imt-ring 1.6.25__tar.gz → 1.6.26__tar.gz
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- {imt_ring-1.6.25 → imt_ring-1.6.26}/PKG-INFO +1 -1
- {imt_ring-1.6.25 → imt_ring-1.6.26}/pyproject.toml +1 -1
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/PKG-INFO +1 -1
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/ml_utils.py +42 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/train.py +2 -2
- {imt_ring-1.6.25 → imt_ring-1.6.26}/readme.md +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/setup.cfg +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/SOURCES.txt +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/dependency_links.txt +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/requires.txt +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/imt_ring.egg-info/top_level.txt +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algebra.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/_random.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/rr_imp_joint.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/rr_joint.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/rsaddle_joint.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/custom_joints/suntay.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/dynamics.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/base.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/batch.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/finalize_fns.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/motion_artifacts.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/pd_control.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/setup_fns.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/generator/types.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/jcalc.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/kinematics.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/algorithms/sensors.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/base.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/branched.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/exclude/knee_trans_dof.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/exclude/standard_sys.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/exclude/standard_sys_rr_imp.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/inv_pendulum.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/knee_flexible_imus.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/spherical_stiff.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/symmetric.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_all_1.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_all_2.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_ang0_pos0.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_control.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_double_pendulum.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_free.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_kinematics.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_morph_system/four_seg_seg1.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_morph_system/four_seg_seg3.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_randomize_position.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_sensors.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples/test_three_seg_seg2.xml +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/examples.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/test_examples.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/abstract.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/from_xml.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/test_from_xml.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/test_to_xml.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/io/xml/to_xml.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/maths.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/base.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/callbacks.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/optimizer.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/params/0x13e3518065c21cd8.pickle +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/params/0x1d76628065a71e0f.pickle +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/ringnet.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/rnno_v1.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/ml/training_loop.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/base_render.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/mujoco_render.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/vispy_render.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/rendering/vispy_visuals.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sim2real/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sim2real/sim2real.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/spatial.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/delete_sys.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/inject_sys.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/sys_composer/morph_sys.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/backend.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/batchsize.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/colab.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/dataloader.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/dataloader_torch.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/hdf5.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/normalizer.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/path.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/randomize_sys.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/register_gym_envs/__init__.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/register_gym_envs/saddle.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/src/ring/utils/utils.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_algebra.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_base.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_custom_joints.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_dynamics.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_generator.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_jcalc.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_jit.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_kinematics.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_maths.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_ml_utils.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_motion_artifacts.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_pd_control.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_quickstart_example.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_random.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_randomize.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_rcmg.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_render.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_sensors.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_sim2real.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_sys_composer.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_train.py +0 -0
- {imt_ring-1.6.25 → imt_ring-1.6.26}/tests/test_utils.py +0 -0
@@ -251,6 +251,48 @@ def to_onnx(
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out_args_names: Optional[list[str]] = None,
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validate: bool = False,
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):
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"""
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Converts a JAX function to ONNX format, with optional input/output renaming and validation.
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Args:
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fn (callable): The JAX function to be converted.
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output_path (str): Path where the ONNX model will be saved.
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*args (tuple[np.ndarray]): Input arguments for the JAX function.
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in_args_names (Optional[list[str]]): Names for the ONNX model's input tensors. Defaults to None.
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out_args_names (Optional[list[str]]): Names for the ONNX model's output tensors. Defaults to None.
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validate (bool): Whether to validate the ONNX model against the JAX function's outputs. Defaults to False.
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Raises:
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AssertionError: If the number of provided names does not match the number of inputs/outputs.
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AssertionError: If the ONNX model's outputs do not match the JAX function's outputs within tolerance.
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ValueError: If any error occurs during ONNX conversion, saving, or validation.
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Notes:
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- The function uses `jax2tf` to convert the JAX function to TensorFlow format,
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and `tf2onnx` for ONNX conversion.
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- Input and output tensor names in the ONNX model can be renamed using `sor4onnx.rename`.
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- Validation compares outputs of the JAX function and the ONNX model using ONNX Runtime.
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Example:
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```
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import jax.numpy as jnp
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def my_fn(x, y):
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return x + y, x * y
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x = jnp.array([1, 2, 3])
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y = jnp.array([4, 5, 6])
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to_onnx(
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my_fn,
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"model.onnx",
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x, y,
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in_args_names=["input1", "input2"],
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out_args_names=["sum", "product"],
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validate=True,
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)
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```
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""" # noqa: E501
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import jax.experimental.jax2tf as jax2tf
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import tensorflow as tf
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import tf2onnx
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@partial(jax.value_and_grad, has_aux=True)
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def loss_fn(params, state, X, y):
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yhat, state = filter.apply(params=params, state=state, X=X)
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yhat, state = filter.apply(params=params, state=state, X=X, y=y)
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# this vmap maps along batch-axis, not time-axis
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# time-axis is handled by `metric_fn`
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pipe = lambda q, qhat: jnp.mean(jax.vmap(metric_fn)(q, qhat))
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"""Build function that evaluates the filter performance."""
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def eval_fn(params, state, X, y):
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yhat, _ = filter.apply(params=params, state=state, X=X)
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yhat, _ = filter.apply(params=params, state=state, X=X, y=y)
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y = _arr_to_dict(y, link_names)
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yhat = _arr_to_dict(yhat, link_names)
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