kinfer 0.3.3__cp311-cp311-macosx_11_0_arm64.whl → 0.4.0__cp311-cp311-macosx_11_0_arm64.whl

kinfer/rust/src/serializer.rs

@@ -1,221 +0,0 @@
-use crate::kinfer_proto::{
-    AudioFrameSchema, AudioFrameValue, CameraFrameSchema, CameraFrameValue, ImuSchema, ImuValue,
-    JointCommandsSchema, JointCommandsValue, JointPositionUnit, JointPositionsSchema,
-    JointPositionsValue, JointTorqueUnit, JointTorquesSchema, JointTorquesValue,
-    JointVelocitiesSchema, JointVelocitiesValue, JointVelocityUnit, ProtoIO, ProtoIOSchema,
-    ProtoValue, StateTensorSchema, StateTensorValue, TimestampSchema, TimestampValue, ValueSchema,
-    VectorCommandSchema, VectorCommandValue,
-};
-
-use ort::value::Value as OrtValue;
-use std::error::Error;
-
-pub trait JointPositionsSerializer {
-    fn serialize_joint_positions(
-        &self,
-        schema: &JointPositionsSchema,
-        value: JointPositionsValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_joint_positions(
-        &self,
-        schema: &JointPositionsSchema,
-        value: OrtValue,
-    ) -> Result<JointPositionsValue, Box<dyn Error>>;
-}
-
-pub trait JointVelocitiesSerializer {
-    fn serialize_joint_velocities(
-        &self,
-        schema: &JointVelocitiesSchema,
-        value: JointVelocitiesValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_joint_velocities(
-        &self,
-        schema: &JointVelocitiesSchema,
-        value: OrtValue,
-    ) -> Result<JointVelocitiesValue, Box<dyn Error>>;
-}
-
-pub trait JointTorquesSerializer {
-    fn serialize_joint_torques(
-        &self,
-        schema: &JointTorquesSchema,
-        value: JointTorquesValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_joint_torques(
-        &self,
-        schema: &JointTorquesSchema,
-        value: OrtValue,
-    ) -> Result<JointTorquesValue, Box<dyn Error>>;
-}
-
-pub trait JointCommandsSerializer {
-    fn serialize_joint_commands(
-        &self,
-        schema: &JointCommandsSchema,
-        value: JointCommandsValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_joint_commands(
-        &self,
-        schema: &JointCommandsSchema,
-        value: OrtValue,
-    ) -> Result<JointCommandsValue, Box<dyn Error>>;
-}
-
-pub trait CameraFrameSerializer {
-    fn serialize_camera_frame(
-        &self,
-        schema: &CameraFrameSchema,
-        value: CameraFrameValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_camera_frame(
-        &self,
-        schema: &CameraFrameSchema,
-        value: OrtValue,
-    ) -> Result<CameraFrameValue, Box<dyn Error>>;
-}
-
-pub trait AudioFrameSerializer {
-    fn serialize_audio_frame(
-        &self,
-        schema: &AudioFrameSchema,
-        value: AudioFrameValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_audio_frame(
-        &self,
-        schema: &AudioFrameSchema,
-        value: OrtValue,
-    ) -> Result<AudioFrameValue, Box<dyn Error>>;
-}
-
-pub trait ImuSerializer {
-    fn serialize_imu(
-        &self,
-        schema: &ImuSchema,
-        value: ImuValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_imu(
-        &self,
-        schema: &ImuSchema,
-        value: OrtValue,
-    ) -> Result<ImuValue, Box<dyn Error>>;
-}
-
-pub trait TimestampSerializer {
-    fn serialize_timestamp(
-        &self,
-        schema: &TimestampSchema,
-        value: TimestampValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_timestamp(
-        &self,
-        schema: &TimestampSchema,
-        value: OrtValue,
-    ) -> Result<TimestampValue, Box<dyn Error>>;
-}
-
-pub trait VectorCommandSerializer {
-    fn serialize_vector_command(
-        &self,
-        schema: &VectorCommandSchema,
-        value: VectorCommandValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_vector_command(
-        &self,
-        schema: &VectorCommandSchema,
-        value: OrtValue,
-    ) -> Result<VectorCommandValue, Box<dyn Error>>;
-}
-
-pub trait StateTensorSerializer {
-    fn serialize_state_tensor(
-        &self,
-        schema: &StateTensorSchema,
