dexcontrol 0.2.10__py3-none-any.whl → 0.2.12__py3-none-any.whl

dexcontrol/core/head.py

@@ -58,24 +58,23 @@ class Head(RobotJointComponent):
             state_message_type=dexcontrol_msg_pb2.HeadState,
             zenoh_session=zenoh_session,
             joint_name=configs.joint_name,
+            joint_limit=configs.joint_limit
+            if hasattr(configs, "joint_limit")
+            else None,
+            joint_vel_limit=configs.joint_vel_limit
+            if hasattr(configs, "joint_vel_limit")
+            else None,
             pose_pool=configs.pose_pool,
         )
 
         self.mode_querier: Final[zenoh.Querier] = zenoh_session.declare_querier(
             resolve_key_name(configs.set_mode_query), timeout=2.0
         )
-        self.default_vel: Final[float] = configs.default_vel
-        self.max_vel: Final[float] = configs.max_vel
-        assert self.max_vel > self.default_vel, (
-            "max_vel must be greater than default_vel"
-        )
-        self._joint_limit: Float[np.ndarray, "3 2"] = np.stack(
-            [configs.joint_limit_lower, configs.joint_limit_upper], axis=1
-        )
+        assert self._joint_vel_limit is not None, "joint_vel_limit is not set"
 
     def set_joint_pos(
         self,
-        joint_pos: Float[np.ndarray, "2"] | list[float] | dict[str, float],
+        joint_pos: Float[np.ndarray, "3"] | list[float] | dict[str, float],
         relative: bool = False,
         wait_time: float = 0.0,
         wait_kwargs: dict[str, float] | None = None,
@@ -87,7 +86,7 @@ class Head(RobotJointComponent):
         Args:
             joint_pos: Joint positions as either:
                 - List of joint values [j1, j2]
-                - Numpy array with shape (2,), in radians
+                - Numpy array with shape (3,), in radians
                 - Dictionary mapping joint names to position values
             relative: If True, the joint positions are relative to the current position.
             wait_time: Time to wait after sending command in seconds. If 0, returns
@@ -110,8 +109,8 @@ class Head(RobotJointComponent):
 
     def set_joint_pos_vel(
         self,
-        joint_pos: Float[np.ndarray, "2"] | list[float] | dict[str, float],
-        joint_vel: Float[np.ndarray, "2"]
+        joint_pos: Float[np.ndarray, "3"] | list[float] | dict[str, float],
+        joint_vel: Float[np.ndarray, "3"]
         | list[float]
         | dict[str, float]
         | float
@@ -126,11 +125,11 @@ class Head(RobotJointComponent):
         Args:
             joint_pos: Joint positions as either:
                 - List of joint values [j1, j2]
-                - Numpy array with shape (2,), in radians
+                - Numpy array with shape (3,), in radians
                 - Dictionary mapping joint names to position values
             joint_vel: Optional joint velocities as either:
                 - List of joint values [v1, v2]
-                - Numpy array with shape (2,), in rad/s
+                - Numpy array with shape (3,), in rad/s
                 - Dictionary mapping joint names to velocity values
                 - Single float value to be applied to all joints
                 If None, velocities are calculated based on default velocity setting.
@@ -155,6 +154,15 @@ class Head(RobotJointComponent):
         joint_pos = self._convert_joint_cmd_to_array(joint_pos)
         joint_vel = self._process_joint_velocities(joint_vel, joint_pos)
 
+        if self._joint_limit is not None:
+            joint_pos = np.clip(
+                joint_pos, self._joint_limit[:, 0], self._joint_limit[:, 1]
+            )
+        if self._joint_vel_limit is not None:
+            joint_vel = np.clip(
+                joint_vel, -self._joint_vel_limit, self._joint_vel_limit
+            )
+
         # Create and send control message
         control_msg = dexcontrol_msg_pb2.HeadCommand()
         control_msg.joint_pos.extend(joint_pos.tolist())
@@ -197,12 +205,12 @@ class Head(RobotJointComponent):
                 logger.info(reply.ok.payload.to_string())
         time.sleep(0.5)
 
-    def get_joint_limit(self) -> Float[np.ndarray, "3 2"]:
+    def get_joint_limit(self) -> Float[np.ndarray, "3 2"] | None:
         """Get the joint limits of the head.
 
         Returns:
             Array of joint limits with shape (3, 2), where the first column contains
-            lower limits and the second column contains upper limits.
+            lower limits and the second column contains upper limits, or None if not configured.
         """
         return self._joint_limit
 
@@ -229,7 +237,7 @@ class Head(RobotJointComponent):
 
     def _process_joint_velocities(
         self,
-        joint_vel: Float[np.ndarray, "2"]
+        joint_vel: Float[np.ndarray, "3"]
         | list[float]
         | dict[str, float]
         | float
@@ -251,14 +259,18 @@ class Head(RobotJointComponent):
             motion_norm = np.linalg.norm(joint_motion)
 
             if motion_norm < 1e-6:  # Avoid division by zero
-                return np.zeros(2, dtype=np.float32)
+                return np.zeros(3, dtype=np.float32)
 
