imt-ring 1.5.0__tar.gz → 1.5.1__tar.gz

{imt_ring-1.5.0 → imt_ring-1.5.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.5.0
+Version: 1.5.1
 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-1.5.0 → imt_ring-1.5.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.5.0"
+version = "1.5.1"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.5.0 → imt_ring-1.5.1}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.5.0
+Version: 1.5.1
 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-1.5.0 → imt_ring-1.5.1}/src/ring/algorithms/generator/base.py

@@ -34,7 +34,7 @@ class RCMG:
         randomize_motion_artifacts: bool = False,
         randomize_joint_params: bool = False,
         imu_motion_artifacts: bool = False,
-        imu_motion_artifacts_kwargs: dict = dict(hide_injected_bodies=True),
+        imu_motion_artifacts_kwargs: dict = dict(),
         dynamic_simulation: bool = False,
         dynamic_simulation_kwargs: dict = dict(),
         output_transform: Optional[Callable] = None,
@@ -50,9 +50,6 @@ class RCMG:
         for c in config:
             assert c.is_feasible()
 
-        if cor:
-            sys = [s._replace_free_with_cor() for s in sys]
-
         self.gens = []
         for _sys in sys:
             self.gens.append(
@@ -78,6 +75,7 @@ class RCMG:
                     output_transform=output_transform,
                     keep_output_extras=keep_output_extras,
                     use_link_number_in_Xy=use_link_number_in_Xy,
+                    cor=cor,
                 )
             )
 
@@ -238,6 +236,7 @@ def _build_mconfig_batched_generator(
     output_transform: Callable | None,
     keep_output_extras: bool,
     use_link_number_in_Xy: bool,
+    cor: bool,
 ) -> types.BatchedGenerator:
 
     if add_X_jointaxes or add_y_relpose or add_y_rootincl:
@@ -284,13 +283,17 @@ def _build_mconfig_batched_generator(
         for f in pipe:
             key, consume = jax.random.split(key)
             sys = f(consume, sys)
+        if cor:
+            sys = sys._replace_free_with_cor()
         return sys
 
     def _finalize_fn(Xy: types.Xy, extras: types.OutputExtras):
         pipe = []
         if dynamic_simulation:
             pipe.append(finalize_fns.DynamicalSimulation(**dynamic_simulation_kwargs))
-        if imu_motion_artifacts and imu_motion_artifacts_kwargs["hide_injected_bodies"]:
+        if imu_motion_artifacts and imu_motion_artifacts_kwargs.get(
+            "hide_injected_bodies", True
+        ):
             pipe.append(motion_artifacts.HideInjectedBodies())
         if finalize_fn is not None:
             pipe.append(finalize_fns.FinalizeFn(finalize_fn))
@@ -312,15 +315,15 @@ def _build_mconfig_batched_generator(
         return Xy, extras
 
     def _gen(key: types.PRNGKey):
+        key, *consume = jax.random.split(key, len(config) + 1)
+        syss = jax.vmap(_setup_fn, (0, None))(jnp.array(consume), sys)
+
         qs = []
-        for _config in config:
-            key, _q = draw_random_q(key, sys, _config)
+        for i, _config in enumerate(config):
+            key, _q = draw_random_q(key, syss[i], _config)
             qs.append(_q)
         qs = jnp.stack(qs)
 
-        key, *consume = jax.random.split(key, len(config) + 1)
-        syss = jax.vmap(_setup_fn, (0, None))(jnp.array(consume), sys)
-
         @jax.vmap
         def _vmapped_context(key, q, sys):
             x, _ = jax.vmap(kinematics.forward_kinematics_transforms, (None, 0))(sys, q)

{imt_ring-1.5.0 → imt_ring-1.5.1}/src/ring/algorithms/generator/motion_artifacts.py

