imt-ring 1.4.0__tar.gz → 1.4.1__tar.gz

{imt_ring-1.4.0 → imt_ring-1.4.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.4.0
+Version: 1.4.1
 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 → imt_ring-1.4.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.4.0"
+version = "1.4.1"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.4.0 → imt_ring-1.4.1}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.4.0
+Version: 1.4.1
 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 → imt_ring-1.4.1}/src/imt_ring.egg-info/SOURCES.txt

@@ -68,6 +68,7 @@ src/ring/ml/rnno_v1.py
 src/ring/ml/train.py
 src/ring/ml/training_loop.py
 src/ring/ml/params/0x13e3518065c21cd8.pickle
+src/ring/ml/params/0x1d76628065a71e0f.pickle
 src/ring/rendering/__init__.py
 src/ring/rendering/base_render.py
 src/ring/rendering/mujoco_render.py

{imt_ring-1.4.0 → imt_ring-1.4.1}/src/ring/__init__.py

@@ -69,21 +69,34 @@ def RING(lam: list[int], Ts: float | None):
     from pathlib import Path
     import warnings
 
-    if Ts > (1 / 40) or Ts < (1 / 200):
+    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)
+    if Ts is not None and Ts == 0.01:
+        # 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=tuple(lam), jit=False, name="RING")
     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
+        ringnet,
+        ml._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
 
 

{imt_ring-1.4.0 → imt_ring-1.4.1}/src/ring/ml/base.py

@@ -144,11 +144,13 @@ class LPF_FilterWrapper(AbstractFilterWrapper):
         cutoff_freq: float,
         samp_freq: float | None,
         filtfilt: bool = True,
+        quiet: bool = False,
         name="LPF_FilterWrapper",
     ) -> None:
         super().__init__(filter, name)
         self.samp_freq = samp_freq
         self._kwargs = dict(cutoff_freq=cutoff_freq, filtfilt=filtfilt)
+        self.quiet = quiet
 
     def apply(self, X, params=None, state=None, y=None, lam=None):
         if X.ndim == 4:
@@ -166,7 +168,7 @@ class LPF_FilterWrapper(AbstractFilterWrapper):
                 dt = X[0, 0, -1]
                 samp_freq = 1 / dt
 
-        if self.samp_freq is None:
+        if self.samp_freq is None and not self.quiet:
             print(f"Detected the following sampling rates from `X`: {samp_freq}")
 
         yhat, state = super().apply(X, params, state, y, lam)
@@ -293,7 +295,9 @@ class NoGraph_FilterWrapper(AbstractFilterWrapper):
 
 
 class AddTs_FilterWrapper(AbstractFilterWrapper):
-    def __init__(self, filter: AbstractFilter, Ts: float | None, name=None) -> None:
+    def __init__(
+        self, filter: AbstractFilter, Ts: float | None, name="AddTs_FilterWrapper"
+    ) -> None:
         super().__init__(filter, name)
         self.Ts = Ts