kinfer 0.3.1__cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

kinfer/serialize/utils.py

@@ -0,0 +1,177 @@
+"""Utility functions for serializing and deserializing Kinfer values."""
+
+import math
+from typing import Any, Collection
+
+import numpy as np
+import torch
+
+from kinfer import proto as P
+
+
+def numpy_dtype(dtype: P.DType.ValueType) -> type[np.floating] | type[np.integer]:
+    match dtype:
+        case P.DType.FP8:
+            raise NotImplementedError("FP8 is not supported")
+        case P.DType.FP16:
+            return np.float16
+        case P.DType.FP32:
+            return np.float32
+        case P.DType.FP64:
+            return np.float64
+        case P.DType.INT8:
+            return np.int8
+        case P.DType.INT16:
+            return np.int16
+        case P.DType.INT32:
+            return np.int32
+        case P.DType.INT64:
+            return np.int64
+        case P.DType.UINT8:
+            return np.uint8
+        case P.DType.UINT16:
+            return np.uint16
+        case P.DType.UINT32:
+            return np.uint32
+        case P.DType.UINT64:
+            return np.uint64
+        case _:
+            raise ValueError(f"Unsupported dtype: {dtype}")
+
+
+def pytorch_dtype(dtype: P.DType.ValueType) -> torch.dtype:
+    match dtype:
+        case P.DType.FP8:
+            raise NotImplementedError("FP8 is not supported")
+        case P.DType.FP16:
+            return torch.float16
+        case P.DType.FP32:
+            return torch.float32
+        case P.DType.FP64:
+            return torch.float64
+        case P.DType.INT8:
+            return torch.int8
+        case P.DType.INT16:
+            return torch.int16
+        case P.DType.INT32:
+            return torch.int32
+        case P.DType.INT64:
+            return torch.int64
+        case P.DType.UINT8:
+            return torch.uint8
+        case P.DType.UINT16:
+            return torch.uint16
+        case P.DType.UINT32:
+            return torch.uint32
+        case P.DType.UINT64:
+            return torch.uint64
+        case _:
+            raise ValueError(f"Unsupported dtype: {dtype}")
+
+
+def parse_bytes(data: bytes, dtype: P.DType.ValueType) -> np.ndarray:
+    return np.frombuffer(data, dtype=numpy_dtype(dtype))
+
+
+def dtype_num_bytes(dtype: P.DType.ValueType) -> int:
+    match dtype:
+        case P.DType.FP8 | P.DType.INT8 | P.DType.UINT8:
+            return 1
+        case P.DType.FP16 | P.DType.INT16 | P.DType.UINT16:
+            return 2
+        case P.DType.FP32 | P.DType.INT32 | P.DType.UINT32:
+            return 4
+        case P.DType.FP64 | P.DType.INT64 | P.DType.UINT64:
+            return 8
+        case _:
+            raise ValueError(f"Unsupported dtype: {dtype}")
+
+
+def dtype_range(dtype: P.DType.ValueType) -> tuple[int, int]:
+    match dtype:
+        case P.DType.FP8:
+            return -1, 1
+        case P.DType.FP16:
+            return -1, 1
+        case P.DType.FP32:
+            return -1, 1
+        case P.DType.FP64:
+            return -1, 1
+        case P.DType.INT8:
+            return -(2**7), 2**7 - 1
+        case P.DType.INT16:
+            return -(2**15), 2**15 - 1
+        case P.DType.INT32:
+            return -(2**31), 2**31 - 1
+        case P.DType.INT64:
+            return -(2**63), 2**63 - 1
+        case P.DType.UINT8:
+            return 0, 2**8 - 1
+        case P.DType.UINT16:
+            return 0, 2**16 - 1
+        case P.DType.UINT32:
+            return 0, 2**32 - 1
+        case P.DType.UINT64:
+            return 0, 2**64 - 1
+        case _:
+            raise ValueError(f"Unsupported dtype: {dtype}")
+
+
+def convert_torque(
+    value: float,
+    from_unit: P.JointTorqueUnit.ValueType,
+    to_unit: P.JointTorqueUnit.ValueType,
+) -> float:
+    if from_unit == to_unit:
+        return value
+    raise ValueError(f"Unsupported unit: {from_unit}")
+
+
+def convert_angular_velocity(
+    value: float,
+    from_unit: P.JointVelocityUnit.ValueType,
+    to_unit: P.JointVelocityUnit.ValueType,
+) -> float:
+    if from_unit == to_unit:
+        return value
+    if from_unit == P.JointVelocityUnit.DEGREES_PER_SECOND:
+        assert to_unit == P.JointVelocityUnit.RADIANS_PER_SECOND
+        return value * math.pi / 180
+    if from_unit == P.JointVelocityUnit.RADIANS_PER_SECOND:
+        assert to_unit == P.JointVelocityUnit.DEGREES_PER_SECOND
+        return value * 180 / math.pi
+    raise ValueError(f"Unsupported unit: {from_unit}")
+
+
+def convert_angular_position(
+    value: float,
+    from_unit: P.JointPositionUnit.ValueType,
+    to_unit: P.JointPositionUnit.ValueType,
+) -> float:
+    if from_unit == to_unit:
+        return value
+    if from_unit == P.JointPositionUnit.DEGREES:
+        return value * math.pi / 180
+    if from_unit == P.JointPositionUnit.RADIANS:
+        return value * 180 / math.pi
+    raise ValueError(f"Unsupported unit: {from_unit}")
+
+
+def check_names_match(a_name: str, a: Collection[str], b_name: str, b: Collection[str]) -> None:
+    name_set_a = set(a)
+    name_set_b = set(b)
+    if name_set_a != name_set_b:
+        only_in_a = name_set_a - name_set_b
+        only_in_b = name_set_b - name_set_a
+        message = "Names must match!"
+        if only_in_a:
+            message += f" Only in {a_name}: {only_in_a}"
+        if only_in_b:
+            message += f" Only in {b_name}: {only_in_b}"
+        raise ValueError(message)
+
+
+def as_float(value: Any) -> float:  # noqa: ANN401
+    if not isinstance(value, (float, int)):
+        raise ValueError(f"Value must be a float or int: {value}")
+    return float(value)

