kinfer 0.0.6__tar.gz → 0.3.2__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (55) hide show
  1. kinfer-0.3.2/.cargo/config.toml +12 -0
  2. kinfer-0.3.2/Cargo.toml +18 -0
  3. kinfer-0.3.2/MANIFEST.in +3 -0
  4. {kinfer-0.0.6/kinfer.egg-info → kinfer-0.3.2}/PKG-INFO +7 -1
  5. {kinfer-0.0.6 → kinfer-0.3.2}/README.md +6 -0
  6. kinfer-0.3.2/kinfer/__init__.py +6 -0
  7. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/export/pytorch.py +7 -5
  8. kinfer-0.3.2/kinfer/inference/python.py +92 -0
  9. kinfer-0.3.2/kinfer/proto/kinfer_pb2.py +103 -0
  10. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/proto/kinfer_pb2.pyi +263 -27
  11. kinfer-0.3.2/kinfer/rust/Cargo.toml +20 -0
  12. kinfer-0.3.2/kinfer/rust/build.rs +16 -0
  13. kinfer-0.3.2/kinfer/rust/src/kinfer_proto.rs +14 -0
  14. kinfer-0.3.2/kinfer/rust/src/lib.rs +14 -0
  15. kinfer-0.3.2/kinfer/rust/src/main.rs +6 -0
  16. kinfer-0.3.2/kinfer/rust/src/model.rs +153 -0
  17. kinfer-0.3.2/kinfer/rust/src/onnx_serializer.rs +804 -0
  18. kinfer-0.3.2/kinfer/rust/src/serializer.rs +221 -0
  19. kinfer-0.3.2/kinfer/rust/src/tests/onnx_serializer_tests.rs +212 -0
  20. kinfer-0.3.2/kinfer/rust_bindings/Cargo.toml +19 -0
  21. kinfer-0.3.2/kinfer/rust_bindings/pyproject.toml +7 -0
  22. kinfer-0.3.2/kinfer/rust_bindings/src/bin/stub_gen.rs +7 -0
  23. kinfer-0.3.2/kinfer/rust_bindings/src/lib.rs +17 -0
  24. kinfer-0.3.2/kinfer/rust_bindings.pyi +7 -0
  25. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/base.py +38 -30
  26. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/json.py +68 -24
  27. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/numpy.py +79 -26
  28. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/pytorch.py +49 -25
  29. {kinfer-0.0.6 → kinfer-0.3.2/kinfer.egg-info}/PKG-INFO +7 -1
  30. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer.egg-info/SOURCES.txt +19 -1
  31. kinfer-0.3.2/kinfer.egg-info/not-zip-safe +1 -0
  32. {kinfer-0.0.6 → kinfer-0.3.2}/pyproject.toml +9 -0
  33. kinfer-0.3.2/setup.py +84 -0
  34. {kinfer-0.0.6 → kinfer-0.3.2}/tests/test_infer.py +2 -2
  35. kinfer-0.3.2/tests/test_schema.py +229 -0
  36. kinfer-0.0.6/MANIFEST.in +0 -1
  37. kinfer-0.0.6/kinfer/__init__.py +0 -3
  38. kinfer-0.0.6/kinfer/inference/python.py +0 -72
  39. kinfer-0.0.6/kinfer/proto/kinfer_pb2.py +0 -106
  40. kinfer-0.0.6/setup.py +0 -41
  41. {kinfer-0.0.6 → kinfer-0.3.2}/LICENSE +0 -0
  42. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/export/__init__.py +0 -0
  43. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/inference/__init__.py +0 -0
  44. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/proto/__init__.py +1 -1
  45. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/py.typed +0 -0
  46. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/requirements-dev.txt +0 -0
  47. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/requirements.txt +0 -0
  48. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/__init__.py +0 -0
  49. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/schema.py +0 -0
  50. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/types.py +0 -0
  51. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer/serialize/utils.py +0 -0
