imt-ring 1.6.20__py3-none-any.whl → 1.6.21__py3-none-any.whl

{imt_ring-1.6.20.dist-info → imt_ring-1.6.21.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.20
+Version: 1.6.21
 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-1.6.20.dist-info → imt_ring-1.6.21.dist-info}/RECORD

@@ -4,7 +4,7 @@ ring/base.py,sha256=Ystn1EjTyOXBhVm5koroV_YPUYtFxrteJLd-XR3kEL8,33840
 ring/maths.py,sha256=qPHH6TpHCK3TgExI98gNEySoSRKOwteN9McUlyUFipI,12207
 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/_random.py,sha256=6QwV7EAE2ckDi7rSGXT1XcPhR5R-NU-J8HVa5DoPBSQ,14011
 ring/algorithms/dynamics.py,sha256=GOedL1STj6oXcXgMA7dB4PabvCQxPBbirJQhXBRuKqE,10929
 ring/algorithms/jcalc.py,sha256=kQgrRE0XoUBrcdeFbUw_xKnL4m1P2G1Q1m4n7BX2yDk,30064
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
@@ -15,9 +15,9 @@ ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXp
 ring/algorithms/custom_joints/rsaddle_joint.py,sha256=QoMo6NXdYgA9JygSzBvr0eCdd3qKhUgCrGPNO2Qdxko,1200
 ring/algorithms/custom_joints/suntay.py,sha256=tOEGM304XciHO4pmvxr4faA4xXVO4N2HlPdFmXKbcrw,16726
 ring/algorithms/generator/__init__.py,sha256=bF-CW3x2x-o6KWESKy-DuxzZPh3UNSjJb_MaAcSHGsQ,277
-ring/algorithms/generator/base.py,sha256=vxUdA0ZeSNH3SOanL51qVRvCiJrmsWQyQX0g2fdm3Rg,15825
+ring/algorithms/generator/base.py,sha256=Us25eMLQwB6rIVZuq1afwe2JqGSA8yKBIE9tr87HLfk,16270
 ring/algorithms/generator/batch.py,sha256=9yFxVv11hij-fJXGPxA3zEh1bE2_jrZk0R7kyGaiM5c,2551
-ring/algorithms/generator/finalize_fns.py,sha256=EZ5p7fuZu0Zd0rHJzCVg3vy3U9ysny6TfQfolIGPERc,10029
+ring/algorithms/generator/finalize_fns.py,sha256=nY2RKiLbHriTkdec94lc4UGSZKd0v547MDNn4dr8I3E,10398
 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
@@ -58,7 +58,7 @@ ring/ml/ml_utils.py,sha256=xqy9BnLy8IKVqkFS9mlZsGJXSbThI9zZxZ5rhl8LSI8,7144
 ring/ml/optimizer.py,sha256=TZF0_LmnewzmGVso-zIQJtpWguUW0fW3HeRpIdG_qoI,4763
 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/train.py,sha256=XuUUB0NhvByGtZDtS_weyp-TKPG9ErnKixS4NqB8q6M,10822
 ring/ml/training_loop.py,sha256=CEokvPQuuk_WCd-J60ZDodJYcPVvyxLfgXDr_DnbzRI,3359
 ring/ml/params/0x13e3518065c21cd8.pickle,sha256=Zh2k1zK-TNxJl5F7nyTeQ9001qqRE_dfvaq1HWV287A,9355838
 ring/ml/params/0x1d76628065a71e0f.pickle,sha256=YTNVuvfw-nCRD9BH1PZYcR9uCFpNWDhw8Lc50eDn_EE,9351038
@@ -86,7 +86,7 @@ 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-1.6.20.dist-info/METADATA,sha256=uOgzTpTz7MgDEIGhL7onaD_r64DlL6ALSnaT5t8u3HY,4097
-imt_ring-1.6.20.dist-info/WHEEL,sha256=a7TGlA-5DaHMRrarXjVbQagU3Man_dCnGIWMJr5kRWo,91
-imt_ring-1.6.20.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.20.dist-info/RECORD,,
+imt_ring-1.6.21.dist-info/METADATA,sha256=A7R1aabkG59Lz2ANQI7eOdFSAAeOPeAfvhgsAKzLw7w,4097
+imt_ring-1.6.21.dist-info/WHEEL,sha256=R06PA3UVYHThwHvxuRWMqaGcr-PuniXahwjmQRFMEkY,91
+imt_ring-1.6.21.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.21.dist-info/RECORD,,