-        value: StateTensorValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize_state_tensor(
-        &self,
-        schema: &StateTensorSchema,
-        value: OrtValue,
-    ) -> Result<StateTensorValue, Box<dyn Error>>;
-}
-
-pub trait Serializer:
-    JointPositionsSerializer
-    + JointVelocitiesSerializer
-    + JointTorquesSerializer
-    + JointCommandsSerializer
-    + CameraFrameSerializer
-    + AudioFrameSerializer
-    + ImuSerializer
-    + TimestampSerializer
-    + VectorCommandSerializer
-    + StateTensorSerializer
-{
-    fn serialize(
-        &self,
-        schema: &ValueSchema,
-        value: ProtoValue,
-    ) -> Result<OrtValue, Box<dyn Error>>;
-
-    fn deserialize(
-        &self,
-        schema: &ValueSchema,
-        value: OrtValue,
-    ) -> Result<ProtoValue, Box<dyn Error>>;
-}
-
-pub fn convert_position(
-    value: f32,
-    from_unit: JointPositionUnit,
-    to_unit: JointPositionUnit,
-) -> Result<f32, Box<dyn Error>> {
-    match (from_unit, to_unit) {
-        (JointPositionUnit::Radians, JointPositionUnit::Degrees) => {
-            Ok(value * 180.0 / std::f32::consts::PI)
-        }
-        (JointPositionUnit::Degrees, JointPositionUnit::Radians) => {
-            Ok(value * std::f32::consts::PI / 180.0)
-        }
-        (a, b) if a == b => Ok(value),
-        _ => Err("Unsupported position unit conversion".into()),
-    }
-}
-
-pub fn convert_velocity(
-    value: f32,
-    from_unit: JointVelocityUnit,
-    to_unit: JointVelocityUnit,
-) -> Result<f32, Box<dyn Error>> {
-    match (from_unit, to_unit) {
-        (JointVelocityUnit::RadiansPerSecond, JointVelocityUnit::DegreesPerSecond) => {
-            Ok(value * 180.0 / std::f32::consts::PI)
-        }
-        (JointVelocityUnit::DegreesPerSecond, JointVelocityUnit::RadiansPerSecond) => {
-            Ok(value * std::f32::consts::PI / 180.0)
-        }
-        (a, b) if a == b => Ok(value),
-        _ => Err("Unsupported velocity unit conversion".into()),
-    }
-}
-
-pub fn convert_torque(
-    value: f32,
-    from_unit: JointTorqueUnit,
-    to_unit: JointTorqueUnit,
-) -> Result<f32, Box<dyn Error>> {
-    match (from_unit, to_unit) {
-        (a, b) if a == b => Ok(value),
-        _ => Err("Unsupported torque unit conversion".into()),
-    }
-}

kinfer/rust/src/tests/onnx_serializer_tests.rs

@@ -1,212 +0,0 @@
-use crate::{
-    kinfer_proto::{
-        self as P, AudioFrameSchema, AudioFrameValue, CameraFrameSchema, CameraFrameValue, DType,
-        ImuAccelerometerValue, ImuGyroscopeValue, ImuMagnetometerValue, ImuSchema, ImuValue,
-        JointCommandValue, JointCommandsSchema, JointCommandsValue, JointPositionUnit,
-        JointPositionValue, JointPositionsSchema, JointPositionsValue, JointTorqueUnit,
-        JointTorqueValue, JointTorquesSchema, JointTorquesValue, JointVelocitiesSchema,
-        JointVelocitiesValue, JointVelocityUnit, JointVelocityValue, ProtoValue, StateTensorSchema,
-        StateTensorValue, TimestampSchema, TimestampValue, ValueSchema, VectorCommandSchema,
-        VectorCommandValue,
-    },
-    onnx_serializer::OnnxSerializer,
-    serializer::{
-        AudioFrameSerializer, CameraFrameSerializer, ImuSerializer, JointCommandsSerializer,
-        JointPositionsSerializer, JointTorquesSerializer, JointVelocitiesSerializer,
-        StateTensorSerializer, TimestampSerializer, VectorCommandSerializer,
-    },
-};
-
-use ndarray::Array;
-use ort::value::Value as OrtValue;
-use std::f32::consts::PI;
-
-#[test]
-fn test_serialize_joint_positions() {
-    let joint_names = vec![
-        "joint_1".to_string(),
-        "joint_2".to_string(),
-        "joint_3".to_string(),
-    ];
-    let schema = ValueSchema {
-        value_name: "test".to_string(),
-        value_type: Some(P::proto::value_schema::ValueType::JointPositions(
-            JointPositionsSchema {
-                unit: JointPositionUnit::Degrees as i32,
-                joint_names: joint_names.clone(),
-            },
-        )),
-    };
-
-    let serializer = OnnxSerializer::new(schema.clone());