  52. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer.egg-info/dependency_links.txt +0 -0
  53. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer.egg-info/requires.txt +0 -0
  54. {kinfer-0.0.6 → kinfer-0.3.2}/kinfer.egg-info/top_level.txt +0 -0
  55. {kinfer-0.0.6 → kinfer-0.3.2}/setup.cfg +0 -0
kinfer-0.3.2/.cargo/config.toml ADDED
@@ -0,0 +1,12 @@
1
+ [target.aarch64-apple-darwin]
2
+
3
+ rustflags = [
4
+ "-C", "link-arg=-undefined",
5
+ "-C", "link-arg=dynamic_lookup",
6
+ ]
7
+
8
+ [target.x86_64-apple-darwin]
9
+ rustflags = [
10
+ "-C", "link-arg=-undefined",
11
+ "-C", "link-arg=dynamic_lookup",
12
+ ]
kinfer-0.3.2/Cargo.toml ADDED
@@ -0,0 +1,18 @@
1
+ [workspace]
2
+
3
+ members = [
4
+ "kinfer/rust",
5
+ "kinfer/rust_bindings",
6
+ ]
7
+ resolver = "2"
8
+
9
+ [workspace.package]
10
+
11
+ version = "0.3.2"
12
+ authors = ["Wesley Maa <wesley@kscale.dev>", "Benjamin Bolte <ben@kscale.dev>"]
13
+ edition = "2021"
14
+ description = "K-Scale Inference Library"
15
+ license = "MIT"
16
+ repository = "https://github.com/kscalelabs/kinfer"
17
+ documentation = "https://docs.kscale.dev"
18
+ readme = "README.md"
kinfer-0.3.2/MANIFEST.in ADDED
@@ -0,0 +1,3 @@
1
+ include Cargo.toml
2
+ recursive-include kinfer/ *.rs *.pyi *.so *.py *.txt *.md *.toml py.typed
3
+ recursive-include .cargo/ *.toml
{kinfer-0.0.6/kinfer.egg-info → kinfer-0.3.2}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: kinfer
3
- Version: 0.0.6
3
+ Version: 0.3.2
4
4
  Summary: Tool to make it easier to run a model on a real robot
5
5
  Home-page: https://github.com/kscalelabs/kinfer.git
6
6
  Author: K-Scale Labs
@@ -49,3 +49,9 @@ $ brew ls onnxruntime
49
49
  /opt/homebrew/Cellar/onnxruntime/1.20.1/sbom.spdx.json
50
50
  $ export DYLD_LIBRARY_PATH=/opt/homebrew/Cellar/onnxruntime/1.20.1/lib:$DYLD_LIBRARY_PATH
51
51
  ```
52
+
53
+ ### Considerations for Exporting PyTorch Models
54
+
55
+ Don't use common names for the inputs to your forward pass. E.g. `input`, `output`, `state`, `state_tensor`, `buffer`, etc.
56
+
57
+ This is because ONNX has internal names for the model and if there's a conflict, the inputs will have a .1, .2, etc. suffix which makes it really hard to figure out what value_name to pass into your kinfer io values.
{kinfer-0.0.6 → kinfer-0.3.2}/README.md RENAMED
@@ -28,3 +28,9 @@ $ brew ls onnxruntime
28
28
  /opt/homebrew/Cellar/onnxruntime/1.20.1/sbom.spdx.json
29
29
  $ export DYLD_LIBRARY_PATH=/opt/homebrew/Cellar/onnxruntime/1.20.1/lib:$DYLD_LIBRARY_PATH
30
30
  ```
31
+
32
+ ### Considerations for Exporting PyTorch Models
33
+
34
+ Don't use common names for the inputs to your forward pass. E.g. `input`, `output`, `state`, `state_tensor`, `buffer`, etc.
35
+
36
+ This is because ONNX has internal names for the model and if there's a conflict, the inputs will have a .1, .2, etc. suffix which makes it really hard to figure out what value_name to pass into your kinfer io values.
kinfer-0.3.2/kinfer/__init__.py ADDED
@@ -0,0 +1,6 @@
1
+ """Defines the kinfer API."""
2
+
3
+ from . import export, inference
4
+ from .rust_bindings import get_version
5
+
6
+ __version__ = get_version()
{kinfer-0.0.6 → kinfer-0.3.2}/kinfer/export/pytorch.py RENAMED
@@ -1,5 +1,6 @@
1
1
  """PyTorch model export utilities."""
