kinfer 0.5.1__tar.gz → 0.5.3__tar.gz

{kinfer-0.5.1 → kinfer-0.5.3}/Cargo.toml

@@ -8,7 +8,7 @@ resolver = "2"
 
 [workspace.package]
 
-version = "0.5.1"
+version = "0.5.3"
 authors = ["Wesley Maa <wesley@kscale.dev>", "Benjamin Bolte <ben@kscale.dev>"]
 edition = "2021"
 description = "K-Scale Inference Library"

{kinfer-0.5.1 → kinfer-0.5.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: kinfer
-Version: 0.5.1
+Version: 0.5.3
 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

{kinfer-0.5.1 → kinfer-0.5.3}/kinfer/rust/Cargo.toml

@@ -24,6 +24,7 @@ futures-util = "0.3.30"
 log = "0.4"
 ndarray = "0.16.1"
 ort = { version = "2.0.0-rc.9", features = [ "load-dynamic" ] }
+ort-sys = { version = "=2.0.0-rc.9" }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 tar = "0.4"

{kinfer-0.5.1 → kinfer-0.5.3}/kinfer/rust/src/logger.rs

@@ -16,6 +16,8 @@ struct NdjsonStep<'a> {
     t_us: u64,
     joint_angles: Option<&'a [f32]>,
     joint_vels: Option<&'a [f32]>,
+    initial_heading: Option<&'a [f32]>,
+    quaternion: Option<&'a [f32]>,
     projected_g: Option<&'a [f32]>,
     accel: Option<&'a [f32]>,
     gyro: Option<&'a [f32]>,
@@ -88,6 +90,8 @@ impl StepLogger {
         &self,
         joint_angles: Option<&[f32]>,
         joint_vels: Option<&[f32]>,
+        initial_heading: Option<&[f32]>,
+        quaternion: Option<&[f32]>,
         projected_g: Option<&[f32]>,
         accel: Option<&[f32]>,
         gyro: Option<&[f32]>,
@@ -99,6 +103,8 @@ impl StepLogger {
             t_us: Self::now_us() as u64,
             joint_angles,
             joint_vels,
+            initial_heading,
+            quaternion,
             projected_g,
             accel,
             gyro,

{kinfer-0.5.1 → kinfer-0.5.3}/kinfer/rust/src/model.rs

@@ -241,6 +241,12 @@ impl ModelRunner {
                 "joint_angular_velocities" => {
                     input_types.push(InputType::JointAngularVelocities);
                 }
+                "initial_heading" => {
+                    input_types.push(InputType::InitialHeading);
+                }
+                "quaternion" => {
+                    input_types.push(InputType::Quaternion);
+                }
                 "projected_gravity" => {
                     input_types.push(InputType::ProjectedGravity);
                 }
@@ -296,6 +302,12 @@ impl ModelRunner {
             let joint_vels_opt = inputs
                 .get(&InputType::JointAngularVelocities)
                 .map(|a| a.as_slice().unwrap());
+            let initial_heading_opt = inputs
+                .get(&InputType::InitialHeading)
+                .map(|a| a.as_slice().unwrap());
+            let quaternion_opt = inputs
+                .get(&InputType::Quaternion)
+                .map(|a| a.as_slice().unwrap());
             let projected_g_opt = inputs
                 .get(&InputType::ProjectedGravity)
                 .map(|a| a.as_slice().unwrap());
@@ -313,6 +325,8 @@ impl ModelRunner {
             lg.log_step(
                 joint_angles_opt,
                 joint_vels_opt,
+                initial_heading_opt,
+                quaternion_opt,
                 projected_g_opt,
                 accel_opt,
                 gyro_opt,

{kinfer-0.5.1 → kinfer-0.5.3}/kinfer/rust/src/types.rs

@@ -22,6 +22,8 @@ impl ModelMetadata {
 pub enum InputType {
     JointAngles,
     JointAngularVelocities,
+    InitialHeading,
+    Quaternion,
     ProjectedGravity,
     Accelerometer,
     Gyroscope,
@@ -35,6 +37,8 @@ impl InputType {
         match self {
             InputType::JointAngles => "joint_angles",
             InputType::JointAngularVelocities => "joint_angular_velocities",
+            InputType::InitialHeading => "initial_heading",
+            InputType::Quaternion => "quaternion",
             InputType::ProjectedGravity => "projected_gravity",
             InputType::Accelerometer => "accelerometer",
             InputType::Gyroscope => "gyroscope",
@@ -48,6 +52,8 @@ impl InputType {
         match self {
             InputType::JointAngles => vec![metadata.joint_names.len()],
             InputType::JointAngularVelocities => vec![metadata.joint_names.len()],
+            InputType::InitialHeading => vec![1],
+            InputType::Quaternion => vec![4],
             InputType::ProjectedGravity => vec![3],
             InputType::Accelerometer => vec![3],
             InputType::Gyroscope => vec![3],
@@ -61,6 +67,8 @@ impl InputType {
         match name {
             "joint_angles" => Ok(InputType::JointAngles),
             "joint_angular_velocities" => Ok(InputType::JointAngularVelocities),
+            "initial_heading" => Ok(InputType::InitialHeading),
+            "quaternion" => Ok(InputType::Quaternion),
             "projected_gravity" => Ok(InputType::ProjectedGravity),
             "accelerometer" => Ok(InputType::Accelerometer),
             "gyroscope" => Ok(InputType::Gyroscope),
@@ -75,6 +83,8 @@ impl InputType {
         vec![
             "joint_angles",
             "joint_angular_velocities",
+            "initial_heading",
+            "quaternion",
             "projected_gravity",
             "accelerometer",
             "gyroscope",

{kinfer-0.5.1 → kinfer-0.5.3}/kinfer.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: kinfer
-Version: 0.5.1
+Version: 0.5.3
 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