kinfer 0.3.3__cp312-cp312-macosx_11_0_arm64.whl → 0.4.0__cp312-cp312-macosx_11_0_arm64.whl

kinfer/serialize/utils.py

@@ -1,177 +0,0 @@
-"""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 K
-
-
-def numpy_dtype(dtype: K.DType.ValueType) -> type[np.floating] | type[np.integer]:
-    match dtype:
-        case K.DType.FP8:
-            raise NotImplementedError("FP8 is not supported")
-        case K.DType.FP16:
-            return np.float16
-        case K.DType.FP32:
-            return np.float32
-        case K.DType.FP64:
-            return np.float64
-        case K.DType.INT8:
-            return np.int8
-        case K.DType.INT16:
-            return np.int16
-        case K.DType.INT32:
-            return np.int32
-        case K.DType.INT64:
-            return np.int64
-        case K.DType.UINT8:
-            return np.uint8
-        case K.DType.UINT16:
-            return np.uint16
-        case K.DType.UINT32:
-            return np.uint32
-        case K.DType.UINT64:
-            return np.uint64
-        case _:
-            raise ValueError(f"Unsupported dtype: {dtype}")
-
-
-def pytorch_dtype(dtype: K.DType.ValueType) -> torch.dtype:
-    match dtype:
-        case K.DType.FP8:
-            raise NotImplementedError("FP8 is not supported")
-        case K.DType.FP16:
-            return torch.float16
-        case K.DType.FP32:
-            return torch.float32
-        case K.DType.FP64:
-            return torch.float64
-        case K.DType.INT8:
-            return torch.int8
-        case K.DType.INT16:
-            return torch.int16
-        case K.DType.INT32:
-            return torch.int32
-        case K.DType.INT64:
-            return torch.int64
-        case K.DType.UINT8:
-            return torch.uint8
-        case K.DType.UINT16:
-            return torch.uint16
-        case K.DType.UINT32:
-            return torch.uint32
-        case K.DType.UINT64:
-            return torch.uint64
-        case _:
-            raise ValueError(f"Unsupported dtype: {dtype}")
-
-
-def parse_bytes(data: bytes, dtype: K.DType.ValueType) -> np.ndarray:
-    return np.frombuffer(data, dtype=numpy_dtype(dtype))
-
-
-def dtype_num_bytes(dtype: K.DType.ValueType) -> int:
-    match dtype:
-        case K.DType.FP8 | K.DType.INT8 | K.DType.UINT8:
-            return 1
-        case K.DType.FP16 | K.DType.INT16 | K.DType.UINT16:
-            return 2
-        case K.DType.FP32 | K.DType.INT32 | K.DType.UINT32:
-            return 4
-        case K.DType.FP64 | K.DType.INT64 | K.DType.UINT64:
-            return 8
-        case _:
-            raise ValueError(f"Unsupported dtype: {dtype}")
-
-
-def dtype_range(dtype: K.DType.ValueType) -> tuple[int, int]:
-    match dtype:
-        case K.DType.FP8:
-            return -1, 1
-        case K.DType.FP16:
-            return -1, 1
-        case K.DType.FP32:
-            return -1, 1
-        case K.DType.FP64:
-            return -1, 1
-        case K.DType.INT8:
-            return -(2**7), 2**7 - 1
-        case K.DType.INT16:
-            return -(2**15), 2**15 - 1
-        case K.DType.INT32:
-            return -(2**31), 2**31 - 1
-        case K.DType.INT64:
-            return -(2**63), 2**63 - 1
-        case K.DType.UINT8:
-            return 0, 2**8 - 1
-        case K.DType.UINT16:
-            return 0, 2**16 - 1
-        case K.DType.UINT32:
-            return 0, 2**32 - 1
-        case K.DType.UINT64:
-            return 0, 2**64 - 1
-        case _:
-            raise ValueError(f"Unsupported dtype: {dtype}")
-
-
-def convert_torque(
-    value: float,
-    from_unit: K.JointTorqueUnit.ValueType,
-    to_unit: K.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: K.JointVelocityUnit.ValueType,
-    to_unit: K.JointVelocityUnit.ValueType,
-) -> float:
-    if from_unit == to_unit:
-        return value
-    if from_unit == K.JointVelocityUnit.DEGREES_PER_SECOND:
-        assert to_unit == K.JointVelocityUnit.RADIANS_PER_SECOND
-        return value * math.pi / 180
-    if from_unit == K.JointVelocityUnit.RADIANS_PER_SECOND:
-        assert to_unit == K.JointVelocityUnit.DEGREES_PER_SECOND
-        return value * 180 / math.pi
-    raise ValueError(f"Unsupported unit: {from_unit}")
-
-
-def convert_angular_position(
-    value: float,
-    from_unit: K.JointPositionUnit.ValueType,
-    to_unit: K.JointPositionUnit.ValueType,
-) -> float:
-    if from_unit == to_unit:
-        return value
-    if from_unit == K.JointPositionUnit.DEGREES:
-        return value * math.pi / 180
-    if from_unit == K.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-0.3.3.dist-info/METADATA

@@ -1,57 +0,0 @@
-Metadata-Version: 2.1
-Name: kinfer
-Version: 0.3.3
-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-0.3.3.dist-info/RECORD

@@ -1,40 +0,0 @@
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-kinfer-0.3.3.dist-info/LICENSE,sha256=Qw-Z0XTwS-diSW91e_jLeBPX9zZbAatOJTBLdPHPaC0,1069
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