imt-ring 1.6.39__py3-none-any.whl → 1.6.42__py3-none-any.whl

{imt_ring-1.6.39.dist-info → imt_ring-1.6.42.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: imt-ring
-Version: 1.6.39
+Version: 1.6.42
 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-1.6.39.dist-info → imt_ring-1.6.42.dist-info}/RECORD

@@ -52,7 +52,7 @@ ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,
 ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
 ring/io/xml/to_xml.py,sha256=Wo4iySLw9nM-iVW42AGvMRqjtU2qRc2FD_Zlc7w1IrE,3438
 ring/ml/__init__.py,sha256=nbh48gaswWeY4S4vT1sply_3ROj2DQ7agjoLR4Ho3T8,1517
-ring/ml/base.py,sha256=phBUfTpP1Mqt8lvtilSavT7ypkaeaF1oh7nCMjV0dqg,10046
+ring/ml/base.py,sha256=HAAM6ehXiyV53cvh1bLvPHIrlM7S4pgN-xcGTI8Mvsw,10238
 ring/ml/callbacks.py,sha256=oCPXl4_Zcw3g0KRgyyUDmdiGxV0phnDVc_t8rEG4Lls,13737
 ring/ml/ml_utils.py,sha256=hu189AnHcmkhkpEPZZ19O0gWz3T-YKpWQW9buqDTMow,10915
 ring/ml/optimizer.py,sha256=TZF0_LmnewzmGVso-zIQJtpWguUW0fW3HeRpIdG_qoI,4763
@@ -68,7 +68,7 @@ ring/rendering/mujoco_render.py,sha256=HMvZc04I0-lXPBL3hcnBzV2bNiXQAQM7QcHlG_Obm
 ring/rendering/vispy_render.py,sha256=6Z6S5LNZ7iy9BN1GVb9EDe-Tix5N_SQ1s7ZsfiTSDEA,10261
 ring/rendering/vispy_visuals.py,sha256=ooBZqppnebeL0ANe6V6zUgnNTtDcdkOsa4vZuM4sx-I,7873
 ring/sim2real/__init__.py,sha256=gCLYg8IoMdzUagzhCFcfjZ5GavtIU772L7HR0G5hUtM,251
-ring/sim2real/sim2real.py,sha256=B4nqBBnjGXhM-7PfTyxEq44ZidGNghqaq--qdFILX5A,9675
+ring/sim2real/sim2real.py,sha256=4MtxsyQmfnSi9llzL0ZB5wmJ5zfAXBv705RbSpI26gY,10373
 ring/sys_composer/__init__.py,sha256=5J_JJJIHfTPcpxh0v4FqiOs81V1REPUd7pgiw2nAN5E,193
 ring/sys_composer/delete_sys.py,sha256=cIM9KbyLfg7B9121g7yjzuFbjeNu9cil1dPavAYEgzk,3408
 ring/sys_composer/inject_sys.py,sha256=PLuxLbXU7hPtAsqvpsEim9hkoVE26ddrg3OipZNvnhU,3504
@@ -86,7 +86,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=gKwOXLxWraeZfX6EbBcg3hkq30DcXN0mcRUeOSTNiMo,7336
 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-1.6.39.dist-info/METADATA,sha256=v0rBTnCQP-SWJU153byfX31HUCcrWHhCg_EmecLbLf4,4251
-imt_ring-1.6.39.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-imt_ring-1.6.39.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.39.dist-info/RECORD,,
+imt_ring-1.6.42.dist-info/METADATA,sha256=xpcG74pMBIr3v0CQkG9zNZ0BCefDZAVhrOPu31Pb4Uk,4251
+imt_ring-1.6.42.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+imt_ring-1.6.42.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.42.dist-info/RECORD,,

ring/ml/base.py

@@ -297,8 +297,12 @@ class NoGraph_FilterWrapper(AbstractFilterWrapper):
 
         if self._quat_normalize:
             assert yhat.shape[-1] == 4, f"yhat.shape={yhat.shape}"
-            # yhat = ring.maths.safe_normalize(yhat)
-            yhat = yhat / jnp.linalg.norm(yhat, axis=-1, keepdims=True)
+
+            # for exporting neural networks to ONNX format, you will have to use
+            # the first version, but for neural network training the second version
+            # is required
+            # yhat = yhat / jnp.linalg.norm(yhat, axis=-1, keepdims=True)
+            yhat = ring.maths.safe_normalize(yhat)
 
         return yhat, state
 

ring/sim2real/sim2real.py

@@ -1,13 +1,14 @@
 from typing import Optional, Tuple
 
 import jax
+import tree_utils
+
 from ring import algebra
 from ring import base
 from ring import io
 from ring import maths
 from ring.algorithms import generator
 from ring.algorithms import jcalc
-import tree_utils
 
 
 def xs_from_raw(
@@ -189,7 +190,14 @@ def delete_to_world_pos_rot(sys: base.System, xs: base.Transform) -> base.Transf
 
 
 def randomize_to_world_pos_rot(
-    key: jax.Array, sys: base.System, xs: base.Transform, config: jcalc.MotionConfig
+    key: jax.Array,
+    sys: base.System,
+    xs: base.Transform,
+    config: jcalc.MotionConfig,
+    world_joint: str = "free",
+    cor: bool = False,
+    overwrite_q_ref: jax.Array = None,
+    damping=None,
 ) -> base.Transform:
     """Replace the transforms of all links that connect to the worldbody
     by randomize transforms.
@@ -210,14 +218,30 @@ def randomize_to_world_pos_rot(
 <x_xy>
     <options dt="0.01"/>
     <worldbody>
-        <body name="free" joint="free"/>
+        <body name="free" joint="free" damping="15.0 15.0 15.0 25.0 25.0 25.0">
+            <geom type="box" mass="1" dim="0.1 0.1 0.1"/>
+        </body>
     </worldbody>
 </x_xy>
 """
-
     free_sys = io.load_sys_from_str(free_sys_str)
+
+    dynamic_simulation = True if overwrite_q_ref is not None else False
+
+    if world_joint != "free":
+        if dynamic_simulation:
+            assert damping is not None
+        free_sys = free_sys.change_joint_type("free", world_joint, new_damp=damping)
+
     _, xs_free = generator.RCMG(
-        free_sys, config, finalize_fn=lambda key, q, x, sys: (q, x)
+        free_sys,
+        config,
+        finalize_fn=lambda key, q, x, sys: (q, x),
+        cor=cor,
+        dynamic_simulation=dynamic_simulation,
+        dynamic_simulation_kwargs=dict(
+            overwrite_q_ref=(overwrite_q_ref, free_sys.idx_map("q"))
+        ),
     ).to_lazy_gen()(key)
     xs_free = xs_free.take(0, axis=0)
     xs_free = xs_free.take(free_sys.name_to_idx("free"), axis=1)