imt-ring 1.3.8__tar.gz → 1.3.10__tar.gz

{imt_ring-1.3.8 → imt_ring-1.3.10}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.8
+Version: 1.3.10
 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-1.3.8 → imt_ring-1.3.10}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.3.8"
+version = "1.3.10"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.8
+Version: 1.3.10
 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-1.3.8 → imt_ring-1.3.10}/src/imt_ring.egg-info/SOURCES.txt

@@ -80,6 +80,7 @@ src/ring/sys_composer/delete_sys.py
 src/ring/sys_composer/inject_sys.py
 src/ring/sys_composer/morph_sys.py
 src/ring/utils/__init__.py
+src/ring/utils/backend.py
 src/ring/utils/batchsize.py
 src/ring/utils/colab.py
 src/ring/utils/hdf5.py

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/algorithms/dynamics.py

@@ -1,7 +1,9 @@
 from typing import Optional, Tuple
+import warnings
 
 import jax
 import jax.numpy as jnp
+
 from ring import algebra
 from ring import base
 from ring import maths
@@ -213,7 +215,7 @@ def forward_dynamics(
     q: jax.Array,
     qd: jax.Array,
     tau: jax.Array,
-    mass_mat_inv: jax.Array,
+    # mass_mat_inv: jax.Array,
 ) -> Tuple[jax.Array, jax.Array]:
     C = inverse_dynamics(sys, qd, jnp.zeros_like(qd))
     mass_matrix = compute_mass_matrix(sys)
@@ -235,6 +237,11 @@ def forward_dynamics(
 
         mass_mat_inv = jax.scipy.linalg.solve(mass_matrix, eye, assume_a="pos")
     else:
+        warnings.warn(
+            f"You are using `sys.mass_mat_iters`={sys.mass_mat_iters} which is >0. "
+            "This feature is currently not fully supported. See the local TODO."
+        )
+        mass_mat_inv = jnp.diag(jnp.ones((sys.qd_size(),)))
         mass_mat_inv = _inv_approximate(mass_matrix, mass_mat_inv, sys.mass_mat_iters)
 
     return mass_mat_inv @ qf_smooth, mass_mat_inv
@@ -254,9 +261,8 @@ def _strapdown_integration(
 def _semi_implicit_euler_integration(
     sys: base.System, state: base.State, taus: jax.Array
 ) -> base.State:
-    qdd, mass_mat_inv = forward_dynamics(
-        sys, state.q, state.qd, taus, state.mass_mat_inv
-    )
+    qdd, mass_mat_inv = forward_dynamics(sys, state.q, state.qd, taus)
+    del mass_mat_inv
     qd_next = state.qd + sys.dt * qdd
 
     q_next = []
@@ -277,7 +283,7 @@ def _semi_implicit_euler_integration(
     sys.scan(q_integrate, "qdl", state.q, qd_next, sys.link_types)
     q_next = jnp.concatenate(q_next)
 
-    state = state.replace(q=q_next, qd=qd_next, mass_mat_inv=mass_mat_inv)
+    state = state.replace(q=q_next, qd=qd_next)
     return state
 
 

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/algorithms/generator/base.py

@@ -4,6 +4,7 @@ import warnings
 
 import jax
 import jax.numpy as jnp
+import tqdm
 import tree_utils
 
 from ring import base
@@ -83,10 +84,14 @@ class RCMG:
             ), "If `randomize_anchors`, then only one system is expected"
             sys = randomize.randomize_anchors(sys[0], **randomize_anchors_kwargs)
 
-        zip_sys_config = False
         if randomize_hz:
-            zip_sys_config = True
             sys, config = randomize.randomize_hz(sys, config, **randomize_hz_kwargs)
+        else:
+            # create zip
+            N_sys = len(sys)
+            sys = sum([len(config) * [s] for s in sys], start=[])
+            config = N_sys * config
+            assert len(sys) == len(config)
 
         if sys_ml is None:
             # TODO
@@ -97,17 +102,10 @@ class RCMG:
             sys_ml = sys[0]
 
         self.gens = []
-        if zip_sys_config:
-            for _sys, _config in zip(sys, config):
-                self.gens.append(
-                    partial_build_gen(sys=_sys, config=_config, sys_ml=sys_ml)
-                )
-        else:
-            for _sys in sys:
-                for _config in config:
-                    self.gens.append(
-                        partial_build_gen(sys=_sys, config=_config, sys_ml=sys_ml)
-                    )
+        for _sys, _config in tqdm.tqdm(
+            zip(sys, config), desc="building generators", total=len(sys)
+        ):
+            self.gens.append(partial_build_gen(sys=_sys, config=_config, sys_ml=sys_ml))
 
     def _to_data(self, sizes, seed):
         return batch.batch_generators_eager_to_list(self.gens, sizes, seed=seed)