-
-    // Test with matching units
-    let value = JointPositionsValue {
-        values: vec![
-            JointPositionValue {
-                joint_name: "joint_1".to_string(),
-                value: 60.0,
-                unit: JointPositionUnit::Degrees as i32,
-            },
-            JointPositionValue {
-                joint_name: "joint_2".to_string(),
-                value: 30.0,
-                unit: JointPositionUnit::Degrees as i32,
-            },
-            JointPositionValue {
-                joint_name: "joint_3".to_string(),
-                value: 90.0,
-                unit: JointPositionUnit::Degrees as i32,
-            },
-        ],
-    };
-
-    let result = match schema.value_type.as_ref().unwrap() {
-        P::proto::value_schema::ValueType::JointPositions(schema) => {
-            serializer.serialize_joint_positions(schema, value.clone())
-        }
-        _ => panic!("Wrong schema type"),
-    }
-    .unwrap();
-
-    // Verify tensor shape and values
-    let tensor = result.try_extract_tensor::<f32>().unwrap();
-    let array = tensor.view();
-    assert_eq!(array.shape(), &[3]);
-    assert_eq!(array[[0]], 60.0); // joint_1
-    assert_eq!(array[[1]], 30.0); // joint_2
-    assert_eq!(array[[2]], 90.0); // joint_3
-
-    let deserialized = match schema.value_type.as_ref().unwrap() {
-        P::proto::value_schema::ValueType::JointPositions(schema) => {
-            serializer.deserialize_joint_positions(schema, result)
-        }
-        _ => panic!("Wrong schema type"),
-    }
-    .unwrap();
-
-    // Verify full deserialization
-    assert_eq!(deserialized.values.len(), value.values.len());
-    for (expected, actual) in value.values.iter().zip(deserialized.values.iter()) {
-        assert_eq!(expected.joint_name, actual.joint_name);
-        assert_eq!(expected.value, actual.value);
-        assert_eq!(expected.unit, actual.unit);
-    }
-
-    // Test unit conversion
-    let value_radians = JointPositionsValue {
-        values: vec![JointPositionValue {
-            joint_name: "joint_1".to_string(),
-            value: PI / 6.0,
-            unit: JointPositionUnit::Radians as i32,
-        }],
-    };
-
-    let schema_radians = ValueSchema {
-        value_name: "test".to_string(),
-        value_type: Some(P::proto::value_schema::ValueType::JointPositions(
-            JointPositionsSchema {
-                unit: JointPositionUnit::Radians as i32,
-                joint_names: vec!["joint_1".to_string()],
-            },
-        )),
-    };
-
-    let serializer = OnnxSerializer::new(schema_radians.clone());
-    let result = match schema_radians.value_type.as_ref().unwrap() {
-        P::proto::value_schema::ValueType::JointPositions(schema) => {
-            serializer.serialize_joint_positions(schema, value_radians.clone())
-        }
-        _ => panic!("Wrong schema type"),
-    }
-    .unwrap();
-
-    let tensor = result.try_extract_tensor::<f32>().unwrap();
-    let array = tensor.view();
-    assert!((array[[0]] - PI / 6.0).abs() < 1e-6);
-}
-
-#[test]
-fn test_serialize_joint_positions_errors() {
-    let schema = ValueSchema {
-        value_name: "test".to_string(),
-        value_type: Some(P::proto::value_schema::ValueType::JointPositions(
-            JointPositionsSchema {
-                unit: JointPositionUnit::Degrees as i32,
-                joint_names: vec!["joint_1".to_string(), "joint_2".to_string()],
-            },
-        )),
-    };
-
-    let serializer = OnnxSerializer::new(schema.clone());
-
-    // Test cases that should fail:
-
-    // Case 1: Wrong number of joints
-    let value_wrong_count = JointPositionsValue {
-        values: vec![JointPositionValue {
-            joint_name: "joint_1".to_string(),
-            value: 60.0,
-            unit: JointPositionUnit::Degrees as i32,
-        }],
-    };
-
-    let result = match schema.value_type.as_ref().unwrap() {
-        P::proto::value_schema::ValueType::JointPositions(schema) => {
