imt-ring 1.6.25__tar.gz → 1.6.26__tar.gz

Sign up to get free protection for your applications and to get access to all the features.
Files changed (119) hide show
  1. {imt_ring-1.6.25 → imt_ring-1.6.26}/PKG-INFO +1 -1
  2. {imt_ring-1.6.25 → imt_ring-1.6.26}/pyproject.toml +1 -1
  3. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/PKG-INFO +1 -1
  4. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/ml_utils.py +42 -0
  5. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/train.py +2 -2
  6. {imt_ring-1.6.25 → imt_ring-1.6.26}/readme.md +0 -0
  7. {imt_ring-1.6.25 → imt_ring-1.6.26}/setup.cfg +0 -0
  8. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/SOURCES.txt +0 -0
  9. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/dependency_links.txt +0 -0
  10. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/requires.txt +0 -0
  11. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/top_level.txt +0 -0
  12. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/__init__.py +0 -0
  13. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algebra.py +0 -0
  14. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/__init__.py +0 -0
  15. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/_random.py +0 -0
  16. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/__init__.py +0 -0
  17. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/rr_imp_joint.py +0 -0
  18. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/rr_joint.py +0 -0
  19. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/rsaddle_joint.py +0 -0
  20. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/suntay.py +0 -0
  21. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/dynamics.py +0 -0
  22. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/__init__.py +0 -0
  23. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/base.py +0 -0
  24. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/batch.py +0 -0
  25. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/finalize_fns.py +0 -0
  26. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/motion_artifacts.py +0 -0
  27. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/pd_control.py +0 -0
  28. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/setup_fns.py +0 -0
  29. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/types.py +0 -0
  30. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/jcalc.py +0 -0
  31. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/kinematics.py +0 -0
  32. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/sensors.py +0 -0
  33. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/base.py +0 -0
  34. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/__init__.py +0 -0
  35. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/branched.xml +0 -0
  36. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/exclude/knee_trans_dof.xml +0 -0
  37. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/exclude/standard_sys.xml +0 -0
  38. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/exclude/standard_sys_rr_imp.xml +0 -0
  39. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/inv_pendulum.xml +0 -0
  40. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/knee_flexible_imus.xml +0 -0
  41. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/spherical_stiff.xml +0 -0
  42. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/symmetric.xml +0 -0
  43. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_all_1.xml +0 -0
  44. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_all_2.xml +0 -0
  45. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_ang0_pos0.xml +0 -0
  46. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_control.xml +0 -0
  47. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_double_pendulum.xml +0 -0
  48. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_free.xml +0 -0
  49. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_kinematics.xml +0 -0
  50. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_morph_system/four_seg_seg1.xml +0 -0
  51. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_morph_system/four_seg_seg3.xml +0 -0
  52. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_randomize_position.xml +0 -0
  53. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_sensors.xml +0 -0
  54. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_three_seg_seg2.xml +0 -0
  55. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples.py +0 -0
  56. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/test_examples.py +0 -0
  57. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/__init__.py +0 -0
  58. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/abstract.py +0 -0
  59. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/from_xml.py +0 -0
  60. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/test_from_xml.py +0 -0
  61. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/test_to_xml.py +0 -0
  62. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/to_xml.py +0 -0
  63. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/maths.py +0 -0
  64. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/__init__.py +0 -0
  65. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/base.py +0 -0
  66. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/callbacks.py +0 -0
  67. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/optimizer.py +0 -0
  68. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/params/0x13e3518065c21cd8.pickle +0 -0
  69. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/params/0x1d76628065a71e0f.pickle +0 -0
  70. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/ringnet.py +0 -0
  71. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/rnno_v1.py +0 -0
  72. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/training_loop.py +0 -0
  73. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/__init__.py +0 -0
  74. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/base_render.py +0 -0
  75. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/mujoco_render.py +0 -0
  76. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/vispy_render.py +0 -0
  77. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/vispy_visuals.py +0 -0
  78. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sim2real/__init__.py +0 -0
  79. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sim2real/sim2real.py +0 -0
  80. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/spatial.py +0 -0
  81. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/__init__.py +0 -0
  82. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/delete_sys.py +0 -0
  83. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/inject_sys.py +0 -0
  84. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/morph_sys.py +0 -0
  85. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/__init__.py +0 -0
  86. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/backend.py +0 -0
  87. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/batchsize.py +0 -0
  88. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/colab.py +0 -0
  89. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/dataloader.py +0 -0
  90. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/dataloader_torch.py +0 -0
  91. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/hdf5.py +0 -0
  92. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/normalizer.py +0 -0
  93. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/path.py +0 -0
  94. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/randomize_sys.py +0 -0
  95. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/register_gym_envs/__init__.py +0 -0
  96. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/register_gym_envs/saddle.py +0 -0
  97. {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/utils.py +0 -0
  98. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_algebra.py +0 -0
  99. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_base.py +0 -0
  100. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_custom_joints.py +0 -0
  101. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_dynamics.py +0 -0
  102. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_generator.py +0 -0
  103. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_jcalc.py +0 -0
  104. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_jit.py +0 -0
  105. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_kinematics.py +0 -0
  106. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_maths.py +0 -0
  107. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_ml_utils.py +0 -0
  108. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_motion_artifacts.py +0 -0
  109. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_pd_control.py +0 -0
  110. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_quickstart_example.py +0 -0
  111. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_random.py +0 -0
  112. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_randomize.py +0 -0
  113. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_rcmg.py +0 -0
  114. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_render.py +0 -0
  115. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_sensors.py +0 -0
  116. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_sim2real.py +0 -0
  117. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_sys_composer.py +0 -0
  118. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_train.py +0 -0
  119. {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_utils.py +0 -0
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: imt-ring
3
- Version: 1.6.25
3
+ Version: 1.6.26
4
4
  Summary: RING: Recurrent Inertial Graph-based Estimator
5
5
  Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
6
6
  Project-URL: Homepage, https://github.com/SimiPixel/ring
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
4
4
 
