imt-ring 1.6.1__tar.gz → 1.6.2__tar.gz

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  1. {imt_ring-1.6.1 → imt_ring-1.6.2}/PKG-INFO +1 -1
  2. {imt_ring-1.6.1 → imt_ring-1.6.2}/pyproject.toml +1 -1
  3. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/imt_ring.egg-info/PKG-INFO +1 -1
  4. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/sensors.py +4 -2
  5. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/maths.py +1 -1
  6. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/rendering/mujoco_render.py +4 -1
  7. {imt_ring-1.6.1 → imt_ring-1.6.2}/readme.md +0 -0
  8. {imt_ring-1.6.1 → imt_ring-1.6.2}/setup.cfg +0 -0
  9. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/imt_ring.egg-info/SOURCES.txt +0 -0
  10. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/imt_ring.egg-info/dependency_links.txt +0 -0
  11. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/imt_ring.egg-info/requires.txt +0 -0
  12. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/imt_ring.egg-info/top_level.txt +0 -0
  13. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/__init__.py +0 -0
  14. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algebra.py +0 -0
  15. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/__init__.py +0 -0
  16. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/_random.py +0 -0
  17. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/custom_joints/__init__.py +0 -0
  18. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/custom_joints/rr_imp_joint.py +0 -0
  19. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/custom_joints/rr_joint.py +0 -0
  20. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/custom_joints/suntay.py +0 -0
  21. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/dynamics.py +0 -0
  22. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/__init__.py +0 -0
  23. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/base.py +0 -0
  24. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/batch.py +0 -0
  25. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/finalize_fns.py +0 -0
  26. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/motion_artifacts.py +0 -0
  27. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/pd_control.py +0 -0
  28. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/setup_fns.py +0 -0
  29. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/generator/types.py +0 -0
  30. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/jcalc.py +0 -0
  31. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/kinematics.py +0 -0
  32. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/base.py +0 -0
  33. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/__init__.py +0 -0
  34. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/branched.xml +0 -0
  35. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/exclude/knee_trans_dof.xml +0 -0
  36. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/exclude/standard_sys.xml +0 -0
  37. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/exclude/standard_sys_rr_imp.xml +0 -0
  38. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/inv_pendulum.xml +0 -0
  39. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/knee_flexible_imus.xml +0 -0
  40. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/spherical_stiff.xml +0 -0
  41. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/symmetric.xml +0 -0
  42. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_all_1.xml +0 -0
  43. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_all_2.xml +0 -0
  44. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_ang0_pos0.xml +0 -0
  45. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_control.xml +0 -0
  46. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_double_pendulum.xml +0 -0
  47. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_free.xml +0 -0
  48. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_kinematics.xml +0 -0
  49. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_morph_system/four_seg_seg1.xml +0 -0
  50. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_morph_system/four_seg_seg3.xml +0 -0
  51. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_randomize_position.xml +0 -0
  52. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_sensors.xml +0 -0
  53. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples/test_three_seg_seg2.xml +0 -0
  54. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/examples.py +0 -0
  55. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/test_examples.py +0 -0
  56. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/xml/__init__.py +0 -0
  57. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/xml/abstract.py +0 -0
  58. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/xml/from_xml.py +0 -0
  59. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/xml/test_from_xml.py +0 -0
  60. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/xml/test_to_xml.py +0 -0
  61. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/io/xml/to_xml.py +0 -0
  62. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/__init__.py +0 -0
  63. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/base.py +0 -0
  64. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/callbacks.py +0 -0
  65. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/ml_utils.py +0 -0
  66. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/optimizer.py +0 -0
  67. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/params/0x13e3518065c21cd8.pickle +0 -0
  68. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/params/0x1d76628065a71e0f.pickle +0 -0
  69. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/ringnet.py +0 -0
  70. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/rnno_v1.py +0 -0
  71. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/train.py +0 -0
  72. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/training_loop.py +0 -0
  73. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/rendering/__init__.py +0 -0
  74. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/rendering/base_render.py +0 -0
  75. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/rendering/vispy_render.py +0 -0
  76. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/rendering/vispy_visuals.py +0 -0
  77. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/sim2real/__init__.py +0 -0
  78. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/sim2real/sim2real.py +0 -0
  79. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/spatial.py +0 -0
  80. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/sys_composer/__init__.py +0 -0
  81. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/sys_composer/delete_sys.py +0 -0
  82. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/sys_composer/inject_sys.py +0 -0
  83. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/sys_composer/morph_sys.py +0 -0
  84. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/__init__.py +0 -0
  85. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/backend.py +0 -0
  86. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/batchsize.py +0 -0
  87. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/colab.py +0 -0
  88. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/hdf5.py +0 -0
  89. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/normalizer.py +0 -0
  90. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/path.py +0 -0
  91. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/randomize_sys.py +0 -0
  92. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/register_gym_envs/__init__.py +0 -0
  93. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/register_gym_envs/saddle.py +0 -0
  94. {imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/utils/utils.py +0 -0
  95. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_algebra.py +0 -0
  96. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_base.py +0 -0
  97. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_custom_joints.py +0 -0
