kinfer 0.0.4__tar.gz → 0.0.6__tar.gz

kinfer-0.0.6/PKG-INFO

@@ -0,0 +1,51 @@
+Metadata-Version: 2.1
+Name: kinfer
+Version: 0.0.6
+Summary: Tool to make it easier to run a model on a real robot
+Home-page: https://github.com/kscalelabs/kinfer.git
+Author: K-Scale Labs
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: torch
+Requires-Dist: onnx
+Requires-Dist: onnxruntime
+Requires-Dist: protobuf
+Provides-Extra: dev
+Requires-Dist: black; extra == "dev"
+Requires-Dist: darglint; extra == "dev"
+Requires-Dist: mypy; extra == "dev"
+Requires-Dist: mypy-protobuf; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+
+# kinfer
+
+This package is designed to support exporting and running inference on PyTorch models.
+
+## Installation
+
+```bash
+pip install kinfer
+```
+
+### ONNX Runtime
+
+You can install the latest version of ONNX Runtime on Mac with:
+
+```bash
+brew install onnxruntime
+```
+
+You may need to add the binary to your DYLD_LIBRARY_PATH:
+
+```bash
+$ brew ls onnxruntime
+/opt/homebrew/Cellar/onnxruntime/1.20.1/include/onnxruntime/ (11 files)
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/libonnxruntime.1.20.1.dylib  # <-- This is the binary
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/cmake/ (4 files)
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/pkgconfig/libonnxruntime.pc
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/libonnxruntime.dylib
+/opt/homebrew/Cellar/onnxruntime/1.20.1/sbom.spdx.json
+$ export DYLD_LIBRARY_PATH=/opt/homebrew/Cellar/onnxruntime/1.20.1/lib:$DYLD_LIBRARY_PATH
+```

kinfer-0.0.6/README.md

@@ -0,0 +1,30 @@
+# kinfer
+
+This package is designed to support exporting and running inference on PyTorch models.
+
+## Installation
+
+```bash
+pip install kinfer
+```
+
+### ONNX Runtime
+
+You can install the latest version of ONNX Runtime on Mac with:
+
+```bash
+brew install onnxruntime
+```
+
+You may need to add the binary to your DYLD_LIBRARY_PATH:
+
+```bash
+$ brew ls onnxruntime
+/opt/homebrew/Cellar/onnxruntime/1.20.1/include/onnxruntime/ (11 files)
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/libonnxruntime.1.20.1.dylib  # <-- This is the binary
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/cmake/ (4 files)
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/pkgconfig/libonnxruntime.pc
+/opt/homebrew/Cellar/onnxruntime/1.20.1/lib/libonnxruntime.dylib
+/opt/homebrew/Cellar/onnxruntime/1.20.1/sbom.spdx.json
+$ export DYLD_LIBRARY_PATH=/opt/homebrew/Cellar/onnxruntime/1.20.1/lib:$DYLD_LIBRARY_PATH
+```

{kinfer-0.0.4 → kinfer-0.0.6}/kinfer/__init__.py

@@ -1,3 +1,3 @@
-__version__ = "0.0.4"
+__version__ = "0.0.6"
 
