imt-ring 1.6.14__py3-none-any.whl → 1.6.16__py3-none-any.whl

{imt_ring-1.6.14.dist-info → imt_ring-1.6.16.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.14
+Version: 1.6.16
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring
@@ -32,11 +32,11 @@ Requires-Dist: pytest-xdist ; extra == 'dev'
 Requires-Dist: nbmake ; extra == 'dev'
 
 <p align="center">
-<img src="https://raw.githubusercontent.com/SimiPixel/ring/main/docs/img/icon.svg" height="200" />
+<img src="https://raw.githubusercontent.com/simon-bachhuber/ring/main/docs/img/icon.svg" height="200" />
 </p>
 
 # Recurrent Inertial Graph-based Estimator (RING)
-<img src="https://raw.githubusercontent.com/SimiPixel/ring/main/docs/img/coverage_badge.svg" height="20" />
+<img src="https://raw.githubusercontent.com/simon-bachhuber/ring/main/docs/img/coverage_badge.svg" height="20" />
 
 ## Installation
 

{imt_ring-1.6.14.dist-info → imt_ring-1.6.16.dist-info}/RECORD

@@ -6,7 +6,7 @@ ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=fc26yEQjSjtf0NluZ41CyeGIRci0ldrRlThueHR9H7U,14007
 ring/algorithms/dynamics.py,sha256=GOedL1STj6oXcXgMA7dB4PabvCQxPBbirJQhXBRuKqE,10929
-ring/algorithms/jcalc.py,sha256=bwfVH3qKEnUs6RFgEEeUBnecpBt-nf8cesJbNGDrE7g,28974
+ring/algorithms/jcalc.py,sha256=Gi2fjZojwptEGT0ChVsZ_ktIfj_j9-3EjPKND7tuHxg,29020
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 ring/algorithms/sensors.py,sha256=0xOzdQIc1kBF0CkoPXWWCx3MmV4SG3wj7knVnnMWq9M,18124
 ring/algorithms/custom_joints/__init__.py,sha256=fzeE7TdUhmGgbbFAyis1tKcyQ4Fo8LigDwD3hUVnH_w,316
@@ -16,7 +16,7 @@ ring/algorithms/custom_joints/suntay.py,sha256=tOEGM304XciHO4pmvxr4faA4xXVO4N2Hl
 ring/algorithms/generator/__init__.py,sha256=bF-CW3x2x-o6KWESKy-DuxzZPh3UNSjJb_MaAcSHGsQ,277
 ring/algorithms/generator/base.py,sha256=vxUdA0ZeSNH3SOanL51qVRvCiJrmsWQyQX0g2fdm3Rg,15825
 ring/algorithms/generator/batch.py,sha256=9yFxVv11hij-fJXGPxA3zEh1bE2_jrZk0R7kyGaiM5c,2551
-ring/algorithms/generator/finalize_fns.py,sha256=559sGXs06n46p-eme0SE8hn0lXwGT0P2r3-52ElTldo,9861
+ring/algorithms/generator/finalize_fns.py,sha256=_Ao5ASfY53sNRw2hEBlvpvr55xmcA6BqAoQBR04BWEE,9987
 ring/algorithms/generator/motion_artifacts.py,sha256=2VJbldVDbI3PSyboshIbtYvSAKzBBwGV7cQfYjqvluM,9167
 ring/algorithms/generator/pd_control.py,sha256=XJ_Gd5AkIRh-jBrMfQyMXjVwhx2gCNHznjzFbmAwhZs,5767
 ring/algorithms/generator/setup_fns.py,sha256=MFz3czHBeWs1Zk1A8O02CyQpQ-NCyW9PMpbqmKit6es,1455
@@ -55,8 +55,8 @@ ring/ml/base.py,sha256=lfwEZLBDglOSRWChUHoH1kezefhttPV9TMEpNIqsMNw,9972
 ring/ml/callbacks.py,sha256=W19QF6_uvaNCjs8ObsjNXD7mv9gFgJBixdRSbB_BynE,13301
 ring/ml/ml_utils.py,sha256=1GXJfeoXbwCbRdYA2np3CbJpSupaw4eyf3quh9y4BO0,6462
 ring/ml/optimizer.py,sha256=fWyF__ezUltrA16SLfOC1jvS3zBh9NJsMYa6-V0frhs,4709
-ring/ml/ringnet.py,sha256=Tb2WJ_cc5L3mk1lo0NOfkpXIzJZXf4PJ5aLPtHQyUmY,8650
-ring/ml/rnno_v1.py,sha256=pciltx7dR_yhFv2g8BvfV0VPgKm0HxXDxL2YjBPBaKQ,1400
+ring/ml/ringnet.py,sha256=mef7jyN2QcApJmQGH3HYZyTV-00q8YpsYOKhW0-ku1k,8973
+ring/ml/rnno_v1.py,sha256=2qE08OIvTJ5PvSxKpYGzGSrvEImWrdAT_qslZ7jP5tA,1372
 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
@@ -84,7 +84,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=tJaWXLGOTwkxJQj2l23dX97wO3aZYhM2qd7eNuMRs84,6907
 ring/utils/register_gym_envs/__init__.py,sha256=PtPIRBQJ16339xZ9G9VpvqrvcGbQ_Pk_SUz4tQPa9nQ,94
 ring/utils/register_gym_envs/saddle.py,sha256=tA5CyW_akSXyDm0xJ83CtOrUMVElH0f9vZtEDDJQalI,4422
-imt_ring-1.6.14.dist-info/METADATA,sha256=ZWWkJ_qO8O2KkW1m_HnXoz22H7ivmg7Qk4j7hEIgy9k,3821
-imt_ring-1.6.14.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-imt_ring-1.6.14.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.14.dist-info/RECORD,,
+imt_ring-1.6.16.dist-info/METADATA,sha256=uD0Ot4vDRqXVKrs0Chy9uHk2omhEk8FowBtjfLJGnXg,3833
+imt_ring-1.6.16.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
+imt_ring-1.6.16.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.16.dist-info/RECORD,,

