imt-ring 1.4.0__py3-none-any.whl → 1.5.0__py3-none-any.whl

{imt_ring-1.4.0.dist-info → imt_ring-1.5.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.4.0
+Version: 1.5.0
 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-1.4.0.dist-info → imt_ring-1.5.0.dist-info}/RECORD

@@ -1,26 +1,26 @@
-ring/__init__.py,sha256=-70A1E5LQQyGdOA_u9PlYZb1d5Fz0yXnvRoZOrbxq6o,3781
+ring/__init__.py,sha256=2v6WHlNPucj1XGhDYw-3AlMQGTqH-e4KYK0IaMnBV5s,4760
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
 ring/base.py,sha256=YFPrUWelWswEhq8x8Byv-5pK64mipiGW6x5IlMr4we4,33803
 ring/maths.py,sha256=jJr_kr78-XDce8B4tXQ2Li-jBntVQhaS8csxglCsj8A,12193
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
-ring/algorithms/__init__.py,sha256=t3YXcgqMJxadUjFiILVD0HlQRPLdrQyc8aKiB36w0vE,1701
+ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=M9JQSMXSUARWuzlRLP3Wmkuntrk9LZpP30p4_IPgDB4,13805
 ring/algorithms/dynamics.py,sha256=_TwclBXe6vi5C5iJWAIeUIJEIMHQ_1QTmnHvCEpVO0M,10867
-ring/algorithms/jcalc.py,sha256=6olMYQtgKZE5KBEAHF0Rqxe__1wcZQVEiLgm1vO7_Gw,28260
+ring/algorithms/jcalc.py,sha256=seis_VQwSvyrZBtmgKwAgSfT_fhXT4Gcyufp0KCUBME,28094
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 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=7-kym1kMDwqYD_2um1roGcBeB8BlTCPe1wljuNGNARA,16676
-ring/algorithms/generator/__init__.py,sha256=p4ucl0zQtp5NwNoXIRjmTzGGRu2WOAWFfNmYRPwQles,912
-ring/algorithms/generator/base.py,sha256=sr-YZkjd8pZJAI5vFG_IqOO4AEeiEYtXr8uUsPMS6Q4,14779
-ring/algorithms/generator/batch.py,sha256=MmnvAeMaHowGZjla7djQeER6YwXvFesLdP__FMosUqo,9385
-ring/algorithms/generator/motion_artifacts.py,sha256=_kiAl1VHoX1fW5AUlXOtPBWyHIIFof_M78AP-m9f1ME,8790
+ring/algorithms/generator/__init__.py,sha256=bF-CW3x2x-o6KWESKy-DuxzZPh3UNSjJb_MaAcSHGsQ,277
+ring/algorithms/generator/base.py,sha256=1rzClXZ0WMJ_IZroTO9i1aWiHBy7whsCrJLIMY4zC3c,13280
+ring/algorithms/generator/batch.py,sha256=Hwh5jYZQEmkx73YaXjWd6sZdikmj43spE7DCzGDHXtE,6637
+ring/algorithms/generator/finalize_fns.py,sha256=0fbtwQw89_w0ytQ_aJ877CZGY5fbtb8sbsRO0O8pT34,9081
+ring/algorithms/generator/motion_artifacts.py,sha256=vzBLlG60KCAa7Zj1RdUiRkoOx_3inA_2M1mBKl3lTKs,8834
 ring/algorithms/generator/pd_control.py,sha256=XJ_Gd5AkIRh-jBrMfQyMXjVwhx2gCNHznjzFbmAwhZs,5767
-ring/algorithms/generator/randomize.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3699
-ring/algorithms/generator/transforms.py,sha256=nvNDvM20tEw9Zd0ra0TxA25uf01L40Y2UKvtQmOrlGo,12782
-ring/algorithms/generator/types.py,sha256=CAhvDK5qiHnrGtkCVccB07doiz_D6lHJ35B7sW0pyZA,1110
+ring/algorithms/generator/setup_fns.py,sha256=MFz3czHBeWs1Zk1A8O02CyQpQ-NCyW9PMpbqmKit6es,1455
+ring/algorithms/generator/types.py,sha256=HjNyATFSLfHkXlzdJhvUkiqnhzpXFDDXmWS3LYBlOtU,721
 ring/io/__init__.py,sha256=1gEJdyDCbldbbm8QeZbLmhzSKmaQ-UqTmQgu4DBH2Z4,328
 ring/io/examples.py,sha256=KLf2iCagvRfjs9MCnQsLUlfGBjrQKrD-Qv8U0TtX6Ek,1114
 ring/io/test_examples.py,sha256=htpnSgLG9Fi9_qwSL4F1yLi9sN7ZUrF8dDmiqU3B510,117
@@ -51,7 +51,7 @@ ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,