-            serializer.serialize_joint_positions(schema, value_wrong_count)
-        }
-        _ => panic!("Wrong schema type"),
-    };
-    assert!(
-        result.is_err(),
-        "Should fail when joint count doesn't match"
-    );
-
-    // Case 2: Wrong joint names
-    let value_wrong_names = JointPositionsValue {
-        values: vec![
-            JointPositionValue {
-                joint_name: "wrong_joint_1".to_string(),
-                value: 60.0,
-                unit: JointPositionUnit::Degrees as i32,
-            },
-            JointPositionValue {
-                joint_name: "wrong_joint_2".to_string(),
-                value: 30.0,
-                unit: JointPositionUnit::Degrees as i32,
-            },
-        ],
-    };
-
-    let result = match schema.value_type.as_ref().unwrap() {
-        P::proto::value_schema::ValueType::JointPositions(schema) => {
-            serializer.serialize_joint_positions(schema, value_wrong_names)
-        }
-        _ => panic!("Wrong schema type"),
-    };
-    assert!(result.is_err(), "Should fail when joint names don't match");
-
-    // Case 3: Wrong unit type
-    let value_wrong_unit = JointPositionsValue {
-        values: vec![
-            JointPositionValue {
-                joint_name: "joint_1".to_string(),
-                value: 60.0,
-                unit: JointPositionUnit::Radians as i32,
-            },
-            JointPositionValue {
-                joint_name: "joint_2".to_string(),
-                value: 30.0,
-                unit: JointPositionUnit::Radians as i32,
-            },
-        ],
-    };
-
-    let result = match schema.value_type.as_ref().unwrap() {
-        P::proto::value_schema::ValueType::JointPositions(schema) => {
-            serializer.serialize_joint_positions(schema, value_wrong_unit)
-        }
-        _ => panic!("Wrong schema type"),
-    };
-    assert!(result.is_err(), "Should fail when units don't match");
-}

kinfer/serialize/__init__.py

@@ -1,60 +0,0 @@
-"""Defines an interface for instantiating serializers."""
-
-from typing import Literal, overload
-
-from kinfer import proto as K
-
-from .base import MultiSerializer, Serializer
-from .json import JsonMultiSerializer, JsonSerializer
-from .numpy import NumpyMultiSerializer, NumpySerializer
-from .pytorch import PyTorchMultiSerializer, PyTorchSerializer
-
-SerializerType = Literal["json", "numpy", "pytorch"]
-
-
-@overload
-def get_serializer(schema: K.ValueSchema, serializer_type: Literal["json"]) -> JsonSerializer: ...
-
-
-@overload
-def get_serializer(schema: K.ValueSchema, serializer_type: Literal["numpy"]) -> NumpySerializer: ...
-
-
-@overload
-def get_serializer(schema: K.ValueSchema, serializer_type: Literal["pytorch"]) -> PyTorchSerializer: ...
-
-
-def get_serializer(schema: K.ValueSchema, serializer_type: SerializerType) -> Serializer:
-    match serializer_type:
-        case "json":
-            return JsonSerializer(schema=schema)
-        case "numpy":
-            return NumpySerializer(schema=schema)
-        case "pytorch":
-            return PyTorchSerializer(schema=schema)
-        case _:
-            raise ValueError(f"Unsupported serializer type: {serializer_type}")
-
-
-@overload
-def get_multi_serializer(schema: K.IOSchema, serializer_type: Literal["json"]) -> JsonMultiSerializer: ...
-
-
-@overload
-def get_multi_serializer(schema: K.IOSchema, serializer_type: Literal["numpy"]) -> NumpyMultiSerializer: ...
-
-
-@overload
-def get_multi_serializer(schema: K.IOSchema, serializer_type: Literal["pytorch"]) -> PyTorchMultiSerializer: ...
-
-
-def get_multi_serializer(schema: K.IOSchema, serializer_type: SerializerType) -> MultiSerializer:
-    match serializer_type:
-        case "json":
-            return JsonMultiSerializer(schema=schema)
-        case "numpy":
-            return NumpyMultiSerializer(schema=schema)
-        case "pytorch":
-            return PyTorchMultiSerializer(schema=schema)
-        case _:
-            raise ValueError(f"Unsupported serializer type: {serializer_type}")