kinfer-0.3.1.dist-info/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 K-Scale Labs
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

kinfer-0.3.1.dist-info/METADATA

@@ -0,0 +1,57 @@
+Metadata-Version: 2.1
+Name: kinfer
+Version: 0.3.1
+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
+```
+
+### Considerations for Exporting PyTorch Models
+
+Don't use common names for the inputs to your forward pass. E.g. `input`, `output`, `state`, `state_tensor`, `buffer`, etc.
+
+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-0.3.1.dist-info/RECORD

@@ -0,0 +1,39 @@
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+kinfer/rust/src/kinfer_proto.rs,sha256=gpgy5amhHroP40aQVSSQ8xlNFMwdvTAy3dkK-V8Z1Ms,801
+kinfer/rust/src/model.rs,sha256=5IWOkl_yj8Ea7yZkFug18ALwKrOtUAg17d7RphrMP1Y,5243
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+kinfer-0.3.1.dist-info/RECORD,,
+kinfer-0.3.1.dist-info/LICENSE,sha256=Qw-Z0XTwS-diSW91e_jLeBPX9zZbAatOJTBLdPHPaC0,1069
+kinfer-0.3.1.dist-info/METADATA,sha256=lKtjAlL0xrRkB0OqMmpt_f3v0KygFbRiYtUgEAY1Kfw,1884
+kinfer-0.3.1.dist-info/WHEEL,sha256=ZiHiI0fxbnsGhDML32hrhH3YKU2c-6yRirdNq7QKO5A,153

kinfer-0.3.1.dist-info/WHEEL

@@ -0,0 +1,6 @@
+Wheel-Version: 1.0
+Generator: setuptools (75.6.0)
+Root-Is-Purelib: false
+Tag: cp311-cp311-manylinux_2_17_aarch64
+Tag: cp311-cp311-manylinux2014_aarch64
+

kinfer-0.3.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+kinfer