imt-ring 1.6.30__tar.gz → 1.6.32__tar.gz

{imt_ring-1.6.30 → imt_ring-1.6.32}/PKG-INFO

@@ -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 → imt_ring-1.6.32}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.30"
+version = "1.6.32"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.30 → imt_ring-1.6.32}/src/imt_ring.egg-info/PKG-INFO

@@ -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 → imt_ring-1.6.32}/src/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)

{imt_ring-1.6.30 → imt_ring-1.6.32}/src/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

{imt_ring-1.6.30 → imt_ring-1.6.32}/tests/test_custom_joints.py

@@ -43,7 +43,7 @@ def test_virtual_input_joint_axes_rr_joint():
     np.testing.assert_allclose(
         -X["seg1"]["joint_axes"],
         np.repeat(np.array([[0.0, 1, 0]]), 1000, axis=0),
-        atol=4e-7,
+        atol=2e-6,
     )
     np.testing.assert_allclose(
         -X["seg3"]["joint_axes"],
@@ -57,8 +57,8 @@ def test_virtual_input_joint_axes_rr_joint():
     np.testing.assert_allclose(
         X["seg1"]["joint_axes"],
         np.repeat(-joint_axes[1:2], 1000, axis=0),
-        atol=4e-7,
-        rtol=2e-4,
+        atol=2e-6,
+        rtol=5e-4,
     )
     np.testing.assert_allclose(
         -X["seg3"]["joint_axes"],
@@ -103,7 +103,7 @@ def test_virtual_input_joint_axes_rr_imp_joint():
     np.testing.assert_allclose(
         -X["seg1"]["joint_axes"],
         np.repeat(np.array([[0.0, 1, 0]]), 1000, axis=0),
-        atol=4e-7,
+        atol=2e-6,
     )
     np.testing.assert_allclose(
         X["seg3"]["joint_axes"],

{imt_ring-1.6.30 → imt_ring-1.6.32}/tests/test_random.py

@@ -26,6 +26,8 @@ def test_delta_ang_min_max(
             dt, next_phi = _resolve_range_of_motion(
                 range_of_motion,
                 range_of_motion_method,
+                -2 * np.pi,
+                2 * np.pi,
                 0.0,
                 3.14,
                 float(delta_ang_min),
@@ -83,10 +85,10 @@ def test_angle(randomized_interpolation, range_of_motion, range_of_motion_method
 def test_position():
     for Ts in [0.1, 0.01]:
         T = 30
-        POS_0 = 0.0
-        pos = ring.algorithms.random_position_over_time(
-            jrand.PRNGKey(1), POS_0, -0.2, 0.2, 0.1, 0.5, 0.1, 0.5, T, Ts, None, 10
-        )
-        assert pos.shape == (int(T / Ts),)
-        # TODO Why does this fail for POS_0 != 0.0?
-        assert pos[0] == POS_0
+        for POS_0 in [0.0, 1.0]:
+            pos = ring.algorithms.random_position_over_time(
+                jrand.PRNGKey(1), POS_0, -0.2, 0.2, 0.1, 0.5, 0.1, 0.5, T, Ts, None, 10
+            )
+            assert pos.shape == (int(T / Ts),)
+            # TODO Why does this fail for POS_0 != 0.0?
+            assert pos[0] == POS_0

{imt_ring-1.6.30 → imt_ring-1.6.32}/tests/test_train.py

@@ -33,7 +33,8 @@ def test_rnno():
     ml.train_fn(
         gen,
         5,
-        ml.RNNO(N * 4, return_quats=True, eval=False, hidden_state_dim=20),
+        # .unwrapped to get ride of the `GroundtruthHeadingWrapper`
+        ml.RNNO(N * 4, return_quats=True, eval=False, hidden_state_dim=20).unwrapped,
     )