imt-ring 1.6.31__py3-none-any.whl → 1.6.32__py3-none-any.whl

{imt_ring-1.6.31.dist-info → imt_ring-1.6.32.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.31
+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-1.6.31.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
@@ -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-1.6.31.dist-info/METADATA,sha256=ISL0fShgxIGskumWa3mtqCBcOvOfEtJc4XE8Rt-EJCA,4251
-imt_ring-1.6.31.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.31.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.31.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)