 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=8SZTCs9rJ1kzR0Psh7lUzFhIMhKRPIK41mVfxJAGyMo,1471
-ring/ml/base.py,sha256=16zdF72XLljeFRWaEr1O-9M5Sw2ppk5yvAoAPxA5EJU,9693
+ring/ml/base.py,sha256=-3JQ27zMFESNn5zeNer14GJU2yQgiqDcJUaULOeSyp8,9799
 ring/ml/callbacks.py,sha256=W19QF6_uvaNCjs8ObsjNXD7mv9gFgJBixdRSbB_BynE,13301
 ring/ml/ml_utils.py,sha256=hQEmeZoahdJyFrz0NZXYi1Yijl7GvPBdqwzZBzlUIUM,7638
 ring/ml/optimizer.py,sha256=fWyF__ezUltrA16SLfOC1jvS3zBh9NJsMYa6-V0frhs,4709
@@ -60,9 +60,10 @@ ring/ml/rnno_v1.py,sha256=T4SKG7iypqn2HBQLKhDmJ2Slj2Z5jtUBHvX_6aL8pyM,1103
 ring/ml/train.py,sha256=huUfMK6eotS6BRrQKoZ-AUG0um3jlqpfQFZNJT8LKiE,10854
 ring/ml/training_loop.py,sha256=CEokvPQuuk_WCd-J60ZDodJYcPVvyxLfgXDr_DnbzRI,3359
 ring/ml/params/0x13e3518065c21cd8.pickle,sha256=Zh2k1zK-TNxJl5F7nyTeQ9001qqRE_dfvaq1HWV287A,9355838
+ring/ml/params/0x1d76628065a71e0f.pickle,sha256=YTNVuvfw-nCRD9BH1PZYcR9uCFpNWDhw8Lc50eDn_EE,9351038
 ring/rendering/__init__.py,sha256=Zf7qOdzK3t2hljIrs5P4zFhzHljLSMRyDDZO2YlZk4k,75
 ring/rendering/base_render.py,sha256=s5dF-GVBqjiWkqVuPQMtTLuM7EtA-YrB7RVWFfIaQ1I,8956
-ring/rendering/mujoco_render.py,sha256=aluzQJp3jrDdPfAyNmQuXIHRfgfBTCCZQqxKOx_0D2s,7770
+ring/rendering/mujoco_render.py,sha256=uZ-6s6vshsc49N4xvh5KEWQo1f0DveoZqlJ6sIy1QGI,7912
 ring/rendering/vispy_render.py,sha256=QmRyA7Hqk3uS1SKjcncwc4_vd1m4yWryW2X0i4jRvCw,10260
 ring/rendering/vispy_visuals.py,sha256=ooBZqppnebeL0ANe6V6zUgnNTtDcdkOsa4vZuM4sx-I,7873
 ring/sim2real/__init__.py,sha256=gCLYg8IoMdzUagzhCFcfjZ5GavtIU772L7HR0G5hUtM,251
@@ -71,15 +72,16 @@ ring/sys_composer/__init__.py,sha256=5J_JJJIHfTPcpxh0v4FqiOs81V1REPUd7pgiw2nAN5E
 ring/sys_composer/delete_sys.py,sha256=cIM9KbyLfg7B9121g7yjzuFbjeNu9cil1dPavAYEgzk,3408
 ring/sys_composer/inject_sys.py,sha256=Mj-q-mUjXKwkg-ol6IQAjf9IJfk7pGhez0_WoTKTgm0,3503
 ring/sys_composer/morph_sys.py,sha256=2GpPtS5hT0eZMptdGpt30Hc97OykJNE67lEVRf7sHrc,12700
-ring/utils/__init__.py,sha256=FZ9ziQrWlx16QIpQ8RdLKrvN_17CAdvnZMNNodxWY0o,812
+ring/utils/__init__.py,sha256=9ZEooVyri0IWXHA5T-L03vP7aWX0zo8qvfNioGnIAkc,696
 ring/utils/backend.py,sha256=cKSi9sB59texqKzNVASTDczGKLCBL8VVDiP7TNdj41k,1294
-ring/utils/batchsize.py,sha256=ByXGX7bw2gwrVirEsazm2JXnwNPGnqgEirzziYoSUS0,1553
+ring/utils/batchsize.py,sha256=FbOii7MDP4oPZd9GJOKehFatfnb6WZ0b9z349iZYs1A,1786
 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=mIcKNv5v2de8HrG7bAhl2bNfmwkMZyIIwFkJq2XWMOI,5357
-imt_ring-1.4.0.dist-info/METADATA,sha256=4o8Vsz-U7Ekp_4ipyhcCy1vlhCgVZwEZYbwLsfmzy34,3104
-imt_ring-1.4.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.4.0.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.4.0.dist-info/RECORD,,
+ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3699
+ring/utils/utils.py,sha256=VkB0Gvmlaz2MZdntgjWA0rOpRkvIRpLWRFgIofoY7hs,5441
+imt_ring-1.5.0.dist-info/METADATA,sha256=ZjJMt4357zV4eK-ZKH_d4Q7nhc8dJ6RG_AnocvzDNzU,3104
+imt_ring-1.5.0.dist-info/WHEEL,sha256=Z4pYXqR_rTB7OWNDYFOm1qRk0RX6GFP2o8LgvP453Hk,91
+imt_ring-1.5.0.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.5.0.dist-info/RECORD,,