{imt_ring-1.6.14.dist-info → imt_ring-1.6.16.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.1.0)
+Generator: setuptools (75.3.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/algorithms/generator/finalize_fns.py

@@ -182,13 +182,16 @@ class DynamicalSimulation:
 
     @staticmethod
     def assert_test_system(sys: base.System) -> None:
-        "test that system has no zero mass bodies and no joints without damping"
+        "test that system has no zero mass leaf bodies and no joints without damping"
 
         def f(_, __, n, m, d):
-            assert d.size == 0 or m > 0, (
-                "Dynamic simulation is set to `True` which requires masses >= 0, "
-                f"but found body `{n}` with mass={float(m[0])}. This can lead to NaNs."
-            )
+            is_leaf_body = len(sys.children(n)) == 0
+            if is_leaf_body:
+                assert d.size == 0 or m > 0, (
+                    "Dynamic simulation is set to `True` which requires masses >= 0, "
+                    f"but found body `{n}` with mass={float(m[0])}. This can lead to "
+                    "NaNs."
+                )
 
             assert d.size == 0 or all(d > 0.0), (
                 "Dynamic simulation is set to `True` which requires dampings > 0, "

ring/algorithms/jcalc.py

@@ -222,7 +222,9 @@ def _is_feasible_config1(c: MotionConfig) -> bool:
     def inside_box_checks(x_min, x_max, x0_min, x0_max) -> bool:
         return (x0_min >= x_min) and (x0_max <= x_max)
 
-    cond2 = inside_box_checks(c.pos_min, c.pos_max, c.pos0_min, c.pos0_max)
+    cond2 = inside_box_checks(
+        _to_float(c.pos_min, 0.0), _to_float(c.pos_max, 0.0), c.pos0_min, c.pos0_max
+    )
 
     return cond1 and cond2
 

ring/ml/ringnet.py

@@ -87,6 +87,7 @@ def make_ring(
     link_output_normalize: bool = True,
     link_output_transform: Optional[Callable] = None,
     layernorm: bool = True,
+    layernorm_trainable: bool = True,
 ) -> SimpleNamespace:
 
     if link_output_normalize:
@@ -104,7 +105,11 @@ def make_ring(
         )
 
         inner_cell = StackedRNNCell(
-            celltype, hidden_state_dim, stack_rnn_cells, layernorm=layernorm
+            celltype,
+            hidden_state_dim,
+            stack_rnn_cells,
+            layernorm=layernorm,
+            layernorm_trainable=layernorm_trainable,
         )
         send_output = hk.nets.MLP([hidden_state_dim, link_output_dim])
         state = hk.get_state(
@@ -143,6 +148,7 @@ class StackedRNNCell(hk.Module):
         hidden_state_dim,
         stacks: int,
         layernorm: bool = False,
+        layernorm_trainable: bool = True,
         name: str | None = None,
     ):
         super().__init__(name)
@@ -150,6 +156,7 @@ class StackedRNNCell(hk.Module):
 
         self.cells = [cell(hidden_state_dim) for _ in range(stacks)]
         self.layernorm = layernorm
+        self.layernorm_trainable = layernorm_trainable
 
     def __call__(self, x, state):
         output = x
@@ -159,7 +166,9 @@ class StackedRNNCell(hk.Module):
             next_state.append(next_state_i)
 
             if self.layernorm:
-                output = hk.LayerNorm(-1, True, True)(output)
+                output = hk.LayerNorm(
+                    -1, self.layernorm_trainable, self.layernorm_trainable
+                )(output)
 
         return output, jnp.stack(next_state)
 
@@ -175,7 +184,7 @@ class LSTM(hk.RNNCore):
         prev_state: jax.Array,
     ):
         if len(inputs.shape) > 2 or not inputs.shape:
-            raise ValueError("LSTM input must be rank-1 or rank-2.")
+            raise ValueError(f"LSTM input must be rank-1 or rank-2; not {inputs.shape}")
         prev_state_h = prev_state[: self.hidden_size]
         prev_state_c = prev_state[self.hidden_size :]
         x_and_h = jnp.concatenate([inputs, prev_state_h], axis=-1)

ring/ml/rnno_v1.py

@@ -33,13 +33,12 @@ def rnno_v1_forward_factory(
     @hk.transform_with_state
     def forward_fn(X):
         assert X.shape[-2] == 1
+        X = X[..., 0, :]
 
         for i, n_units in enumerate(rnn_layers):
-            state = hk.get_state(
-                f"rnn_{i}", shape=[1, n_units * _factor], init=jnp.zeros
-            )
-            X, state = hk.dynamic_unroll(_cell(n_units), X[..., 0, :], state[0])
-            hk.set_state(f"rnn_{i}", state[None])
+            state = hk.get_state(f"rnn_{i}", shape=[n_units * _factor], init=jnp.zeros)
+            X, state = hk.dynamic_unroll(_cell(n_units), X, state)
+            hk.set_state(f"rnn_{i}", state)
 
             if layernorm:
                 X = hk.LayerNorm(axis=-1, create_scale=False, create_offset=False)(X)