{imt_ring-1.6.20.dist-info → imt_ring-1.6.21.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.4.0)
+Generator: setuptools (75.5.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/algorithms/_random.py

@@ -199,7 +199,7 @@ def random_position_over_time(
     POS = jnp.zeros((int(T // t_min) + 1, 2))
     POS = POS.at[0, 1].set(POS_0)
 
-    val_outer = (1, 0.0, 0.0, 0.0, 0.0, key, POS)
+    val_outer = (1, 0.0, 0.0, POS_0, POS_0, key, POS)
     end, *_, consume, POS = jax.lax.while_loop(cond_fn_outer, body_fn_outer, val_outer)
     POS = jnp.where(
         (jnp.arange(len(POS)) < end)[:, None],

ring/algorithms/generator/base.py

@@ -34,6 +34,8 @@ class RCMG:
         add_y_relpose: bool = False,
         add_y_rootincl: bool = False,
         add_y_rootincl_kwargs: dict = dict(),
+        add_y_rootfull: bool = False,
+        add_y_rootfull_kwargs: dict = dict(),
         sys_ml: Optional[base.System] = None,
         randomize_positions: bool = False,
         randomize_motion_artifacts: bool = False,
@@ -73,6 +75,8 @@ class RCMG:
                     add_y_relpose=add_y_relpose,
                     add_y_rootincl=add_y_rootincl,
                     add_y_rootincl_kwargs=add_y_rootincl_kwargs,
+                    add_y_rootfull=add_y_rootfull,
+                    add_y_rootfull_kwargs=add_y_rootfull_kwargs,
                     sys_ml=sys_ml,
                     randomize_positions=randomize_positions,
                     randomize_motion_artifacts=randomize_motion_artifacts,
@@ -279,6 +283,8 @@ def _build_mconfig_batched_generator(
     add_y_relpose: bool,
     add_y_rootincl: bool,
     add_y_rootincl_kwargs: dict,
+    add_y_rootfull: bool,
+    add_y_rootfull_kwargs: dict,
     sys_ml: base.System,
     randomize_positions: bool,
     randomize_motion_artifacts: bool,
@@ -365,7 +371,11 @@ def _build_mconfig_batched_generator(
         if add_y_relpose:
             pipe.append(finalize_fns.RelPose(sys_noimu))
         if add_y_rootincl:
+            assert not add_y_rootfull
             pipe.append(finalize_fns.RootIncl(sys_noimu, **add_y_rootincl_kwargs))
+        if add_y_rootfull:
+            assert not add_y_rootincl
+            pipe.append(finalize_fns.RootFull(sys_noimu, **add_y_rootfull_kwargs))
         if use_link_number_in_Xy:
             pipe.append(finalize_fns.Names2Indices(sys_noimu))
 

ring/algorithms/generator/finalize_fns.py

@@ -88,6 +88,18 @@ class RootIncl:
         return (X, y), (key, q, x, sys_x)
 
 
+class RootFull:
+    def __init__(self, sys: base.System, **kwargs):
+        self.sys = sys
+        self.kwargs = kwargs
+
+    def __call__(self, Xy, extras):
+        (X, y), (key, q, x, sys_x) = Xy, extras
+        y_root_incl = sensors.root_full(self.sys, x, sys_x, **self.kwargs)
+        y = utils.dict_union(y, y_root_incl)
+        return (X, y), (key, q, x, sys_x)
+
+
 _default_imu_kwargs = dict(
     noisy=True,
     low_pass_filter_pos_f_cutoff=13.5,

ring/ml/train.py

@@ -167,7 +167,10 @@ def train_fn(
         tbp=tbp,
     )
 
-    default_callbacks = []
+    # always log, because we also want `i_epsiode` to be logged in wandb
+    default_callbacks = [
+        ml_callbacks.LogEpisodeTrainingLoopCallback(callback_kill_after_episode)
+    ]
     if metrices is not None:
         eval_fn = _build_eval_fn(metrices, filter, link_names)
         default_callbacks.append(_DefaultEvalFnCallback(eval_fn))
@@ -192,11 +195,6 @@ def train_fn(
     if callback_kill_if_nan:
         default_callbacks.append(ml_callbacks.NanKillRunCallback())
 
-    # always log, because we also want `i_epsiode` to be logged in wandb
-    default_callbacks.append(
-        ml_callbacks.LogEpisodeTrainingLoopCallback(callback_kill_after_episode)
-    )
-
     if callback_kill_after_seconds is not None:
         default_callbacks.append(
             ml_callbacks.TimingKillRunCallback(callback_kill_after_seconds)