{imt_ring-1.4.0.dist-info → imt_ring-1.5.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.43.0)
+Generator: setuptools (70.3.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/__init__.py

@@ -20,11 +20,11 @@ from .base import System
 from .base import Transform
 
 
-def RING(lam: list[int], Ts: float | None):
+def RING(lam: list[int] | None, Ts: float | None, **kwargs):
     """Creates the RING network.
 
     Params:
-        lam: parent array
+        lam: parent array, if `None` must be given via `ringnet.apply(..., lam=lam)`
         Ts : sampling interval of IMU data; time delta in seconds
 
     Usage:
@@ -55,6 +55,7 @@ def RING(lam: list[int], Ts: float | None):
     >>>
     >>> yhat, _ = ringnet.apply(X)
     >>> # yhat : unit quaternions, shape = (B, T_i, N, 4)
+    >>> # yhat[b, :, i] is the orientation from body `i` to parent body `lam[i]`
     >>>
     >>> # use `jax.jit` to compile the forward pass
     >>> jit_apply = jax.jit(ringnet.apply)
@@ -69,21 +70,44 @@ def RING(lam: list[int], Ts: float | None):
     from pathlib import Path
     import warnings
 
-    if Ts > (1 / 40) or Ts < (1 / 200):
+    config = dict(
+        use_100Hz_RING=True,
+        use_lpf=True,
+        lpf_cutoff_freq=ml._LPF_CUTOFF_FREQ,
+    )
+    config.update(kwargs)
+
+    if Ts is not None and (Ts > (1 / 40) or Ts < (1 / 200)):
         warnings.warn(
             "RING was only trained on sampling rates between 40 to 200 Hz "
             f"but found {1 / Ts}Hz"
         )
 
