imt-ring 1.6.25__tar.gz → 1.6.27__tar.gz

{imt_ring-1.6.25 → imt_ring-1.6.27}/PKG-INFO

@@ -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 → imt_ring-1.6.27}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.25"
+version = "1.6.27"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.25 → imt_ring-1.6.27}/src/imt_ring.egg-info/PKG-INFO

@@ -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 → imt_ring-1.6.27}/src/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)

{imt_ring-1.6.25 → imt_ring-1.6.27}/src/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

{imt_ring-1.6.25 → imt_ring-1.6.27}/src/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)

{imt_ring-1.6.25 → imt_ring-1.6.27}/src/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"/>