] = {"joint_axes": joint_axes}
 
     sys.scan(f, "lll", sys.link_names, sys.link_types, sys.links)

ring/base.py

@@ -571,6 +571,7 @@ class System(_Base):
         new_damp: Optional[jax.Array] = None,
         new_stif: Optional[jax.Array] = None,
         new_zero: Optional[jax.Array] = None,
+        seed: int = 1,
     ):
         "By default damping, stiffness are set to zero."
         from ring.algorithms import get_joint_model
@@ -600,7 +601,7 @@ class System(_Base):
 
         jm = get_joint_model(new_joint_type)
         if jm.init_joint_params is not None:
-            sys = sys.from_str(sys.to_str())
+            sys = sys.from_str(sys.to_str(), seed=seed)
 
         return sys
 

ring/ml/train.py

@@ -5,6 +5,8 @@ from typing import Callable, Optional, Tuple
 import jax
 import jax.numpy as jnp
 import optax
+import tree_utils
+
 from ring import maths
 from ring.algorithms.generator import types
 from ring.ml import base as ml_base
@@ -15,8 +17,6 @@ from ring.utils import distribute_batchsize
 from ring.utils import expand_batchsize
 from ring.utils import parse_path
 from ring.utils import pickle_load
-import tree_utils
-
 import wandb
 
 # (T, N, F) -> Scalar
@@ -142,15 +142,17 @@ def train_fn(
         Wether or not the training run was killed by a callback.
     """
 
+    filter = filter.nojit()
+
     if checkpoint is not None:
         checkpoint = Path(checkpoint).with_suffix(".pickle")
         recv_checkpoint: dict = pickle_load(checkpoint)
-        filter.params = recv_checkpoint["params"]
+        filter_params = recv_checkpoint["params"]
         opt_state = recv_checkpoint["opt_state"]
+        del recv_checkpoint
+    else:
+        filter_params = filter.search_attr("params")
 
-    filter = filter.nojit()
-
-    filter_params = filter.search_attr("params")
     if filter_params is None:
         X, _ = generator(jax.random.PRNGKey(1))
         filter_params, _ = filter.init(X=X, seed=seed_network)

ring/utils/utils.py

@@ -122,6 +122,8 @@ def pytree_deepcopy(tree):
         return tuple(pytree_deepcopy(ele) for ele in tree)
     elif isinstance(tree, dict):
         return {key: pytree_deepcopy(value) for key, value in tree.items()}
+    elif isinstance(tree, _Base):
+        return tree
     else:
         raise NotImplementedError(f"Not implemented for type={type(tree)}")