2
2
 
3
+ import base64
3
4
  import inspect
4
5
  from io import BytesIO
5
6
  from typing import Sequence
@@ -28,16 +29,15 @@ def _add_metadata_to_onnx(model_proto: onnx.ModelProto, schema: P.ModelSchema) -
28
29
  ONNX model with added metadata
29
30
  """
30
31
  schema_bytes = schema.SerializeToString()
32
+
31
33
  meta = model_proto.metadata_props.add()
32
34
  meta.key = KINFER_METADATA_KEY
33
- meta.value = schema_bytes
35
+ meta.value = base64.b64encode(schema_bytes).decode("utf-8")
36
+
34
37
  return model_proto
35
38
 
36
39
 
37
- def export_model(
38
- model: torch.jit.ScriptModule,
39
- schema: P.ModelSchema,
40
- ) -> onnx.ModelProto:
40
+ def export_model(model: torch.jit.ScriptModule, schema: P.ModelSchema) -> onnx.ModelProto:
41
41
  """Export PyTorch model to ONNX format with metadata.
42
42
 
43
43
  Args:
@@ -56,6 +56,7 @@ def export_model(
56
56
  raise ValueError(f"Expected {len(model_input_names)} inputs, but schema has {len(schema.input_schema.values)}")
57
57
  input_schema_names = [i.value_name for i in schema.input_schema.values]
58
58
  output_schema_names = [o.value_name for o in schema.output_schema.values]
59
+
59
60
  if model_input_names != input_schema_names:
60
61
  raise ValueError(f"Expected input names {model_input_names} to match schema names {input_schema_names}")
61
62
 
@@ -76,6 +77,7 @@ def export_model(
76
77
  model_input_names = [
77
78
  p.name for p in signature.parameters.values() if p.kind == inspect.Parameter.POSITIONAL_OR_KEYWORD
78
79
  ]
80
+
79
81
  raise ValueError(
80
82
  f"Failed to run model with dummy inputs; input names are {model_input_names} while "
81
83
  f"input schema is {schema.input_schema}"
kinfer-0.3.2/kinfer/inference/python.py ADDED
@@ -0,0 +1,92 @@
1
+ """ONNX model inference utilities for Python."""
2
+
3
+ import base64
4
+ from pathlib import Path
5
+
6
+ import onnx
7
+ import onnxruntime as ort
8
+
9
+ from kinfer import proto as P
10
+ from kinfer.export.pytorch import KINFER_METADATA_KEY
11
+ from kinfer.serialize.numpy import NumpyMultiSerializer
12
+
13
+
14
+ def _read_schema(model: onnx.ModelProto) -> P.ModelSchema:
15
+ for prop in model.metadata_props:
16
+ if prop.key == KINFER_METADATA_KEY:
17
+ try:
18
+ schema_bytes = base64.b64decode(prop.value)
19
+ schema = P.ModelSchema()
20
+ schema.ParseFromString(schema_bytes)
21
+ return schema
22
+ except Exception as e:
23
+ raise ValueError("Failed to parse kinfer_metadata value") from e
24
+ else:
25
+ raise ValueError(f"Found arbitrary metadata key {prop.key}")
26
+
27
+ raise ValueError(f"{KINFER_METADATA_KEY} not found in model metadata")
28
+
29
+
30
+ class ONNXModel:
31
+ """Wrapper for ONNX model inference."""
32
+
33
+ def __init__(self: "ONNXModel", model_path: str | Path) -> None:
34
+ """Initialize ONNX model.
35
+
36
+ Args:
37
+ model_path: Path to ONNX model file
38
+ """
39
+ self.model_path = model_path
40
+
41
+ # Load model and create inference session
42
+ self.model = onnx.load(model_path)
43
+ self.session = ort.InferenceSession(model_path)
44
+ self._schema = _read_schema(self.model)
45
+
46
+ # Create serializers for input and output.
47
+ self._input_serializer = NumpyMultiSerializer(self._schema.input_schema)
48
+ self._output_serializer = NumpyMultiSerializer(self._schema.output_schema)
49
+
50
+ def __call__(self: "ONNXModel", inputs: P.IO) -> P.IO:
51
+ """Run inference on input data.
