imt-ring 1.6.25__py3-none-any.whl → 1.6.27__py3-none-any.whl

{imt_ring-1.6.25.dist-info → imt_ring-1.6.27.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.25
+Version: 1.6.27
 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-1.6.25.dist-info → imt_ring-1.6.27.dist-info}/RECORD

@@ -47,24 +47,24 @@ ring/io/examples/test_morph_system/four_seg_seg1.xml,sha256=XJvGtEnvedejs_OmCVfQ
 ring/io/examples/test_morph_system/four_seg_seg3.xml,sha256=HktN7_a_Ly3YflWit5W-WncxApWGMORAGnRXyMEqnoA,1265
 ring/io/xml/__init__.py,sha256=-3k6ffvFyc4zm0oTyVz3ez-o3Lb9bPp2sjwSub_K1AA,242
 ring/io/xml/abstract.py,sha256=8Q2ebnUYLmuS9HJAQwDVrDTrRfD5z4G5RAB7MW8Oa60,9742
-ring/io/xml/from_xml.py,sha256=8b44sPVWgoY8JGJZLpJ8M_eLfcfu3IsMtBzSytPTPmw,9234
+ring/io/xml/from_xml.py,sha256=E7JQl_scL5U4LK6mqLMr5qaiZCc6J1fInxD7uwgNCJY,9356
 ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,1562
 ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
 ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
 ring/ml/__init__.py,sha256=nbh48gaswWeY4S4vT1sply_3ROj2DQ7agjoLR4Ho3T8,1517
 ring/ml/base.py,sha256=lfwEZLBDglOSRWChUHoH1kezefhttPV9TMEpNIqsMNw,9972
 ring/ml/callbacks.py,sha256=W19QF6_uvaNCjs8ObsjNXD7mv9gFgJBixdRSbB_BynE,13301
-ring/ml/ml_utils.py,sha256=uAQ6qXFT2UxILwbKzFNPxaBeY4X56l9pixdv91MKQis,9072
+ring/ml/ml_utils.py,sha256=Zm4spN0Xn-2avYu9xt3NikCLVjYM1Gh59a6XU9jGxoU,10792
 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=XuUUB0NhvByGtZDtS_weyp-TKPG9ErnKixS4NqB8q6M,10822
+ring/ml/train.py,sha256=-6SzQKjIgktgRjaXKVg_1dqcBmAJggZSVwDnau1FnxI,10832
 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
 ring/rendering/__init__.py,sha256=Zf7qOdzK3t2hljIrs5P4zFhzHljLSMRyDDZO2YlZk4k,75
 ring/rendering/base_render.py,sha256=Mv9SRLEmuoPVhi46UIjb6xCkKmbWCwIyENGx7nu9REM,9617
-ring/rendering/mujoco_render.py,sha256=R8qxqItakBlptbQpCzsZoVfdWYhSMwZYQzaCKbUigYU,7987
+ring/rendering/mujoco_render.py,sha256=_aesWMf_KfxvG8JaXTj4SNmRvzsJrluSMz0iHTbXbLg,8256
 ring/rendering/vispy_render.py,sha256=QmRyA7Hqk3uS1SKjcncwc4_vd1m4yWryW2X0i4jRvCw,10260
 ring/rendering/vispy_visuals.py,sha256=ooBZqppnebeL0ANe6V6zUgnNTtDcdkOsa4vZuM4sx-I,7873
 ring/sim2real/__init__.py,sha256=gCLYg8IoMdzUagzhCFcfjZ5GavtIU772L7HR0G5hUtM,251
@@ -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-1.6.25.dist-info/METADATA,sha256=8-77JWmLIy6E3nJVd2VqfxwoKHt9b26ruipjMKR2K8I,4089
-imt_ring-1.6.25.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.25.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.25.dist-info/RECORD,,
+imt_ring-1.6.27.dist-info/METADATA,sha256=ekZVHth31C6ZXF_k2J_XnfDeSWCao-pF_fT9BDdfOAs,4089
+imt_ring-1.6.27.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.27.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.27.dist-info/RECORD,,

ring/io/xml/from_xml.py

@@ -2,6 +2,7 @@ from xml.etree import ElementTree
 
 import jax
 import numpy as np
+
 from ring import base
 from ring.algorithms import jcalc
 from ring.utils import parse_path
@@ -181,7 +182,10 @@ def load_sys_from_str(xml_str: str, seed: int = 1) -> base.System:
 