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/algorithms/generator/batch.py

@@ -63,12 +63,12 @@ def batch_generators_lazy(
 
 
 def _number_of_executions_required(size: int) -> int:
-    vmap_threshold = 128
     _, vmap = utils.distribute_batchsize(size)
 
+    eager_threshold = utils.batchsize_thresholds()[1]
     primes = iter(utils.primes(vmap))
     n_calls = 1
-    while vmap > vmap_threshold:
+    while vmap > eager_threshold:
         prime = next(primes)
         n_calls *= prime
         vmap /= prime
@@ -86,7 +86,11 @@ def batch_generators_eager_to_list(
 
     key = jax.random.PRNGKey(seed)
     data = []
-    for gen, size in tqdm(zip(generators, sizes), desc="eager data generation"):
+    for gen, size in tqdm(
+        zip(generators, sizes),
+        desc="executing generators",
+        total=len(sizes),
+    ):
 
         n_calls = _number_of_executions_required(size)
         # decrease size by n_calls times

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/algorithms/generator/motion_artifacts.py

@@ -49,6 +49,7 @@ def inject_subsystems(
     rotational_damp: float = 0.1,
     translational_stif: float = 50.0,
     translational_damp: float = 0.1,
+    disable_warning: bool = False,
     **kwargs,
 ) -> base.System:
     imu_idx_to_name_map = {sys.name_to_idx(imu): imu for imu in sys.findall_imus()}
@@ -92,10 +93,11 @@ def inject_subsystems(
     # TODO set all joint_params to zeros; they can not be preserved anyways and
     # otherwise many warnings will be rose
     # instead warn explicitly once now and move on
-    warnings.warn(
-        "`sys.links.joint_params` has been set to zero, this might lead to "
-        "unexpected behaviour unless you use `randomize_joint_params`"
-    )
+    if not disable_warning:
+        warnings.warn(
+            "`sys.links.joint_params` has been set to zero, this might lead to "
+            "unexpected behaviour unless you use `randomize_joint_params`"
+        )
     joint_params_zeros = tree_utils.tree_zeros_like(sys.links.joint_params)
     sys = sys.replace(links=sys.links.replace(joint_params=joint_params_zeros))
 

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/algorithms/generator/pd_control.py

@@ -4,6 +4,7 @@ from typing import Optional
 from flax import struct
 import jax
 import jax.numpy as jnp
+
 from ring import base
 from ring.algorithms import dynamics
 from ring.algorithms import jcalc
@@ -49,7 +50,7 @@ def _pd_control(P: jax.Array, D: Optional[jax.Array] = None):
         assert sys.q_size() == q_ref.shape[1], f"q_ref.shape = {q_ref.shape}"
         assert sys.qd_size() == P.size
         if D is not None:
-            sys.qd_size() == D.size
+            assert sys.qd_size() == D.size
 
         q_ref_as_dict = {}
         qd_ref_as_dict = {}

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/base.py

@@ -997,13 +997,11 @@ class State(_Base):
         q (jax.Array): System state in minimal coordinates (equals `sys.q_size()`)
         qd (jax.Array): System velocity in minimal coordinates (equals `sys.qd_size()`)
         x: (Transform): Maximal coordinates of all links. From epsilon-to-link.
-        mass_mat_inv (jax.Array): Inverse of the mass matrix. Internal usage.
     """
 
     q: jax.Array
     qd: jax.Array
     x: Transform
-    mass_mat_inv: jax.Array
 
     @classmethod
     def create(
@@ -1057,4 +1055,4 @@ class State(_Base):
         if x is None:
             x = Transform.zero((sys.num_links(),))
 
-        return cls(q, qd, x, jnp.diag(jnp.ones((sys.qd_size(),))))
+        return cls(q, qd, x)