52
+
53
+ Args:
54
+ inputs: Input data, matching the input schema.
55
+
56
+ Returns:
57
+ Model outputs, matching the output schema.
58
+ """
59
+ inputs_np = self._input_serializer.serialize_io(inputs, as_dict=True)
60
+ outputs_np = self.session.run(None, inputs_np)
61
+ outputs = self._output_serializer.deserialize_io(outputs_np)
62
+ return outputs
63
+
64
+ @property
65
+ def input_schema(self: "ONNXModel") -> P.IOSchema:
66
+ """Get the input schema."""
67
+ return self._schema.input_schema
68
+
69
+ @property
70
+ def output_schema(self: "ONNXModel") -> P.IOSchema:
71
+ """Get the output schema."""
72
+ return self._schema.output_schema
73
+
74
+ @property
75
+ def schema_input_keys(self: "ONNXModel") -> list[str]:
76
+ """Get all value names from input schemas.
77
+
78
+ Returns:
79
+ List of value names from input schema.
80
+ """
81
+ input_names = [value.value_name for value in self._schema.input_schema.values]
82
+ return input_names
83
+
84
+ @property
85
+ def schema_output_keys(self: "ONNXModel") -> list[str]:
86
+ """Get all value names from output schemas.
87
+
88
+ Returns:
89
+ List of value names from output schema.
90
+ """
91
+ output_names = [value.value_name for value in self._schema.output_schema.values]
92
+ return output_names
kinfer-0.3.2/kinfer/proto/kinfer_pb2.py ADDED
@@ -0,0 +1,103 @@
1
+ # -*- coding: utf-8 -*-
2
+ # Generated by the protocol buffer compiler. DO NOT EDIT!
3
+ # NO CHECKED-IN PROTOBUF GENCODE
4
+ # source: kinfer/proto/kinfer.proto
5
+ # Protobuf Python Version: 5.29.1
6
+ """Generated protocol buffer code."""
7
+
8
+ from google.protobuf import descriptor as _descriptor
9
+ from google.protobuf import descriptor_pool as _descriptor_pool
10
+ from google.protobuf import runtime_version as _runtime_version
11
+ from google.protobuf import symbol_database as _symbol_database
12
+ from google.protobuf.internal import builder as _builder
13
+
14
+ _runtime_version.ValidateProtobufRuntimeVersion(
15
+ _runtime_version.Domain.PUBLIC, 5, 29, 1, "", "kinfer/proto/kinfer.proto"
16
+ )
17
+ # @@protoc_insertion_point(imports)
18
+
19
+ _sym_db = _symbol_database.Default()
20
+
21
+
22
+ DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(
23
+ b'\n\x19kinfer/proto/kinfer.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 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x02\x12+\n\x04unit\x18\x03 \x01(\x0e\x32\x1d.kinfer.proto.JointTorqueUnit"V\n\x12JointTorquesSchema\x12+\n\x04unit\x18\x01 \x01(\x0e\x32\x1d.kinfer.proto.JointTorqueUnit\x12\x13\n\x0bjoint_names\x18\x02 \x03(\t"C\n\x11JointTorquesValue\x12.\n\x06values\x18\x01 \x03(\x0b\x32\x1e.kinfer.proto.JointTorqueValue"\xce\x01\n\x13JointCommandsSchema\x12\x13\n\x0bjoint_names\x18\x01 \x03(\t\x12\x32\n\x0btorque_unit\x18\x02 \x01(\x0e\x32\x1d.kinfer.proto.JointTorqueUnit\x12\x36\n\rvelocity_unit\x18\x03 \x01(\x0e\x32\x1f.kinfer.proto.JointVelocityUnit\x12\x36\n\rposition_unit\x18\x04 \x01(\x0e\x32\x1f.kinfer.proto.JointPositionUnit"\x97\x02\n\x11JointCommandValue\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\x0e\n\x06torque\x18\x02 \x01(\x02\x12\x10\n\x08velocity\x18\x03 \x01(\x02\x12\x10\n\x08position\x18\x04 \x01(\x02\x12\n\n\x02kp\x18\x05 \x01(\x02\x12\n\n\x02kd\x18\x06 \x01(\x02\x12\x32\n\x0btorque_unit\x18\x07 \x01(\x0e\x32\x1d.kinfer.proto.JointTorqueUnit\x12\x36\n\rvelocity_unit\x18\x08 \x01(\x0e\x32\x1f.kinfer.proto.JointVelocityUnit\x12\x36\n\rposition_unit\x18\t \x01(\x0e\x32\x1f.kinfer.proto.JointPositionUnit"E\n\x12JointCommandsValue\x12/\n\x06values\x18\x01 \x03(\x0b\x32\x1f.kinfer.proto.JointCommandValue"D\n\x11\x43\x61meraFrameSchema\x12\r\n\x05width\x18\x01 \x01(\x05\x12\x0e\n\x06height\x18\x02 \x01(\x05\x12\x10\n\x08\x63hannels\x18\x03 \x01(\x05" \n\x10\x43\x61meraFrameValue\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c"]\n\x10\x41udioFrameSchema\x12\x10\n\x08\x63hannels\x18\x01 \x01(\x05\x12\x13\n\x0bsample_rate\x18\x02 \x01(\x05\x12"\n\x05\x64type\x18\x03 \x01(\x0e\x32\x13.kinfer.proto.DType"\x1f\n\x0f\x41udioFrameValue\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c"8\n\x15ImuAccelerometerValue\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02"4\n\x11ImuGyroscopeValue\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02"7\n\x14ImuMagnetometerValue\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02"W\n\tImuSchema\x12\x19\n\x11use_accelerometer\x18\x01 \x01(\x08\x12\x15\n\ruse_gyroscope\x18\x02 \x01(\x08\x12\x18\n\x10use_magnetometer\x18\x03 \x01(\x08"\xc3\x01\n\x08ImuValue\x12@\n\x13linear_acceleration\x18\x01 \x01(\x0b\x32#.kinfer.proto.ImuAccelerometerValue\x12\x39\n\x10\x61ngular_velocity\x18\x02 \x01(\x0b\x32\x1f.kinfer.proto.ImuGyroscopeValue\x12:\n\x0emagnetic_field\x18\x03 \x01(\x0b\x32".kinfer.proto.ImuMagnetometerValue"=\n\x0fTimestampSchema\x12\x15\n\rstart_seconds\x18\x01 \x01(\x03\x12\x13\n\x0bstart_nanos\x18\x02 \x01(\x05"0\n\x0eTimestampValue\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05")\n\x13VectorCommandSchema\x12\x12\n\ndimensions\x18\x01 \x01(\x05"$\n\x12VectorCommandValue\x12\x0e\n\x06values\x18\x01 \x03(\x02"F\n\x11StateTensorSchema\x12\r\n\x05shape\x18\x01 \x03(\x05\x12"\n\x05\x64type\x18\x02 \x01(\x0e\x32\x13.kinfer.proto.DType" \n\x10StateTensorValue\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c"\xd4\x04\n\x05Value\x12\x12\n\nvalue_name\x18\x01 \x01(\t\x12<\n\x0fjoint_positions\x18\x02 \x01(\x0b\x32!.kinfer.proto.JointPositionsValueH\x00\x12>\n\x10joint_velocities\x18\x03 \x01(\x0b\x32".kinfer.proto.JointVelocitiesValueH\x00\x12\x38\n\rjoint_torques\x18\x04 \x01(\x0b\x32\x1f.kinfer.proto.JointTorquesValueH\x00\x12:\n\x0ejoint_commands\x18\x05 \x01(\x0b\x32 .kinfer.proto.JointCommandsValueH\x00\x12\x36\n\x0c\x63\x61mera_frame\x18\x06 \x01(\x0b\x32\x1e.kinfer.proto.CameraFrameValueH\x00\x12\x34\n\x0b\x61udio_frame\x18\x07 \x01(\x0b\x32\x1d.kinfer.proto.AudioFrameValueH\x00\x12%\n\x03imu\x18\x08 \x01(\x0b\x32\x16.kinfer.proto.ImuValueH\x00\x12\x31\n\ttimestamp\x18\t \x01(\x0b\x32\x1c.kinfer.proto.TimestampValueH\x00\x12:\n\x0evector_command\x18\n \x01(\x0b\x32 .kinfer.proto.VectorCommandValueH\x00\x12\x36\n\x0cstate_tensor\x18\x0b \x01(\x0b\x32\x1e.kinfer.proto.StateTensorValueH\x00\x42\x07\n\x05value"\xe9\x04\n\x0bValueSchema\x12\x12\n\nvalue_name\x18\x01 \x01(\t\x12=\n\x0fjoint_positions\x18\x02 \x01(\x0b\x32".kinfer.proto.JointPositionsSchemaH\x00\x12?\n\x10joint_velocities\x18\x03 \x01(\x0b\x32#.kinfer.proto.JointVelocitiesSchemaH\x00\x12\x39\n\rjoint_torques\x18\x04 \x01(\x0b\x32 .kinfer.proto.JointTorquesSchemaH\x00\x12;\n\x0ejoint_commands\x18\x05 \x01(\x0b\x32!.kinfer.proto.JointCommandsSchemaH\x00\x12\x37\n\x0c\x63\x61mera_frame\x18\x06 \x01(\x0b\x32\x1f.kinfer.proto.CameraFrameSchemaH\x00\x12\x35\n\x0b\x61udio_frame\x18\x07 \x01(\x0b\x32\x1e.kinfer.proto.AudioFrameSchemaH\x00\x12&\n\x03imu\x18\x08 \x01(\x0b\x32\x17.kinfer.proto.ImuSchemaH\x00\x12\x32\n\ttimestamp\x18\t \x01(\x0b\x32\x1d.kinfer.proto.TimestampSchemaH\x00\x12;\n\x0evector_command\x18\n \x01(\x0b\x32!.kinfer.proto.VectorCommandSchemaH\x00\x12\x37\n\x0cstate_tensor\x18\x0b \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'
24
+ )
25
+
26
+ _globals = globals()
27
+ _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
28
+ _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, "kinfer.proto.kinfer_pb2", _globals)
29
+ if not _descriptor._USE_C_DESCRIPTORS:
30
+ DESCRIPTOR._loaded_options = None
31
+ _globals["_DTYPE"]._serialized_start = 3816
32
+ _globals["_DTYPE"]._serialized_end = 3952
33
+ _globals["_JOINTPOSITIONUNIT"]._serialized_start = 3954
34
+ _globals["_JOINTPOSITIONUNIT"]._serialized_end = 3999
35
+ _globals["_JOINTVELOCITYUNIT"]._serialized_start = 4001
36
+ _globals["_JOINTVELOCITYUNIT"]._serialized_end = 4068
37
+ _globals["_JOINTTORQUEUNIT"]._serialized_start = 4070
38
+ _globals["_JOINTTORQUEUNIT"]._serialized_end = 4106
39
+ _globals["_JOINTPOSITIONVALUE"]._serialized_start = 43
40
+ _globals["_JOINTPOSITIONVALUE"]._serialized_end = 145
41
+ _globals["_JOINTPOSITIONSSCHEMA"]._serialized_start = 147
42
+ _globals["_JOINTPOSITIONSSCHEMA"]._serialized_end = 237
43
+ _globals["_JOINTPOSITIONSVALUE"]._serialized_start = 239
44
+ _globals["_JOINTPOSITIONSVALUE"]._serialized_end = 310
45
+ _globals["_JOINTVELOCITYVALUE"]._serialized_start = 312
46
+ _globals["_JOINTVELOCITYVALUE"]._serialized_end = 414
47
+ _globals["_JOINTVELOCITIESSCHEMA"]._serialized_start = 416
48
+ _globals["_JOINTVELOCITIESSCHEMA"]._serialized_end = 507
49
+ _globals["_JOINTVELOCITIESVALUE"]._serialized_start = 509
50
+ _globals["_JOINTVELOCITIESVALUE"]._serialized_end = 581
51
+ _globals["_JOINTTORQUEVALUE"]._serialized_start = 583
52
+ _globals["_JOINTTORQUEVALUE"]._serialized_end = 681
53
+ _globals["_JOINTTORQUESSCHEMA"]._serialized_start = 683
54
+ _globals["_JOINTTORQUESSCHEMA"]._serialized_end = 769
55
+ _globals["_JOINTTORQUESVALUE"]._serialized_start = 771
56
+ _globals["_JOINTTORQUESVALUE"]._serialized_end = 838
57
+ _globals["_JOINTCOMMANDSSCHEMA"]._serialized_start = 841
58
+ _globals["_JOINTCOMMANDSSCHEMA"]._serialized_end = 1047
59
+ _globals["_JOINTCOMMANDVALUE"]._serialized_start = 1050
60
+ _globals["_JOINTCOMMANDVALUE"]._serialized_end = 1329
61
+ _globals["_JOINTCOMMANDSVALUE"]._serialized_start = 1331
62
+ _globals["_JOINTCOMMANDSVALUE"]._serialized_end = 1400
63
+ _globals["_CAMERAFRAMESCHEMA"]._serialized_start = 1402
64
+ _globals["_CAMERAFRAMESCHEMA"]._serialized_end = 1470
65
+ _globals["_CAMERAFRAMEVALUE"]._serialized_start = 1472
66
+ _globals["_CAMERAFRAMEVALUE"]._serialized_end = 1504
67
+ _globals["_AUDIOFRAMESCHEMA"]._serialized_start = 1506
68
+ _globals["_AUDIOFRAMESCHEMA"]._serialized_end = 1599
69
+ _globals["_AUDIOFRAMEVALUE"]._serialized_start = 1601
70
+ _globals["_AUDIOFRAMEVALUE"]._serialized_end = 1632
71
+ _globals["_IMUACCELEROMETERVALUE"]._serialized_start = 1634
72
+ _globals["_IMUACCELEROMETERVALUE"]._serialized_end = 1690
73
+ _globals["_IMUGYROSCOPEVALUE"]._serialized_start = 1692
74
+ _globals["_IMUGYROSCOPEVALUE"]._serialized_end = 1744
75
+ _globals["_IMUMAGNETOMETERVALUE"]._serialized_start = 1746
76
+ _globals["_IMUMAGNETOMETERVALUE"]._serialized_end = 1801
77
+ _globals["_IMUSCHEMA"]._serialized_start = 1803
78
+ _globals["_IMUSCHEMA"]._serialized_end = 1890
79
+ _globals["_IMUVALUE"]._serialized_start = 1893
80
+ _globals["_IMUVALUE"]._serialized_end = 2088
81
+ _globals["_TIMESTAMPSCHEMA"]._serialized_start = 2090
82
+ _globals["_TIMESTAMPSCHEMA"]._serialized_end = 2151
83
+ _globals["_TIMESTAMPVALUE"]._serialized_start = 2153
84
+ _globals["_TIMESTAMPVALUE"]._serialized_end = 2201
85
+ _globals["_VECTORCOMMANDSCHEMA"]._serialized_start = 2203
86
+ _globals["_VECTORCOMMANDSCHEMA"]._serialized_end = 2244
87
+ _globals["_VECTORCOMMANDVALUE"]._serialized_start = 2246
88
+ _globals["_VECTORCOMMANDVALUE"]._serialized_end = 2282
89
+ _globals["_STATETENSORSCHEMA"]._serialized_start = 2284
90
+ _globals["_STATETENSORSCHEMA"]._serialized_end = 2354
91
+ _globals["_STATETENSORVALUE"]._serialized_start = 2356
92
+ _globals["_STATETENSORVALUE"]._serialized_end = 2388
93
+ _globals["_VALUE"]._serialized_start = 2391
94
+ _globals["_VALUE"]._serialized_end = 2987
95
+ _globals["_VALUESCHEMA"]._serialized_start = 2990
96
+ _globals["_VALUESCHEMA"]._serialized_end = 3607
97
+ _globals["_IOSCHEMA"]._serialized_start = 3609
98
+ _globals["_IOSCHEMA"]._serialized_end = 3662
99
+ _globals["_IO"]._serialized_start = 3664
100
+ _globals["_IO"]._serialized_end = 3705
101
+ _globals["_MODELSCHEMA"]._serialized_start = 3707
102
+ _globals["_MODELSCHEMA"]._serialized_end = 3813
103
+ # @@protoc_insertion_point(module_scope)