         link_parents[current_link_idx] = parent
         link_types[current_link_idx] = current_link_typ
-        link_names[current_link_idx] = body.attrib["name"]
+        current_name = body.attrib["name"]
+        link_names[current_link_idx] = (
+            current_name if isinstance(current_name, str) else str(int(current_name))
+        )
 
         transform = abstract.AbsTrans.from_xml(body.attrib)
         pos_min, pos_max = abstract.AbsPosMinMax.from_xml(body.attrib, transform.pos)

ring/ml/ml_utils.py

@@ -251,6 +251,48 @@ def to_onnx(
     out_args_names: Optional[list[str]] = None,
     validate: bool = False,
 ):
+    """
+    Converts a JAX function to ONNX format, with optional input/output renaming and validation.
+
+    Args:
+        fn (callable): The JAX function to be converted.
+        output_path (str): Path where the ONNX model will be saved.
+        *args (tuple[np.ndarray]): Input arguments for the JAX function.
+        in_args_names (Optional[list[str]]): Names for the ONNX model's input tensors. Defaults to None.
+        out_args_names (Optional[list[str]]): Names for the ONNX model's output tensors. Defaults to None.
+        validate (bool): Whether to validate the ONNX model against the JAX function's outputs. Defaults to False.
+
+    Raises:
+        AssertionError: If the number of provided names does not match the number of inputs/outputs.
+        AssertionError: If the ONNX model's outputs do not match the JAX function's outputs within tolerance.
+        ValueError: If any error occurs during ONNX conversion, saving, or validation.
+
+    Notes:
+        - The function uses `jax2tf` to convert the JAX function to TensorFlow format,
+          and `tf2onnx` for ONNX conversion.
+        - Input and output tensor names in the ONNX model can be renamed using `sor4onnx.rename`.
+        - Validation compares outputs of the JAX function and the ONNX model using ONNX Runtime.
+
+    Example:
+        ```
+        import jax.numpy as jnp
+
+        def my_fn(x, y):
+            return x + y, x * y
+
+        x = jnp.array([1, 2, 3])
+        y = jnp.array([4, 5, 6])
+
+        to_onnx(
+            my_fn,
+            "model.onnx",
+            x, y,
+            in_args_names=["input1", "input2"],
+            out_args_names=["sum", "product"],
+            validate=True,
+        )
+        ```
+    """  # noqa: E501
     import jax.experimental.jax2tf as jax2tf
     import tensorflow as tf
     import tf2onnx

ring/ml/train.py

@@ -45,7 +45,7 @@ def _build_step_fn(
 
     @partial(jax.value_and_grad, has_aux=True)
     def loss_fn(params, state, X, y):
-        yhat, state = filter.apply(params=params, state=state, X=X)
+        yhat, state = filter.apply(params=params, state=state, X=X, y=y)
         # this vmap maps along batch-axis, not time-axis
         # time-axis is handled by `metric_fn`
         pipe = lambda q, qhat: jnp.mean(jax.vmap(metric_fn)(q, qhat))
@@ -261,7 +261,7 @@ def _build_eval_fn(
     """Build function that evaluates the filter performance."""
 
     def eval_fn(params, state, X, y):
-        yhat, _ = filter.apply(params=params, state=state, X=X)
+        yhat, _ = filter.apply(params=params, state=state, X=X, y=y)
 
         y = _arr_to_dict(y, link_names)
         yhat = _arr_to_dict(yhat, link_names)

ring/rendering/mujoco_render.py

@@ -8,7 +8,7 @@ from ring import maths
 
 _skybox = """<texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" width="800" height="800" mark="random" markrgb="1 1 1"/>"""  # noqa: E501
 _skybox_white = """<texture name="skybox" type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" mark="random" markrgb="1 1 1"/>"""  # noqa: E501
-_floor = """<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane" mass="0"/>"""  # noqa: E501
+_floor = """<geom name="floor" pos="0 0 -0.84" size="0 0 1" type="plane" material="matplane" mass="0"/>"""  # noqa: E501
 
 
 def _build_model_of_geoms(
@@ -75,6 +75,8 @@ def _build_model_of_geoms(
   <asset>
     <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
     <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="2 2" reflectance="0.2"/>
     {_skybox if stars else ''}
     <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
     <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>