imt-ring 1.6.7__py3-none-any.whl → 1.6.9__py3-none-any.whl

{imt_ring-1.6.7.dist-info → imt_ring-1.6.9.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.7
+Version: 1.6.9
 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-1.6.7.dist-info → imt_ring-1.6.9.dist-info}/RECORD

@@ -1,14 +1,14 @@
 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/base.py,sha256=MkkziQx01sdMOpB8MFUDFgFlZUrXCFjpb8hS9yKHUyM,33751
+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
@@ -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
@@ -83,7 +83,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 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-1.6.7.dist-info/METADATA,sha256=qmP76hCRm-7QsTvxE_D4D36JZoCzVhhrsiujBvdL5Vw,3820
-imt_ring-1.6.7.dist-info/WHEEL,sha256=R0nc6qTxuoLk7ShA2_Y-UWkN8ZdfDBG2B6Eqpz2WXbs,91
-imt_ring-1.6.7.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.7.dist-info/RECORD,,
+imt_ring-1.6.9.dist-info/METADATA,sha256=kFg-Ht8PsdnYA5lvEQ-KgMxlQSqiX_PtP8M8Q0vjVag,3820
+imt_ring-1.6.9.dist-info/WHEEL,sha256=Mdi9PDNwEZptOjTlUcAth7XJDFtKrHYaQMPulZeBCiQ,91
+imt_ring-1.6.9.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.9.dist-info/RECORD,,

{imt_ring-1.6.7.dist-info → imt_ring-1.6.9.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (72.1.0)
+Generator: setuptools (73.0.1)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

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/base.py

@@ -590,12 +590,14 @@ class System(_Base):
 
         return sys
 
-    def findall_imus(self) -> list[str]:
-        return [name for name in self.link_names if name[:3] == "imu"]
+    def findall_imus(self, names: bool = True) -> list[str] | list[int]:
+        bodies = [name for name in self.link_names if name[:3] == "imu"]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
-    def findall_segments(self) -> list[str]:
-        imus = self.findall_imus()
-        return [name for name in self.link_names if name not in imus]
+    def findall_segments(self, names: bool = True) -> list[str] | list[int]:
+        imus = self.findall_imus(names=True)
+        bodies = [name for name in self.link_names if name not in imus]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
     def _bodies_indices_to_bodies_name(self, bodies: list[int]) -> list[str]:
         return [self.idx_to_name(i) for i in bodies]
@@ -615,6 +617,11 @@ class System(_Base):
         bodies = [i for i, _typ in enumerate(self.link_types) if _typ == typ]
         return self._bodies_indices_to_bodies_name(bodies) if names else bodies
 
+    def children(self, name: str, names: bool = False) -> list[int] | list[str]:
+        p = self.name_to_idx(name)
+        bodies = [i for i in range(self.num_links()) if self.link_parents[i] == p]
+        return bodies if (not names) else [self.idx_to_name(i) for i in bodies]
+
     def scan(self, f: Callable, in_types: str, *args, reverse: bool = False):
         """Scan `f` along each link in system whilst carrying along state.
 

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__(