imt-ring 1.6.6__py3-none-any.whl → 1.6.8__py3-none-any.whl

{imt_ring-1.6.6.dist-info → imt_ring-1.6.8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.6
+Version: 1.6.8
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring
@@ -16,16 +16,11 @@ Requires-Dist: jaxopt
 Requires-Dist: numpy
 Requires-Dist: flax
 Requires-Dist: tqdm
-Requires-Dist: wget
-Requires-Dist: h5py
 Requires-Dist: imt-tree-utils
 Requires-Dist: wandb
 Requires-Dist: optax
 Requires-Dist: dm-haiku
-Requires-Dist: joblib
 Requires-Dist: pyyaml
-Requires-Dist: qmt
-Requires-Dist: scipy
 Provides-Extra: dev
 Requires-Dist: mkdocs ; extra == 'dev'
 Requires-Dist: mkdocs-material ; extra == 'dev'

{imt_ring-1.6.6.dist-info → imt_ring-1.6.8.dist-info}/RECORD

@@ -1,20 +1,20 @@
 ring/__init__.py,sha256=k7tL-XgggUwWxHCXyv60rQn-OcXHPg82QcIUkKLEd-c,5057
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
 ring/base.py,sha256=BGAJE3PSOUnTHte4UesJc1J7MQraIEiVpStkhrgXhaI,33245
-ring/maths.py,sha256=zGm5XagiKTaIJp310VcqVEVUuLhv3FPS-TJ-TFzIrwM,12207
+ring/maths.py,sha256=qPHH6TpHCK3TgExI98gNEySoSRKOwteN9McUlyUFipI,12207
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=fc26yEQjSjtf0NluZ41CyeGIRci0ldrRlThueHR9H7U,14007
 ring/algorithms/dynamics.py,sha256=GOedL1STj6oXcXgMA7dB4PabvCQxPBbirJQhXBRuKqE,10929
 ring/algorithms/jcalc.py,sha256=bM8VARgqEiVPy7632geKYGk4MZddZfI8XHdW5kXF3HI,28594
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
-ring/algorithms/sensors.py,sha256=06x7RfhoQ6dx1B_TAEuCKxNTiicQDDBxcmzRtsCAxsM,18125
+ring/algorithms/sensors.py,sha256=0zLjd9TzOkU5W5GJU6Dk4QwYjwqs9AUlzUKU8aSX_dc,18126
 ring/algorithms/custom_joints/__init__.py,sha256=fzeE7TdUhmGgbbFAyis1tKcyQ4Fo8LigDwD3hUVnH_w,316
 ring/algorithms/custom_joints/rr_imp_joint.py,sha256=_YJK0p8_0MHFtr1NuGnNZoxTbwaMQyUjYv7EtsPiU3A,2402
 ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXpoh43MioRaDmY,1000
 ring/algorithms/custom_joints/suntay.py,sha256=tOEGM304XciHO4pmvxr4faA4xXVO4N2HlPdFmXKbcrw,16726
 ring/algorithms/generator/__init__.py,sha256=bF-CW3x2x-o6KWESKy-DuxzZPh3UNSjJb_MaAcSHGsQ,277
-ring/algorithms/generator/base.py,sha256=00789VeBrYcKx5BjsiGu-d4UzO6FGRz-YUKiiLUOL2Q,14497
+ring/algorithms/generator/base.py,sha256=YKUr9UnjFbWAYjP8V1j0FaKGVpK92W6E1iuoet7qBNg,14522
 ring/algorithms/generator/batch.py,sha256=ylootnXmj-JyuB_f5OCknHst9wFKO3gkjQbMrFNXY2g,2513
 ring/algorithms/generator/finalize_fns.py,sha256=LUw1Wc2YrmMRRh4RF704ob3bZOXktAZAbbLoBm_p1yw,9131
 ring/algorithms/generator/motion_artifacts.py,sha256=2VJbldVDbI3PSyboshIbtYvSAKzBBwGV7cQfYjqvluM,9167
@@ -51,7 +51,7 @@ 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=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
 ring/ml/__init__.py,sha256=8SZTCs9rJ1kzR0Psh7lUzFhIMhKRPIK41mVfxJAGyMo,1471
-ring/ml/base.py,sha256=-3JQ27zMFESNn5zeNer14GJU2yQgiqDcJUaULOeSyp8,9799
+ring/ml/base.py,sha256=lfwEZLBDglOSRWChUHoH1kezefhttPV9TMEpNIqsMNw,9972
 ring/ml/callbacks.py,sha256=W19QF6_uvaNCjs8ObsjNXD7mv9gFgJBixdRSbB_BynE,13301
 ring/ml/ml_utils.py,sha256=GooyH5uxA6cJM7ZcWDUfSkSKq6dg7kCIbhkbjJs_rLw,6674
 ring/ml/optimizer.py,sha256=fWyF__ezUltrA16SLfOC1jvS3zBh9NJsMYa6-V0frhs,4709
@@ -72,18 +72,18 @@ ring/sys_composer/__init__.py,sha256=5J_JJJIHfTPcpxh0v4FqiOs81V1REPUd7pgiw2nAN5E
 ring/sys_composer/delete_sys.py,sha256=cIM9KbyLfg7B9121g7yjzuFbjeNu9cil1dPavAYEgzk,3408
 ring/sys_composer/inject_sys.py,sha256=Mj-q-mUjXKwkg-ol6IQAjf9IJfk7pGhez0_WoTKTgm0,3503
 ring/sys_composer/morph_sys.py,sha256=2GpPtS5hT0eZMptdGpt30Hc97OykJNE67lEVRf7sHrc,12700
-ring/utils/__init__.py,sha256=M9bR1-SYtmF9c4mTRIrGuIQws3K2aKUQxbpltIDkgZQ,739
+ring/utils/__init__.py,sha256=MHHavc8YfjBlmB-zAV42QEQS_ebW7cy0lhWXEVyQU7s,720
 ring/utils/backend.py,sha256=cKSi9sB59texqKzNVASTDczGKLCBL8VVDiP7TNdj41k,1294
 ring/utils/batchsize.py,sha256=FbOii7MDP4oPZd9GJOKehFatfnb6WZ0b9z349iZYs1A,1786
 ring/utils/colab.py,sha256=ZLHwP0jNQUsmZJU4l68a5djULPi6T-jYNNHevjIoMn8,1631
 ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
 ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
-ring/utils/path.py,sha256=hAfSlqRi-ew536RnjDDM7IKapdMJc-EvhrR0Y-BCFWc,1265
+ring/utils/path.py,sha256=zRPfxYNesvgefkddd26oar6f9433LkMGkhp9dF3rPUs,1926
 ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3699
 ring/utils/utils.py,sha256=oGC7kh19s5zvmnUvWy8B3fBl9loVU58ppz91osk2m3w,6550
 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-1.6.6.dist-info/METADATA,sha256=izx_ZcizbG0DLoo7R2zzAbt-o-Zheh1hxPd7xTnxznY,3922
-imt_ring-1.6.6.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
-imt_ring-1.6.6.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.6.dist-info/RECORD,,
+imt_ring-1.6.8.dist-info/METADATA,sha256=FxO8BZbMRGagmYW1cQCHPuUIuiXxsIr8F-zlBkBVHNQ,3820
+imt_ring-1.6.8.dist-info/WHEEL,sha256=HiCZjzuy6Dw0hdX5R3LCFPDmFS4BWl8H-8W39XfmgX4,91
+imt_ring-1.6.8.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.8.dist-info/RECORD,,