  98. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_dynamics.py +0 -0
  99. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_generator.py +0 -0
  100. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_jcalc.py +0 -0
  101. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_jit.py +0 -0
  102. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_kinematics.py +0 -0
  103. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_maths.py +0 -0
  104. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_ml_utils.py +0 -0
  105. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_motion_artifacts.py +0 -0
  106. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_pd_control.py +0 -0
  107. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_quickstart_example.py +0 -0
  108. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_random.py +0 -0
  109. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_randomize.py +0 -0
  110. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_rcmg.py +0 -0
  111. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_render.py +0 -0
  112. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_sensors.py +0 -0
  113. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_sim2real.py +0 -0
  114. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_sys_composer.py +0 -0
  115. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_train.py +0 -0
  116. {imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_utils.py +0 -0
{imt_ring-1.6.1 → imt_ring-1.6.2}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
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2
  Name: imt-ring
3
- Version: 1.6.1
3
+ Version: 1.6.2
4
4
  Summary: RING: Recurrent Inertial Graph-based Estimator
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  Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
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6
  Project-URL: Homepage, https://github.com/SimiPixel/ring
{imt_ring-1.6.1 → imt_ring-1.6.2}/pyproject.toml RENAMED
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
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4
 
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  [project]
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  name = "imt-ring"
7
- version = "1.6.1"
7
+ version = "1.6.2"
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8
  authors = [
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  { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
10
10
  ]
{imt_ring-1.6.1 → imt_ring-1.6.2}/src/imt_ring.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
2
2
  Name: imt-ring
3
- Version: 1.6.1
3
+ Version: 1.6.2
4
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  Summary: RING: Recurrent Inertial Graph-based Estimator
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  Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
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  Project-URL: Homepage, https://github.com/SimiPixel/ring
{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algorithms/sensors.py RENAMED
@@ -341,7 +341,8 @@ def root_incl(
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  def f(_, __, name: str, parent: int):
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  if parent != -1:
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  return
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- y[name] = maths.quat_project(rots[l_map[name]], jnp.array([0.0, 0, 1]))[1]
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+ q_eps_to_i = maths.quat_project(rots[l_map[name]], jnp.array([0.0, 0, 1]))[1]
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+ y[name] = maths.quat_inv(q_eps_to_i)
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  sys.scan(f, "ll", sys.link_names, sys.link_parents)
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@@ -360,7 +361,8 @@ def root_full(
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  def f(_, __, name: str, parent: int):
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  if parent != -1:
362
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  return
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- y[name] = rots[l_map[name]]
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+ q_eps_to_i = rots[l_map[name]]
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+ y[name] = maths.quat_inv(q_eps_to_i)
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  sys.scan(f, "ll", sys.link_names, sys.link_parents)
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/maths.py RENAMED
@@ -119,7 +119,7 @@ def quat_inv(q: jnp.ndarray) -> jnp.ndarray:
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  @partial(jnp.vectorize, signature="(3),(4)->(3)")
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  def rotate(vector: jnp.ndarray, quat: jnp.ndarray):
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- """Rotates a vector `vector` by a *unit* quaternion `quat`."""
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+ """Rotates a vector `vector` by a *unit* quaternion `quat`. q x vec x q^*"""
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  qvec = jnp.array([0, *vector])
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  return rotate_quat(qvec, quat)[1:4]
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/rendering/mujoco_render.py RENAMED
@@ -157,13 +157,16 @@ def _array_to_str(arr: Sequence[float]) -> str:
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  return "".join(["{:.4f} ".format(np.round(value, 4)) for value in arr])[:-1]
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+ _default_lights = {-1: '<light pos="0 0 4" dir="0 0 -1"/>'}
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+
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+
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  class MujocoScene:
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  def __init__(
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  self,
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  height: int = 240,
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  width: int = 320,
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  add_cameras: dict[int, str | Sequence[str]] = {},
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- add_lights: dict[int, str | Sequence[str]] = {},
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+ add_lights: dict[int, str | Sequence[str]] = _default_lights,
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  show_stars: bool = True,
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  show_floor: bool = True,
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  debug: bool = False,
{imt_ring-1.6.1 → imt_ring-1.6.2}/readme.md RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/setup.cfg RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/__init__.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/algebra.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/base.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/base.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/ml/train.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/src/ring/spatial.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_algebra.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_base.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_jcalc.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_jit.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_maths.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_random.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_rcmg.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_render.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_sensors.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_train.py RENAMED
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{imt_ring-1.6.1 → imt_ring-1.6.2}/tests/test_utils.py RENAMED
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