@@ -1,3 +1,4 @@
+import inspect
 import warnings
 
 import jax
@@ -127,6 +128,7 @@ def setup_fn_randomize_damping_stiffness_factory(
     prob_rigid: float = 0.0,
     all_imus_either_rigid_or_flex: bool = False,
     imus_surely_rigid: list[str] = [],
+    **kwargs,
 ):
     assert 0 <= prob_rigid <= 1
     assert prob_rigid != 1, "Use `imu_motion_artifacts`=False instead."
@@ -198,6 +200,18 @@ def setup_fn_randomize_damping_stiffness_factory(
     return setup_fn_randomize_damping_stiffness
 
 
+# assert that there exists no keyword arg duplicate which would induce ambiguity
+kwargs = lambda f: set(inspect.signature(f).parameters.keys())
+assert (
+    len(
+        kwargs(inject_subsystems).intersection(
+            kwargs(setup_fn_randomize_damping_stiffness_factory)
+        )
+    )
+    == 1
+)
+
+
 def _match_q_x_between_sys(
     sys_small: base.System,
     q_large: jax.Array,

{imt_ring-1.5.0 → imt_ring-1.5.1}/tests/test_custom_joints.py

@@ -41,13 +41,13 @@ def test_virtual_input_joint_axes_rr_joint():
     X = pipeline_load_data_X(sys)
 
     np.testing.assert_allclose(
-        X["seg1"]["joint_axes"],
+        -X["seg1"]["joint_axes"],
         np.repeat(np.array([[0.0, 1, 0]]), 1000, axis=0),
         atol=4e-7,
     )
     np.testing.assert_allclose(
-        X["seg3"]["joint_axes"],
-        np.repeat(-np.array([[0.0, 0, 1]]), 1000, axis=0),
+        -X["seg3"]["joint_axes"],
+        np.repeat(np.array([[0.0, 0, 1]]), 1000, axis=0),
         atol=5e-7,
     )
 
@@ -56,13 +56,13 @@ def test_virtual_input_joint_axes_rr_joint():
 
     np.testing.assert_allclose(
         X["seg1"]["joint_axes"],
-        np.repeat(joint_axes[1:2], 1000, axis=0),
+        np.repeat(-joint_axes[1:2], 1000, axis=0),
         atol=4e-7,
         rtol=2e-4,
     )
     np.testing.assert_allclose(
-        X["seg3"]["joint_axes"],
-        np.repeat(-joint_axes[3:4], 1000, axis=0),
+        -X["seg3"]["joint_axes"],
+        np.repeat(joint_axes[3:4], 1000, axis=0),
         atol=3e-7,
         rtol=2e-6,
     )
@@ -83,13 +83,13 @@ def test_virtual_input_joint_axes_rr_imp_joint():
     X = pipeline_load_data_X(sys_rr_imp)
 
     np.testing.assert_allclose(
-        X["seg1"]["joint_axes"],
+        -X["seg1"]["joint_axes"],
         np.repeat(joint_axes[1:2], 1000, axis=0),
         atol=0.01,
         rtol=0.02,
     )
     np.testing.assert_allclose(
-        X["seg3"]["joint_axes"],
+        -X["seg3"]["joint_axes"],
         np.repeat(joint_axes[3:4], 1000, axis=0),
         atol=0.01,
         rtol=0.032,
@@ -101,7 +101,7 @@ def test_virtual_input_joint_axes_rr_imp_joint():
     X = pipeline_load_data_X(sys)
 
     np.testing.assert_allclose(
-        X["seg1"]["joint_axes"],
+        -X["seg1"]["joint_axes"],
         np.repeat(np.array([[0.0, 1, 0]]), 1000, axis=0),
         atol=4e-7,
     )

{imt_ring-1.5.0 → imt_ring-1.5.1}/tests/test_pd_control.py

@@ -58,7 +58,7 @@ def test_pd_control():
     controller = _pd_control(gains, gains)
     q, q_reconst = evaluate(controller, "test_free")
     error = jnp.sqrt(jnp.mean((q - q_reconst) ** 2))
-    assert error <= 0.5
+    assert error <= 0.502
 
     gains = jnp.array([50.0, 50.0])
     controller = _pd_control(gains, gains * 0.1)