{imt_ring-1.6.6.dist-info → imt_ring-1.6.8.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (71.1.0)
+Generator: setuptools (72.2.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/algorithms/generator/base.py

@@ -322,7 +322,7 @@ def _build_mconfig_batched_generator(
         if add_y_relpose:
             pipe.append(finalize_fns.RelPose(sys_noimu))
         if add_y_rootincl:
-            pipe.append(finalize_fns.RootIncl(sys_noimu))
+            pipe.append(finalize_fns.RootIncl(sys_noimu, **add_y_rootincl_kwargs))
         if use_link_number_in_Xy:
             pipe.append(finalize_fns.Names2Indices(sys_noimu))
 

ring/algorithms/sensors.py

@@ -130,8 +130,8 @@ def magnetometer(rot: jax.Array, magvec: jax.Array) -> jax.Array:
 # - acc: m/s/s
 # - gyr: rad/s
 # - mag: a.u.
-NOISE_LEVELS = {"acc": 0.03, "gyr": jnp.deg2rad(0.5), "mag": 0.01}
-BIAS_LEVELS = {"acc": 0.1, "gyr": jnp.deg2rad(0.5), "mag": 0.0}
+NOISE_LEVELS = {"acc": 0.048, "gyr": jnp.deg2rad(0.7), "mag": 0.01}
+BIAS_LEVELS = {"acc": 0.5, "gyr": jnp.deg2rad(3.6), "mag": 0.0}
 
 
 def add_noise_bias(

ring/maths.py

@@ -312,7 +312,7 @@ def quat_project(q: jax.Array, k: jax.Array) -> tuple[jax.Array, jax.Array]:
         k (jax.Array): Primary axis direction.
 
     Returns:
-        tuple[jax.Array, jax.Array]: Primary quaternion, residual quaternion
+        tuple(jax.Array, jax.Array): Primary quaternion, residual quaternion
     """
     phi_pri = 2 * jnp.arctan2(q[1:] @ k, q[0])
     # NOTE: CONVENTION

ring/ml/base.py

@@ -77,6 +77,10 @@ class AbstractFilter(ABC):
     def search_attr(self, attr: str):
         return getattr(self, attr)
 
+    @property
+    def unwrapped_deep(self):
+        return self
+
 
 class AbstractFilterUnbatched(AbstractFilter):
     @abstractmethod
@@ -136,6 +140,10 @@ class AbstractFilterWrapper(AbstractFilter):
     def name(self):
         return self.unwrapped.name + " ->\n" + super().name
 
+    @property
+    def unwrapped_deep(self) -> AbstractFilter:
+        return self.unwrapped.unwrapped_deep
+
 
 class LPF_FilterWrapper(AbstractFilterWrapper):
     def __init__(

ring/utils/__init__.py

@@ -1,4 +1,3 @@
-from . import hdf5
 from . import randomize_sys
 from .batchsize import batchsize_thresholds
 from .batchsize import distribute_batchsize

ring/utils/path.py

@@ -12,6 +12,24 @@ def parse_path(
     mkdir: bool = True,
     require_is_file: bool = False,
 ) -> str:
+    """Utility for performing actions on a path
+
+    Args:
+        path (str): The (root) path to file or folder
+        extension (Optional[str], optional): The file extension. Defaults to None.
+        file_exists_ok (bool, optional): If false, will error if file already exists.
+            Defaults to True.
+        mkdir (bool, optional): Will create all subdirs in the process.
+            Defaults to True.
+        require_is_file (bool, optional): if true, will error if file does not
+            already exist. Defaults to False.
+
+    Raises:
+        Exception: _description_
+
+    Returns:
+        str: The home-expanded path to folder or file
+    """
     path = Path(os.path.expanduser(path))
 
     for p in join_paths: