kinfer 0.3.1__cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

kinfer/__init__.py

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+"""Defines the kinfer API."""
+
+from . import export, inference
+from .rust_bindings import get_version
+
+__version__ = get_version()

kinfer/export/__init__.py

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+from .pytorch import *

kinfer/export/pytorch.py

@@ -0,0 +1,128 @@
+"""PyTorch model export utilities."""
+
+import base64
+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 = base64.b64encode(schema_bytes).decode("utf-8")
+
+    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/inference/__init__.py

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+from .python import *

kinfer/inference/python.py

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+"""ONNX model inference utilities for Python."""
+
+import base64
+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
+
+
+def _read_schema(model: onnx.ModelProto) -> P.ModelSchema:
+    for prop in model.metadata_props:
+        if prop.key == KINFER_METADATA_KEY:
+            try:
+                schema_bytes = base64.b64decode(prop.value)
+                schema = P.ModelSchema()
+                schema.ParseFromString(schema_bytes)
+                return schema
+            except Exception as e:
+                raise ValueError("Failed to parse kinfer_metadata value") from e
+        else:
+            raise ValueError(f"Found arbitrary metadata key {prop.key}")
+
+    raise ValueError(f"{KINFER_METADATA_KEY} not found in model metadata")
+
+
+class ONNXModel:
+    """Wrapper for ONNX model inference."""
+
+    def __init__(self: "ONNXModel", model_path: str | Path) -> None:
+        """Initialize ONNX model.
+
+        Args:
+            model_path: Path to ONNX model file
+        """
+        self.model_path = model_path
+
+        # Load model and create inference session
+        self.model = onnx.load(model_path)
+        self.session = ort.InferenceSession(model_path)
+        self._schema = _read_schema(self.model)
+
+        # 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: "ONNXModel", 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: "ONNXModel") -> P.IOSchema:
+        """Get the input schema."""
+        return self._schema.input_schema
+
+    @property
+    def output_schema(self: "ONNXModel") -> P.IOSchema:
+        """Get the output schema."""
+        return self._schema.output_schema
+
+    @property
+    def schema_input_keys(self: "ONNXModel") -> list[str]:
+        """Get all value names from input schemas.
+
+        Returns:
+            List of value names from input schema.
+        """
+        input_names = [value.value_name for value in self._schema.input_schema.values]
+        return input_names
+
+    @property
+    def schema_output_keys(self: "ONNXModel") -> list[str]:
+        """Get all value names from output schemas.
+
+        Returns:
+            List of value names from output schema.
+        """
+        output_names = [value.value_name for value in self._schema.output_schema.values]
+        return output_names

kinfer/proto/__init__.py

@@ -0,0 +1,40 @@
+"""Defines helper types for the protocol buffers."""
+
+from .kinfer_pb2 import (
+    IO,
+    AudioFrameSchema,
+    AudioFrameValue,
+    CameraFrameSchema,
+    CameraFrameValue,
+    DType,
+    ImuAccelerometerValue,
+    ImuGyroscopeValue,
+    ImuMagnetometerValue,
+    ImuSchema,
+    ImuValue,
+    IOSchema,
+    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/proto/kinfer_pb2.py

@@ -0,0 +1,103 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: kinfer/proto/kinfer.proto
+# Protobuf Python Version: 5.29.1
+"""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, 29, 1, "", "kinfer/proto/kinfer.proto"
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(
+    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 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+)
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, "kinfer.proto.kinfer_pb2", _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    DESCRIPTOR._loaded_options = None
+    _globals["_DTYPE"]._serialized_start = 3816
+    _globals["_DTYPE"]._serialized_end = 3952
+    _globals["_JOINTPOSITIONUNIT"]._serialized_start = 3954
+    _globals["_JOINTPOSITIONUNIT"]._serialized_end = 3999
+    _globals["_JOINTVELOCITYUNIT"]._serialized_start = 4001
+    _globals["_JOINTVELOCITYUNIT"]._serialized_end = 4068
+    _globals["_JOINTTORQUEUNIT"]._serialized_start = 4070
+    _globals["_JOINTTORQUEUNIT"]._serialized_end = 4106
+    _globals["_JOINTPOSITIONVALUE"]._serialized_start = 43
+    _globals["_JOINTPOSITIONVALUE"]._serialized_end = 145
+    _globals["_JOINTPOSITIONSSCHEMA"]._serialized_start = 147
+    _globals["_JOINTPOSITIONSSCHEMA"]._serialized_end = 237
+    _globals["_JOINTPOSITIONSVALUE"]._serialized_start = 239
+    _globals["_JOINTPOSITIONSVALUE"]._serialized_end = 310
+    _globals["_JOINTVELOCITYVALUE"]._serialized_start = 312
+    _globals["_JOINTVELOCITYVALUE"]._serialized_end = 414
+    _globals["_JOINTVELOCITIESSCHEMA"]._serialized_start = 416
+    _globals["_JOINTVELOCITIESSCHEMA"]._serialized_end = 507
+    _globals["_JOINTVELOCITIESVALUE"]._serialized_start = 509
+    _globals["_JOINTVELOCITIESVALUE"]._serialized_end = 581
+    _globals["_JOINTTORQUEVALUE"]._serialized_start = 583
+    _globals["_JOINTTORQUEVALUE"]._serialized_end = 681
+    _globals["_JOINTTORQUESSCHEMA"]._serialized_start = 683
+    _globals["_JOINTTORQUESSCHEMA"]._serialized_end = 769
+    _globals["_JOINTTORQUESVALUE"]._serialized_start = 771
+    _globals["_JOINTTORQUESVALUE"]._serialized_end = 838
+    _globals["_JOINTCOMMANDSSCHEMA"]._serialized_start = 841
+    _globals["_JOINTCOMMANDSSCHEMA"]._serialized_end = 1047
+    _globals["_JOINTCOMMANDVALUE"]._serialized_start = 1050
+    _globals["_JOINTCOMMANDVALUE"]._serialized_end = 1329
+    _globals["_JOINTCOMMANDSVALUE"]._serialized_start = 1331
+    _globals["_JOINTCOMMANDSVALUE"]._serialized_end = 1400
+    _globals["_CAMERAFRAMESCHEMA"]._serialized_start = 1402
+    _globals["_CAMERAFRAMESCHEMA"]._serialized_end = 1470
+    _globals["_CAMERAFRAMEVALUE"]._serialized_start = 1472
+    _globals["_CAMERAFRAMEVALUE"]._serialized_end = 1504
+    _globals["_AUDIOFRAMESCHEMA"]._serialized_start = 1506
+    _globals["_AUDIOFRAMESCHEMA"]._serialized_end = 1599
+    _globals["_AUDIOFRAMEVALUE"]._serialized_start = 1601
+    _globals["_AUDIOFRAMEVALUE"]._serialized_end = 1632
+    _globals["_IMUACCELEROMETERVALUE"]._serialized_start = 1634
+    _globals["_IMUACCELEROMETERVALUE"]._serialized_end = 1690
+    _globals["_IMUGYROSCOPEVALUE"]._serialized_start = 1692
+    _globals["_IMUGYROSCOPEVALUE"]._serialized_end = 1744
+    _globals["_IMUMAGNETOMETERVALUE"]._serialized_start = 1746
+    _globals["_IMUMAGNETOMETERVALUE"]._serialized_end = 1801
+    _globals["_IMUSCHEMA"]._serialized_start = 1803
+    _globals["_IMUSCHEMA"]._serialized_end = 1890
+    _globals["_IMUVALUE"]._serialized_start = 1893
+    _globals["_IMUVALUE"]._serialized_end = 2088
+    _globals["_TIMESTAMPSCHEMA"]._serialized_start = 2090
+    _globals["_TIMESTAMPSCHEMA"]._serialized_end = 2151
+    _globals["_TIMESTAMPVALUE"]._serialized_start = 2153
+    _globals["_TIMESTAMPVALUE"]._serialized_end = 2201
+    _globals["_VECTORCOMMANDSCHEMA"]._serialized_start = 2203
+    _globals["_VECTORCOMMANDSCHEMA"]._serialized_end = 2244
+    _globals["_VECTORCOMMANDVALUE"]._serialized_start = 2246
+    _globals["_VECTORCOMMANDVALUE"]._serialized_end = 2282
+    _globals["_STATETENSORSCHEMA"]._serialized_start = 2284
+    _globals["_STATETENSORSCHEMA"]._serialized_end = 2354
+    _globals["_STATETENSORVALUE"]._serialized_start = 2356
+    _globals["_STATETENSORVALUE"]._serialized_end = 2388
+    _globals["_VALUE"]._serialized_start = 2391
+    _globals["_VALUE"]._serialized_end = 2987
+    _globals["_VALUESCHEMA"]._serialized_start = 2990
+    _globals["_VALUESCHEMA"]._serialized_end = 3607
+    _globals["_IOSCHEMA"]._serialized_start = 3609
+    _globals["_IOSCHEMA"]._serialized_end = 3662
+    _globals["_IO"]._serialized_start = 3664
+    _globals["_IO"]._serialized_end = 3705
+    _globals["_MODELSCHEMA"]._serialized_start = 3707
+    _globals["_MODELSCHEMA"]._serialized_end = 3813
+# @@protoc_insertion_point(module_scope)