 from . import export, inference

kinfer-0.0.6/kinfer/export/pytorch.py

@@ -0,0 +1,126 @@
+"""PyTorch model export utilities."""
+
+import inspect
+from io import BytesIO
+from typing import Sequence
+
+import onnx
+import onnxruntime as ort
+import torch
+from torch import Tensor
+
+from kinfer import proto as P
+from kinfer.serialize.pytorch import PyTorchMultiSerializer
+from kinfer.serialize.schema import get_dummy_io
+from kinfer.serialize.utils import check_names_match
+
+KINFER_METADATA_KEY = "kinfer_metadata"
+
+
+def _add_metadata_to_onnx(model_proto: onnx.ModelProto, schema: P.ModelSchema) -> onnx.ModelProto:
+    """Add metadata to ONNX model.
+
+    Args:
+        model_proto: ONNX model prototype
+        schema: Model schema to use for model export.
+
+    Returns:
+        ONNX model with added metadata
+    """
+    schema_bytes = schema.SerializeToString()
+    meta = model_proto.metadata_props.add()
+    meta.key = KINFER_METADATA_KEY
+    meta.value = schema_bytes
+    return model_proto
+
+
+def export_model(
+    model: torch.jit.ScriptModule,
+    schema: P.ModelSchema,
+) -> onnx.ModelProto:
+    """Export PyTorch model to ONNX format with metadata.
+
+    Args:
+        model: PyTorch model to export.
+        schema: Model schema to use for model export.
+
+    Returns:
+        ONNX inference session
+    """
+    # Matches each input name to the input values.
+    signature = inspect.signature(model.forward)
+    model_input_names = [
+        p.name for p in signature.parameters.values() if p.kind == inspect.Parameter.POSITIONAL_OR_KEYWORD
+    ]
+    if len(model_input_names) != len(schema.input_schema.values):
+        raise ValueError(f"Expected {len(model_input_names)} inputs, but schema has {len(schema.input_schema.values)}")
+    input_schema_names = [i.value_name for i in schema.input_schema.values]
+    output_schema_names = [o.value_name for o in schema.output_schema.values]
+    if model_input_names != input_schema_names:
+        raise ValueError(f"Expected input names {model_input_names} to match schema names {input_schema_names}")
+
+    input_serializer = PyTorchMultiSerializer(schema.input_schema)
+    output_serializer = PyTorchMultiSerializer(schema.output_schema)
+
+    input_dummy_values = get_dummy_io(schema.input_schema)
+    input_tensors = input_serializer.serialize_io(input_dummy_values, as_dict=True)
+
+    check_names_match("model_input_names", model_input_names, "input_schema", list(input_tensors.keys()))
+    input_tensor_list = [input_tensors[name] for name in model_input_names]
+
+    # Attempts to run the model with the dummy inputs.
+    try:
+        pred_output_tensors = model(*input_tensor_list)
+    except Exception as e:
+        signature = inspect.signature(model.forward)
+        model_input_names = [
+            p.name for p in signature.parameters.values() if p.kind == inspect.Parameter.POSITIONAL_OR_KEYWORD
+        ]
+        raise ValueError(
+            f"Failed to run model with dummy inputs; input names are {model_input_names} while "
+            f"input schema is {schema.input_schema}"
+        ) from e
+
+    # Attempts to parse the output tensors using the output schema.
+    if isinstance(pred_output_tensors, Tensor):
+        pred_output_tensors = (pred_output_tensors,)
+    if isinstance(pred_output_tensors, Sequence):
+        pred_output_tensors = output_serializer.assign_names(pred_output_tensors)
+    if not isinstance(pred_output_tensors, dict):
+        raise ValueError("Output tensors could not be converted to dictionary")
+    try:
+        pred_output_tensors = output_serializer.deserialize_io(pred_output_tensors)
+    except Exception as e:
+        raise ValueError("Failed to parse output tensors using output schema; are you sure it is correct?") from e
+
+    # Export model to buffer
+    buffer = BytesIO()
+    torch.onnx.export(
+        model=model,
+        f=buffer,  # type: ignore[arg-type]
+        kwargs=input_tensors,
+        input_names=input_schema_names,
+        output_names=output_schema_names,
+    )
+    buffer.seek(0)
+
+    # Loads the model from the buffer and adds metadata.
+    model_proto = onnx.load_model(buffer)
+    model_proto = _add_metadata_to_onnx(model_proto, schema)
+
+    return model_proto
+
+
+def get_model(model_proto: onnx.ModelProto) -> ort.InferenceSession:
+    """Converts a model proto to an inference session.
+
+    Args:
+        model_proto: ONNX model proto to convert to inference session.
+
+    Returns:
+        ONNX inference session
+    """
+    buffer = BytesIO()
+    onnx.save_model(model_proto, buffer)
+    buffer.seek(0)
+    return ort.InferenceSession(buffer.read())