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/ml/rnno_v1.py

@@ -1,4 +1,4 @@
-from typing import Sequence
+from typing import Optional, Sequence
 
 import haiku as hk
 import jax
@@ -12,14 +12,18 @@ def rnno_v1_forward_factory(
     layernorm: bool = True,
     act_fn_linear=jax.nn.relu,
     act_fn_rnn=jax.nn.elu,
+    lam: Optional[tuple[int]] = None,
 ):
+    # unused
+    del lam
+
     @hk.without_apply_rng
     @hk.transform_with_state
     def forward_fn(X):
         assert X.shape[-2] == 1
 
         for i, n_units in enumerate(rnn_layers):
-            state = hk.get_state(f"rnn_{i}", shape=[n_units], init=jnp.zeros)
+            state = hk.get_state(f"rnn_{i}", shape=[1, n_units], init=jnp.zeros)
             X, state = hk.dynamic_unroll(hk.GRU(n_units), X, state)
             hk.set_state(f"rnn_{i}", state)
 

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/utils/__init__.py

@@ -1,4 +1,4 @@
-from .batchsize import backend
+from .batchsize import batchsize_thresholds
 from .batchsize import distribute_batchsize
 from .batchsize import expand_batchsize
 from .batchsize import merge_batchsize

imt_ring-1.3.10/src/ring/utils/backend.py

@@ -0,0 +1,30 @@
+import os
+import re
+
+
+def set_host_device_count(n):
+    """
+    By default, XLA considers all CPU cores as one device. This utility tells XLA
+    that there are `n` host (CPU) devices available to use. As a consequence, this
+    allows parallel mapping in JAX :func:`jax.pmap` to work in CPU platform.
+
+    .. note:: This utility only takes effect at the beginning of your program.
+        Under the hood, this sets the environment variable
+        `XLA_FLAGS=--xla_force_host_platform_device_count=[num_devices]`, where
+        `[num_device]` is the desired number of CPU devices `n`.
+
+    .. warning:: Our understanding of the side effects of using the
+        `xla_force_host_platform_device_count` flag in XLA is incomplete. If you
+        observe some strange phenomenon when using this utility, please let us
+        know through our issue or forum page. More information is available in this
+        `JAX issue <https://github.com/google/jax/issues/1408>`_.
+
+    :param int n: number of CPU devices to use.
+    """
+    xla_flags = os.getenv("XLA_FLAGS", "")
+    xla_flags = re.sub(
+        r"--xla_force_host_platform_device_count=\S+", "", xla_flags
+    ).split()
+    os.environ["XLA_FLAGS"] = " ".join(
+        ["--xla_force_host_platform_device_count={}".format(n)] + xla_flags
+    )

{imt_ring-1.3.8 → imt_ring-1.3.10}/src/ring/utils/batchsize.py

@@ -1,19 +1,37 @@
-from typing import Optional, Tuple
+from typing import Tuple, TypeVar
 
 import jax
-from tree_utils import PyTree
+
+PyTree = TypeVar("PyTree")
+
+
+def batchsize_thresholds():
+    backend = jax.default_backend()
+    if backend == "cpu":
+        vmap_size_min = 1
+        eager_threshold = 4
+    elif backend == "gpu":
+        vmap_size_min = 8
+        eager_threshold = 128
+    else:
+        raise Exception(
+            f"Backend {backend} has no default values, please add them in this function"
+        )
+    return vmap_size_min, eager_threshold
 
 
 def distribute_batchsize(batchsize: int) -> Tuple[int, int]:
     """Distributes batchsize accross pmap and vmap."""
-    vmap_size_min = 8
+    vmap_size_min = batchsize_thresholds()[0]
     if batchsize <= vmap_size_min:
         return 1, batchsize
     else:
         n_devices = jax.local_device_count()
-        assert (
-            batchsize % n_devices
-        ) == 0, f"Your GPU count of {n_devices} does not split batchsize {batchsize}"
+        msg = (
+            f"Your local device count of {n_devices} does not split batchsize"
+            + f" {batchsize}. local devices are {jax.local_devices()}"
+        )
+        assert (batchsize % n_devices) == 0, msg
         vmap_size = int(batchsize / n_devices)
         return int(batchsize / vmap_size), vmap_size
 
@@ -35,17 +53,3 @@ def expand_batchsize(tree: PyTree, pmap_size: int, vmap_size: int) -> PyTree:
         ),
         tree,
     )
-
-
-CPU_ONLY = False
-
-
-def backend(cpu_only: bool = False, n_gpus: Optional[int] = None):
-    "Sets backend for all jax operations (including this library)."
-    global CPU_ONLY
-
-    if cpu_only and not CPU_ONLY:
-        CPU_ONLY = True
-        from jax import config
-
-        config.update("jax_platform_name", "cpu")