imt-ring 1.6.15__tar.gz → 1.6.17__tar.gz

{imt_ring-1.6.15 → imt_ring-1.6.17}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.15
+Version: 1.6.17
 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-1.6.15 → imt_ring-1.6.17}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.15"
+version = "1.6.17"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.15 → imt_ring-1.6.17}/readme.md

@@ -1,9 +1,9 @@
 <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-1.6.15 → imt_ring-1.6.17}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.15
+Version: 1.6.17
 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-1.6.15 → imt_ring-1.6.17}/src/imt_ring.egg-info/SOURCES.txt

@@ -20,6 +20,7 @@ src/ring/algorithms/sensors.py
 src/ring/algorithms/custom_joints/__init__.py
 src/ring/algorithms/custom_joints/rr_imp_joint.py
 src/ring/algorithms/custom_joints/rr_joint.py
+src/ring/algorithms/custom_joints/rsaddle_joint.py
 src/ring/algorithms/custom_joints/suntay.py
 src/ring/algorithms/generator/__init__.py
 src/ring/algorithms/generator/base.py

{imt_ring-1.6.15 → imt_ring-1.6.17}/src/ring/__init__.py

@@ -121,6 +121,7 @@ _UNIQUE_ID = None
 def setup(
     rr_joint_kwargs: None | dict = dict(),
     rr_imp_joint_kwargs: None | dict = dict(),
+    rsaddle_joint_kwargs: None | dict = dict(),
     suntay_joint_kwargs: None | dict = None,
     train_timing_start: None | float = None,
     unique_id: None | str = None,
@@ -138,6 +139,9 @@ def setup(
     if rr_imp_joint_kwargs is not None:
         custom_joints.register_rr_imp_joint(**rr_imp_joint_kwargs)
 
+    if rsaddle_joint_kwargs is not None:
+        custom_joints.register_rsaddle_joint(**rsaddle_joint_kwargs)
+
     if suntay_joint_kwargs is not None:
         custom_joints.register_suntay(**suntay_joint_kwargs)
 

{imt_ring-1.6.15 → imt_ring-1.6.17}/src/ring/algorithms/custom_joints/__init__.py

@@ -1,5 +1,6 @@
 from .rr_imp_joint import register_rr_imp_joint
 from .rr_joint import register_rr_joint
+from .rsaddle_joint import register_rsaddle_joint
 from .suntay import ConstantValue_DrawnFnPair
 from .suntay import GP_DrawFnPair
 from .suntay import MLP_DrawnFnPair

imt_ring-1.6.17/src/ring/algorithms/custom_joints/rsaddle_joint.py

@@ -0,0 +1,40 @@
+import jax.numpy as jnp
+
+import ring
+from ring import maths
+from ring.algorithms.jcalc import _draw_saddle
+from ring.algorithms.jcalc import _p_control_term_rxyz
+from ring.algorithms.jcalc import _qd_from_q_cartesian
+
+
+def register_rsaddle_joint():
+    def _transform(q, params):
+        axes = params["joint_axes"]
+        rot1 = maths.quat_rot_axis(axes[0], q[0])
+        rot2 = maths.quat_rot_axis(axes[1], q[1])
+        rot = maths.quat_mul(rot2, rot1)
+        return ring.Transform.create(rot=rot)
+
+    def _motion_fn_gen(i: int):
+        def _motion_fn(params):
+            axis = params["joint_axes"][i]
+            return ring.base.Motion.create(ang=axis)
+
+        return _motion_fn
+
+    joint_model = ring.JointModel(
+        _transform,
+        motion=[_motion_fn_gen(i) for i in range(2)],
+        rcmg_draw_fn=_draw_saddle,
+        p_control_term=_p_control_term_rxyz,
+        qd_from_q=_qd_from_q_cartesian,
+        init_joint_params=_draw_random_joint_axes,
+    )
+
+    ring.register_new_joint_type("rsaddle", joint_model, 2, overwrite=True)
+
+
+def _draw_random_joint_axes(key):
+    return dict(
+        joint_axes=maths.rotate(jnp.array([1.0, 0, 0]), maths.quat_random(key, (2,)))
+    )