kinfer-0.0.6/kinfer/inference/python.py

@@ -0,0 +1,72 @@
+"""ONNX model inference utilities for Python."""
+
+from pathlib import Path
+
+import onnx
+import onnxruntime as ort
+
+from kinfer import proto as P
+from kinfer.export.pytorch import KINFER_METADATA_KEY
+from kinfer.serialize.numpy import NumpyMultiSerializer
+
+
+class ONNXModel:
+    """Wrapper for ONNX model inference."""
+
+    def __init__(self, model_path: str | Path) -> None:
+        """Initialize ONNX model.
+
+        Args:
+            model_path: Path to ONNX model file
+            config: Optional inference configuration
+        """
+        self.model_path = model_path
+
+        # Load model and create inference session
+        self.model = onnx.load(model_path)
+        self.session = ort.InferenceSession(model_path)
+        self.attached_metadata: dict[str, str] = {}
+
+        # Extract metadata and attempt to parse JSON values
+        for prop in self.model.metadata_props:
+            if prop.key == KINFER_METADATA_KEY:
+                try:
+                    schema = P.ModelSchema.FromString(prop.value.encode("utf-8"))
+                except Exception as e:
+                    raise ValueError("Failed to parse kinfer_metadata value") from e
+                break
+            else:
+                self.attached_metadata[prop.key] = prop.value
+        else:
+            raise ValueError("kinfer_metadata not found in model metadata")
+
+        # Extract input and output schemas from metadata
+        self._schema = schema
+
+        # Create serializers for input and output.
+        self._input_serializer = NumpyMultiSerializer(self._schema.input_schema)
+        self._output_serializer = NumpyMultiSerializer(self._schema.output_schema)
+
+    def __call__(self, inputs: P.IO) -> P.IO:
+        """Run inference on input data.
+
+        Args:
+            inputs: Input data, matching the input schema.
+
+        Returns:
+            Model outputs, matching the output schema.
+        """
+        inputs_np = self._input_serializer.serialize_io(inputs, as_dict=True)
+        outputs_np = self.session.run(None, inputs_np)
+        outputs = self._output_serializer.deserialize_io(outputs_np)
+        return outputs
+
+    @property
+    def input_schema(self) -> P.IOSchema:
+        """Get the input schema."""
+        return self._schema.input_schema
+
+    @property
+    def output_schema(self) -> P.IOSchema:
+        """Get the output schema."""
+        return self._schema.output_schema

kinfer-0.0.6/kinfer/proto/__init__.py

@@ -0,0 +1,40 @@
+"""Defines helper types for the protocol buffers."""
+
+from .kinfer_pb2 import (
+    AudioFrameSchema,
+    AudioFrameValue,
+    CameraFrameSchema,
+    CameraFrameValue,
+    DType,
+    ImuAccelerometerValue,
+    ImuGyroscopeValue,
+    ImuMagnetometerValue,
+    ImuSchema,
+    ImuValue,
+    IOSchema,
+    IO,
+    JointCommandsSchema,
+    JointCommandsValue,
+    JointCommandValue,
+    JointPositionsSchema,
+    JointPositionsValue,
+    JointPositionUnit,
+    JointPositionValue,
+    JointTorquesSchema,
+    JointTorquesValue,
+    JointTorqueUnit,
+    JointTorqueValue,
+    JointVelocitiesSchema,
+    JointVelocitiesValue,
+    JointVelocityUnit,
+    JointVelocityValue,
+    ModelSchema,
+    StateTensorSchema,
+    StateTensorValue,
+    TimestampSchema,
+    TimestampValue,
+    Value,
+    ValueSchema,
+    VectorCommandSchema,
+    VectorCommandValue,
+)