-    params = Path(__file__).parent.joinpath("ml/params/0x13e3518065c21cd8.pickle")
-
-    ringnet = ml.RING(params=params, lam=tuple(lam), jit=False)
-    ringnet = ml.base.ScaleX_FilterWrapper(ringnet)
-    ringnet = ml.base.LPF_FilterWrapper(
-        ringnet, ml._LPF_CUTOFF_FREQ, samp_freq=None if Ts is None else 1 / Ts
+    if Ts is not None and Ts == 0.01 and config["use_100Hz_RING"]:
+        # this set of parameters was trained exclusively on 100Hz data; it also
+        # expects F=9 features per node and not F=10 where the last features is
+        # the sampling interval Ts
+        params = Path(__file__).parent.joinpath("ml/params/0x1d76628065a71e0f.pickle")
+        add_Ts = False
+    else:
+        # this set of parameters was trained on sampling rates from 40 to 200 Hz
+        params = Path(__file__).parent.joinpath("ml/params/0x13e3518065c21cd8.pickle")
+        add_Ts = True
+
+    ringnet = ml.RING(
+        params=params, lam=None if lam is None else tuple(lam), jit=False, name="RING"
     )
+    ringnet = ml.base.ScaleX_FilterWrapper(ringnet)
+    if config["use_lpf"]:
+        ringnet = ml.base.LPF_FilterWrapper(
+            ringnet,
+            config["lpf_cutoff_freq"],
+            samp_freq=None if Ts is None else 1 / Ts,
+            quiet=True,
+        )
     ringnet = ml.base.GroundTruthHeading_FilterWrapper(ringnet)
-    ringnet = ml.base.AddTs_FilterWrapper(ringnet, Ts)
+    if add_Ts:
+        ringnet = ml.base.AddTs_FilterWrapper(ringnet, Ts)
     return ringnet
 
 

ring/algorithms/__init__.py

@@ -10,21 +10,11 @@ from .dynamics import compute_mass_matrix
 from .dynamics import forward_dynamics
 from .dynamics import inverse_dynamics
 from .dynamics import step
-from .generator import batch_generators_eager
-from .generator import batch_generators_eager_to_list
-from .generator import batch_generators_lazy
-from .generator import batched_generator_from_list
-from .generator import batched_generator_from_paths
 from .generator import FINALIZE_FN
 from .generator import Generator
-from .generator import GeneratorPipe
-from .generator import GeneratorTrafo
-from .generator import GeneratorTrafoExpandFlatten
-from .generator import GeneratorTrafoRandomizePositions
-from .generator import GeneratorTrafoRemoveInputExtras
-from .generator import GeneratorTrafoRemoveOutputExtras
 from .generator import RCMG
 from .generator import SETUP_FN
+from .generator.finalize_fns import GeneratorTrafoExpandFlatten
 from .jcalc import get_joint_model
 from .jcalc import jcalc_motion
 from .jcalc import jcalc_tau

ring/algorithms/generator/__init__.py

@@ -1,25 +1,11 @@
 from . import base
 from . import batch
+from . import finalize_fns
 from . import motion_artifacts
 from . import pd_control
-from . import randomize
-from . import transforms
+from . import setup_fns
 from . import types
-from .base import GeneratorPipe
-from .base import GeneratorTrafoRemoveInputExtras
-from .base import GeneratorTrafoRemoveOutputExtras
 from .base import RCMG
-from .batch import batch_generators_eager
-from .batch import batch_generators_eager_to_list
-from .batch import batch_generators_lazy
-from .batch import batched_generator_from_list
-from .batch import batched_generator_from_paths
-from .randomize import randomize_anchors
-from .randomize import randomize_hz
-from .randomize import randomize_hz_finalize_fn_factory
-from .transforms import GeneratorTrafoExpandFlatten
-from .transforms import GeneratorTrafoRandomizePositions
 from .types import FINALIZE_FN
 from .types import Generator
-from .types import GeneratorTrafo
 from .types import SETUP_FN