{imt_ring-1.6.15 → imt_ring-1.6.17}/src/ring/algorithms/generator/finalize_fns.py

@@ -160,6 +160,7 @@ _P_gains = {
     "spherical": jnp.array(3 * [P_rot]),
     "p3d": jnp.array(3 * [P_pos]),
     "saddle": jnp.array([P_rot, P_rot]),
+    "rsaddle": jnp.array([P_rot, P_rot]),
     "frozen": jnp.array([]),
     "suntay": jnp.array([P_rot]),
 }
@@ -182,13 +183,16 @@ 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, "

{imt_ring-1.6.15 → imt_ring-1.6.17}/src/ring/algorithms/jcalc.py

@@ -1,3 +1,4 @@
+from collections import defaultdict
 from dataclasses import asdict
 from dataclasses import dataclass
 from dataclasses import field
@@ -87,11 +88,39 @@ class MotionConfig:
         assert nomotion_config.is_feasible()
         return nomotion_config
 
+    @staticmethod
+    def overwrite_for_joint_type(joint_type: str, **changes) -> None:
+        """Changes values of the `MotionConfig` used by the draw_fn for only a specific
+        joint.
+        """
+        previous_changes = _overwrite_for_joint_type_changes[joint_type]
+        for change in changes:
+            assert change not in previous_changes, f"For jointtype={joint_type} you "
+            f"previously changed the value={change}. You can't change it again, this "
+            "is not supported."
+        previous_changes.update(changes)
+
+        jm = get_joint_model(joint_type)
+
+        def draw_fn(config, *args):
+            return jm.rcmg_draw_fn(replace(config, **changes), *args)
+
+        register_new_joint_type(
+            joint_type,
+            replace(jm, rcmg_draw_fn=draw_fn),
+            base.Q_WIDTHS[joint_type],
+            base.QD_WIDTHS[joint_type],
+            overwrite=True,
+        )
+
     @staticmethod
     def from_register(name: str) -> "MotionConfig":
         return _registered_motion_configs[name]
 
 
+_overwrite_for_joint_type_changes: dict[str, dict] = defaultdict(lambda: dict())
+
+
 _registered_motion_configs = {
     "hinUndHer": MotionConfig(
         t_min=0.3,
@@ -222,7 +251,9 @@ 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
 

{imt_ring-1.6.15 → imt_ring-1.6.17}/src/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)
 

{imt_ring-1.6.15 → imt_ring-1.6.17}/tests/test_rcmg.py

@@ -37,6 +37,7 @@ def test_batch_generator(N: int, seed: int):
 def test_initial_ang_pos_values():
     T = 1.0
     bs = 8
+    pos_min, pos_max = -5.0, 5.0
     # system consists only of prismatic, and then revolute joint
     sys = ring.io.load_example("test_ang0_pos0")
 
@@ -48,6 +49,8 @@ def test_initial_ang_pos_values():
                 ang0_max=ang0_max,
                 pos0_min=pos0_min,
                 pos0_max=pos0_max,
+                pos_min=pos_min,
+                pos_max=pos_max,
                 T=T,
             ),
             finalize_fn=lambda key, q, x, sys: (q, x),
@@ -55,7 +58,7 @@ def test_initial_ang_pos_values():
         q, _ = gen(jax.random.PRNGKey(1))
         return q
 
-    for init_val in np.linspace(-5.0, 5.0, num=10):
+    for init_val in np.linspace(pos_min, pos_max, num=10):
         q = rcmg(init_val, init_val, init_val, init_val)
         np.testing.assert_allclose(q[:, 0, 0], init_val * jnp.ones((bs,)))
         np.testing.assert_allclose(q[:, 0, 1], wrap_to_pi(init_val * jnp.ones((bs,))))