kinfer-0.0.6/kinfer/proto/kinfer_pb2.py

@@ -0,0 +1,106 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: kinfer.proto
+# Protobuf Python Version: 5.28.3
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    28,
+    3,
+    '',
+    'kinfer.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0ckinfer.proto\x12\x0ckinfer.proto\"f\n\x12JointPositionValue\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x02\x12-\n\x04unit\x18\x03 \x01(\x0e\x32\x1f.kinfer.proto.JointPositionUnit\"Z\n\x14JointPositionsSchema\x12-\n\x04unit\x18\x01 \x01(\x0e\x32\x1f.kinfer.proto.JointPositionUnit\x12\x13\n\x0bjoint_names\x18\x02 \x03(\t\"G\n\x13JointPositionsValue\x12\x30\n\x06values\x18\x01 \x03(\x0b\x32 .kinfer.proto.JointPositionValue\"f\n\x12JointVelocityValue\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x02\x12-\n\x04unit\x18\x03 \x01(\x0e\x32\x1f.kinfer.proto.JointVelocityUnit\"[\n\x15JointVelocitiesSchema\x12-\n\x04unit\x18\x01 \x01(\x0e\x32\x1f.kinfer.proto.JointVelocityUnit\x12\x13\n\x0bjoint_names\x18\x02 \x03(\t\"H\n\x14JointVelocitiesValue\x12\x30\n\x06values\x18\x01 \x03(\x0b\x32 .kinfer.proto.JointVelocityValue\"b\n\x10JointTorqueValue\x12\x12\n\njoint_name\x18\x01 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\x01(\x0b\x32\x1f.kinfer.proto.StateTensorSchemaH\x00\x42\x0c\n\nvalue_type\"5\n\x08IOSchema\x12)\n\x06values\x18\x01 \x03(\x0b\x32\x19.kinfer.proto.ValueSchema\")\n\x02IO\x12#\n\x06values\x18\x01 \x03(\x0b\x32\x13.kinfer.proto.Value\"j\n\x0bModelSchema\x12,\n\x0cinput_schema\x18\x01 \x01(\x0b\x32\x16.kinfer.proto.IOSchema\x12-\n\routput_schema\x18\x02 \x01(\x0b\x32\x16.kinfer.proto.IOSchema*\x88\x01\n\x05\x44Type\x12\x07\n\x03\x46P8\x10\x00\x12\x08\n\x04\x46P16\x10\x01\x12\x08\n\x04\x46P32\x10\x02\x12\x08\n\x04\x46P64\x10\x03\x12\x08\n\x04INT8\x10\x04\x12\t\n\x05INT16\x10\x05\x12\t\n\x05INT32\x10\x06\x12\t\n\x05INT64\x10\x07\x12\t\n\x05UINT8\x10\x08\x12\n\n\x06UINT16\x10\t\x12\n\n\x06UINT32\x10\n\x12\n\n\x06UINT64\x10\x0b*-\n\x11JointPositionUnit\x12\x0b\n\x07\x44\x45GREES\x10\x00\x12\x0b\n\x07RADIANS\x10\x01*C\n\x11JointVelocityUnit\x12\x16\n\x12\x44\x45GREES_PER_SECOND\x10\x00\x12\x16\n\x12RADIANS_PER_SECOND\x10\x01*$\n\x0fJointTorqueUnit\x12\x11\n\rNEWTON_METERS\x10\x00\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'kinfer_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DTYPE']._serialized_start=3803
+  _globals['_DTYPE']._serialized_end=3939
+  _globals['_JOINTPOSITIONUNIT']._serialized_start=3941
+  _globals['_JOINTPOSITIONUNIT']._serialized_end=3986
+  _globals['_JOINTVELOCITYUNIT']._serialized_start=3988
+  _globals['_JOINTVELOCITYUNIT']._serialized_end=4055
+  _globals['_JOINTTORQUEUNIT']._serialized_start=4057
+  _globals['_JOINTTORQUEUNIT']._serialized_end=4093
+  _globals['_JOINTPOSITIONVALUE']._serialized_start=30
+  _globals['_JOINTPOSITIONVALUE']._serialized_end=132
+  _globals['_JOINTPOSITIONSSCHEMA']._serialized_start=134
+  _globals['_JOINTPOSITIONSSCHEMA']._serialized_end=224
+  _globals['_JOINTPOSITIONSVALUE']._serialized_start=226
+  _globals['_JOINTPOSITIONSVALUE']._serialized_end=297
+  _globals['_JOINTVELOCITYVALUE']._serialized_start=299