5
5
  [project]
6
6
  name = "imt-ring"
7
- version = "1.6.25"
7
+ version = "1.6.26"
8
8
  authors = [
9
9
  { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
10
10
  ]
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: imt-ring
3
- Version: 1.6.25
3
+ Version: 1.6.26
4
4
  Summary: RING: Recurrent Inertial Graph-based Estimator
5
5
  Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
6
6
  Project-URL: Homepage, https://github.com/SimiPixel/ring
@@ -251,6 +251,48 @@ def to_onnx(
251
251
  out_args_names: Optional[list[str]] = None,
252
252
  validate: bool = False,
253
253
  ):
254
+ """
255
+ Converts a JAX function to ONNX format, with optional input/output renaming and validation.
256
+
257
+ Args:
258
+ fn (callable): The JAX function to be converted.
259
+ output_path (str): Path where the ONNX model will be saved.
260
+ *args (tuple[np.ndarray]): Input arguments for the JAX function.
261
+ in_args_names (Optional[list[str]]): Names for the ONNX model's input tensors. Defaults to None.
262
+ out_args_names (Optional[list[str]]): Names for the ONNX model's output tensors. Defaults to None.
263
+ validate (bool): Whether to validate the ONNX model against the JAX function's outputs. Defaults to False.
264
+
265
+ Raises:
266
+ AssertionError: If the number of provided names does not match the number of inputs/outputs.
267
+ AssertionError: If the ONNX model's outputs do not match the JAX function's outputs within tolerance.
268
+ ValueError: If any error occurs during ONNX conversion, saving, or validation.
269
+
270
+ Notes:
271
+ - The function uses `jax2tf` to convert the JAX function to TensorFlow format,
272
+ and `tf2onnx` for ONNX conversion.
273
+ - Input and output tensor names in the ONNX model can be renamed using `sor4onnx.rename`.
274
+ - Validation compares outputs of the JAX function and the ONNX model using ONNX Runtime.
275
+
276
+ Example:
277
+ ```
278
+ import jax.numpy as jnp
279
+
280
+ def my_fn(x, y):
281
+ return x + y, x * y
282
+
283
+ x = jnp.array([1, 2, 3])
284
+ y = jnp.array([4, 5, 6])
285
+
286
+ to_onnx(
287
+ my_fn,
288
+ "model.onnx",
289
+ x, y,
290
+ in_args_names=["input1", "input2"],
291
+ out_args_names=["sum", "product"],
292
+ validate=True,
293
+ )
294
+ ```
295
+ """ # noqa: E501
254
296
  import jax.experimental.jax2tf as jax2tf
255
297
  import tensorflow as tf
256
298
  import tf2onnx
@@ -45,7 +45,7 @@ def _build_step_fn(
45
45
 
46
46
  @partial(jax.value_and_grad, has_aux=True)
47
47
  def loss_fn(params, state, X, y):
48
- yhat, state = filter.apply(params=params, state=state, X=X)
48
+ yhat, state = filter.apply(params=params, state=state, X=X, y=y)
49
49
  # this vmap maps along batch-axis, not time-axis
50
50
  # time-axis is handled by `metric_fn`
51
51
  pipe = lambda q, qhat: jnp.mean(jax.vmap(metric_fn)(q, qhat))
@@ -261,7 +261,7 @@ def _build_eval_fn(
261
261
  """Build function that evaluates the filter performance."""
262
262
 
263
263
  def eval_fn(params, state, X, y):
264
- yhat, _ = filter.apply(params=params, state=state, X=X)
264
+ yhat, _ = filter.apply(params=params, state=state, X=X, y=y)
265
265
 
266
266
  y = _arr_to_dict(y, link_names)
267
267
  yhat = _arr_to_dict(yhat, link_names)
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes
File without changes