imt-ring 1.6.30__py3-none-any.whl → 1.6.32__py3-none-any.whl

{imt_ring-1.6.30.dist-info → imt_ring-1.6.32.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.30
+Version: 1.6.32
 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-1.6.30.dist-info → imt_ring-1.6.32.dist-info}/RECORD

@@ -6,7 +6,7 @@ ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=UMyv-VPZLcErrKqs0XB83QJjs8GrmoNsv-zRSxGXvnI,14490
 ring/algorithms/dynamics.py,sha256=dpe-F3Yq4sY2dY6DQW3v7TnPLRdxdkePtdbGPQIrijg,10997
-ring/algorithms/jcalc.py,sha256=St4hjp8LZYQg6TFFTqh7psAp1W2DvZwNe6NhXe8vrf0,35490
+ring/algorithms/jcalc.py,sha256=QafnCKa1mjEl7nL_KuadPJB5ebW31NKnkdcKn2YtSsM,36171
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 ring/algorithms/sensors.py,sha256=0xOzdQIc1kBF0CkoPXWWCx3MmV4SG3wj7knVnnMWq9M,18124
 ring/algorithms/custom_joints/__init__.py,sha256=3pQ-Is_HBTQDkzESCNg9VfoP8wvseWmooryG8ERnu_A,366
@@ -78,7 +78,7 @@ ring/utils/backend.py,sha256=cKSi9sB59texqKzNVASTDczGKLCBL8VVDiP7TNdj41k,1294
 ring/utils/batchsize.py,sha256=FbOii7MDP4oPZd9GJOKehFatfnb6WZ0b9z349iZYs1A,1786
 ring/utils/colab.py,sha256=ZLHwP0jNQUsmZJU4l68a5djULPi6T-jYNNHevjIoMn8,1631
 ring/utils/dataloader.py,sha256=2CcsbUY2AZs8LraS5HTJXlEseuF-1gKmfyBkSsib-tE,3748
-ring/utils/dataloader_torch.py,sha256=DR2uUiA9x49_6EBjnbVLfWu7GBX7wtKjgHSIlF80HO0,1502
+ring/utils/dataloader_torch.py,sha256=wMKJ-eCJ4cHjisGODOZgDVG2r-XQjSANBQFfC05wpzo,2092
 ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
 ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
 ring/utils/path.py,sha256=zRPfxYNesvgefkddd26oar6f9433LkMGkhp9dF3rPUs,1926
@@ -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-1.6.30.dist-info/METADATA,sha256=CC1Tqt_uwTMJZiSWoxBCLjkc3J1hWsNhPTJNsxamM0U,4251
-imt_ring-1.6.30.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.30.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.30.dist-info/RECORD,,
+imt_ring-1.6.32.dist-info/METADATA,sha256=6bNRA4bhdmUOnqV8ZfR-tl5wbk-awzTE7qmLzDOI1xs,4251
+imt_ring-1.6.32.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.32.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.32.dist-info/RECORD,,

ring/algorithms/jcalc.py

@@ -412,6 +412,9 @@ def _find_interval(t: jax.Array, boundaries: jax.Array):
 def join_motionconfigs(
     configs: list[MotionConfig], boundaries: list[float]
 ) -> MotionConfig:
+    # to avoid a circular import due to `ring.utils.randomize_sys` importing `jcalc`
+    from ring.utils import tree_equal
+
     assert len(configs) == (
         len(boundaries) + 1
     ), "length of `boundaries` should be one less than length of `configs`"
@@ -434,10 +437,22 @@ def join_motionconfigs(
     time_independent_fields = [key for key in attrs if not is_time_dependent_field(key)]
 
     for time_dep_field in time_independent_fields:
-        field_values = set([getattr(config, time_dep_field) for config in configs])
-        assert (
-            len(field_values) == 1
-        ), f"MotionConfig.{time_dep_field}={field_values}. Should be one unique value.."
+        try:
+            field_values = set([getattr(config, time_dep_field) for config in configs])
+            assert (
+                len(field_values) == 1
+            ), f"MotionConfig.{time_dep_field}={field_values}. "
+            "Should be one unique value.."
+        except (
+            TypeError
+        ):  # dict is not hashable so test equality of all elements differently
+            comparison_ele = getattr(configs[0], time_dep_field)
+            for other_config in configs[1:]:
+                other_ele = getattr(other_config, time_dep_field)
+                assert tree_equal(
+                    comparison_ele, other_ele
+                ), f"MotionConfig.{time_dep_field} with {comparison_ele} != {other_ele}"
+                " Should be one unique value.."
 
     changes = {field: new_value(field) for field in time_dependent_fields}
     return replace(configs[0], **changes)

ring/utils/dataloader_torch.py

@@ -1,4 +1,6 @@
 import os
+from typing import Optional
+import warnings
 
 import jax
 import torch
@@ -35,15 +37,20 @@ def dataset_to_generator(
     batch_size: int,
     shuffle=True,
     seed: int = 1,
+    num_workers: Optional[int] = None,
     **kwargs,
 ):
     torch.manual_seed(seed)
 
+    if num_workers is None:
+        num_workers = _get_number_of_logical_cores()
+
     dl = DataLoader(
         dataset,
         batch_size=batch_size,
         shuffle=shuffle,
-        multiprocessing_context="spawn" if kwargs.get("num_workers", 0) > 0 else None,
+        multiprocessing_context="spawn" if num_workers > 0 else None,
+        num_workers=num_workers,
         **kwargs,
     )
     dl_iter = iter(dl)
@@ -60,3 +67,20 @@ def dataset_to_generator(
             return to_numpy(next(dl_iter))
 
     return generator
+
+
+def _get_number_of_logical_cores() -> int:
+    N = None
+    if hasattr(os, "sched_getaffinity"):
+        try:
+            N = len(os.sched_getaffinity(0))
+        except Exception:
+            pass
+    if N is None:
+        N = os.cpu_count()
+    if N is None:
+        warnings.warn(
+            "Could not automatically set the `num_workers` variable, defaults to `0`"
+        )
+        N = 0
+    return N