+  _globals['_JOINTVELOCITYVALUE']._serialized_end=401
+  _globals['_JOINTVELOCITIESSCHEMA']._serialized_start=403
+  _globals['_JOINTVELOCITIESSCHEMA']._serialized_end=494
+  _globals['_JOINTVELOCITIESVALUE']._serialized_start=496
+  _globals['_JOINTVELOCITIESVALUE']._serialized_end=568
+  _globals['_JOINTTORQUEVALUE']._serialized_start=570
+  _globals['_JOINTTORQUEVALUE']._serialized_end=668
+  _globals['_JOINTTORQUESSCHEMA']._serialized_start=670
+  _globals['_JOINTTORQUESSCHEMA']._serialized_end=756
+  _globals['_JOINTTORQUESVALUE']._serialized_start=758
+  _globals['_JOINTTORQUESVALUE']._serialized_end=825
+  _globals['_JOINTCOMMANDSSCHEMA']._serialized_start=828
+  _globals['_JOINTCOMMANDSSCHEMA']._serialized_end=1034
+  _globals['_JOINTCOMMANDVALUE']._serialized_start=1037
+  _globals['_JOINTCOMMANDVALUE']._serialized_end=1316
+  _globals['_JOINTCOMMANDSVALUE']._serialized_start=1318
+  _globals['_JOINTCOMMANDSVALUE']._serialized_end=1387
+  _globals['_CAMERAFRAMESCHEMA']._serialized_start=1389
+  _globals['_CAMERAFRAMESCHEMA']._serialized_end=1457
+  _globals['_CAMERAFRAMEVALUE']._serialized_start=1459
+  _globals['_CAMERAFRAMEVALUE']._serialized_end=1491
+  _globals['_AUDIOFRAMESCHEMA']._serialized_start=1493
+  _globals['_AUDIOFRAMESCHEMA']._serialized_end=1586
+  _globals['_AUDIOFRAMEVALUE']._serialized_start=1588
+  _globals['_AUDIOFRAMEVALUE']._serialized_end=1619
+  _globals['_IMUACCELEROMETERVALUE']._serialized_start=1621
+  _globals['_IMUACCELEROMETERVALUE']._serialized_end=1677
+  _globals['_IMUGYROSCOPEVALUE']._serialized_start=1679
+  _globals['_IMUGYROSCOPEVALUE']._serialized_end=1731
+  _globals['_IMUMAGNETOMETERVALUE']._serialized_start=1733
+  _globals['_IMUMAGNETOMETERVALUE']._serialized_end=1788
+  _globals['_IMUSCHEMA']._serialized_start=1790
+  _globals['_IMUSCHEMA']._serialized_end=1877
+  _globals['_IMUVALUE']._serialized_start=1880
+  _globals['_IMUVALUE']._serialized_end=2075
+  _globals['_TIMESTAMPSCHEMA']._serialized_start=2077
+  _globals['_TIMESTAMPSCHEMA']._serialized_end=2138
+  _globals['_TIMESTAMPVALUE']._serialized_start=2140
+  _globals['_TIMESTAMPVALUE']._serialized_end=2188
+  _globals['_VECTORCOMMANDSCHEMA']._serialized_start=2190
+  _globals['_VECTORCOMMANDSCHEMA']._serialized_end=2231
+  _globals['_VECTORCOMMANDVALUE']._serialized_start=2233
+  _globals['_VECTORCOMMANDVALUE']._serialized_end=2269
+  _globals['_STATETENSORSCHEMA']._serialized_start=2271
+  _globals['_STATETENSORSCHEMA']._serialized_end=2341
+  _globals['_STATETENSORVALUE']._serialized_start=2343
+  _globals['_STATETENSORVALUE']._serialized_end=2375
+  _globals['_VALUE']._serialized_start=2378
+  _globals['_VALUE']._serialized_end=2974
+  _globals['_VALUESCHEMA']._serialized_start=2977
+  _globals['_VALUESCHEMA']._serialized_end=3594
+  _globals['_IOSCHEMA']._serialized_start=3596
+  _globals['_IOSCHEMA']._serialized_end=3649
+  _globals['_IO']._serialized_start=3651
+  _globals['_IO']._serialized_end=3692
+  _globals['_MODELSCHEMA']._serialized_start=3694
+  _globals['_MODELSCHEMA']._serialized_end=3800
+# @@protoc_insertion_point(module_scope)