-            # Scale velocities by default velocity
-            return (joint_motion / motion_norm) * self.default_vel
+            default_vel = (
+                2.5 if self._joint_vel_limit is None else np.min(self._joint_vel_limit)
+            )
+            return (joint_motion / motion_norm) * default_vel
 
         if isinstance(joint_vel, (int, float)):
             # Single value - apply to all joints
-            return np.full(2, joint_vel, dtype=np.float32)
+            return np.full(3, joint_vel, dtype=np.float32)
 
-        # Convert to array and clip to max velocity
-        return self._convert_joint_cmd_to_array(joint_vel, clip_value=self.max_vel)
+        # Convert to array and clip to velocity limits
+        return self._convert_joint_cmd_to_array(
+            joint_vel, clip_value=self._joint_vel_limit
+        )

dexcontrol/core/misc.py

@@ -95,6 +95,14 @@ class Battery(RobotComponent):
                 - power: Power consumption in Watts
         """
         state = self._get_state()
+        if state is None:
+            return {
+                "percentage": 0.0,
+                "temperature": 0.0,
+                "current": 0.0,
+                "voltage": 0.0,
+                "power": 0.0,
+            }
         return {
             "percentage": float(state.percentage),
             "temperature": float(state.temperature),
@@ -111,6 +119,11 @@ class Battery(RobotComponent):
         table.add_column("Parameter", style="cyan")
         table.add_column("Value")
 
+        if state is None:
+            table.add_row("Status", "[red]No battery data available[/]")
+            self._console.print(table)
+            return
+
         battery_style = self._get_battery_level_style(state.percentage)
         table.add_row("Battery Level", f"[{battery_style}]{state.percentage:.1f}%[/]")
 
@@ -213,10 +226,14 @@ class EStop(RobotComponent):
             configs: EStop configuration containing subscription topics.
             zenoh_session: Active Zenoh session for communication.
         """
+        self._enabled = configs.enabled
         super().__init__(
             configs.state_sub_topic, zenoh_session, dexcontrol_msg_pb2.EStopState
         )
         self._estop_query_name = configs.estop_query_name
+        if not self._enabled:
+            logger.warning("EStop monitoring is DISABLED via configuration")
+            return
         self._shutdown_event = threading.Event()
         self._monitor_thread = threading.Thread(target=self._estop_monitor, daemon=True)
         self._monitor_thread.start()
@@ -264,6 +281,11 @@ class EStop(RobotComponent):
                 - software_estop_enabled: Software EStop enabled
         """
         state = self._get_state()
+        if state is None:
+            return {
+                "button_pressed": False,
+                "software_estop_enabled": False,
+            }
         return {
             "button_pressed": state.button_pressed,
             "software_estop_enabled": state.software_estop_enabled,
@@ -271,11 +293,13 @@ class EStop(RobotComponent):
 
     def is_button_pressed(self) -> bool:
         """Checks if the EStop button is pressed."""
-        return self._get_state().button_pressed
+        state = self._get_state()
+        return state.button_pressed if state is not None else False
 
     def is_software_estop_enabled(self) -> bool:
         """Checks if the software EStop is enabled."""
-        return self._get_state().software_estop_enabled
+        state = self._get_state()
+        return state.software_estop_enabled if state is not None else False
 
     def activate(self) -> None:
         """Activates the software emergency stop (E-Stop)."""
@@ -291,11 +315,12 @@ class EStop(RobotComponent):
 
     def shutdown(self) -> None:
         """Shuts down the EStop component and stops monitoring thread."""
-        self._shutdown_event.set()
-        if self._monitor_thread and self._monitor_thread.is_alive():
-            self._monitor_thread.join(timeout=2.0)  # Extended timeout
-            if self._monitor_thread.is_alive():
-                logger.warning("EStop monitor thread did not terminate cleanly")
+        if self._enabled:
+            self._shutdown_event.set()
+            if self._monitor_thread and self._monitor_thread.is_alive():
+                self._monitor_thread.join(timeout=2.0)  # Extended timeout
+                if self._monitor_thread.is_alive():
+                    logger.warning("EStop monitor thread did not terminate cleanly")
         super().shutdown()
 
     def show(self) -> None:
@@ -306,6 +331,12 @@ class EStop(RobotComponent):
         table.add_column("Parameter", style="cyan")
         table.add_column("Value")
 
+        if state is None:
+            table.add_row("Status", "[red]No E-Stop data available[/]")
+            console = Console()
+            console.print(table)
+            return
+
         button_style = "bold red" if state.button_pressed else "bold dark_green"
         table.add_row("Button Pressed", f"[{button_style}]{state.button_pressed}[/]")
 
@@ -387,9 +418,12 @@ class Heartbeat:
         Returns:
             Decoded heartbeat timestamp value in seconds.
         """
-        timestamp = int.from_bytes(data.to_bytes(), byteorder="little")
-        # convert it from microseconds to seconds
-        return timestamp / 1000000.0
+        # Decode UTF-8 string and convert to float
+        # Publisher sends: str(self.timecount_now).encode() in milliseconds
+        timestamp_str = data.to_bytes().decode("utf-8")
+        timestamp_ms = float(timestamp_str)
+        # Convert from milliseconds to seconds
+        return timestamp_ms / 1000.0
 
     def _heartbeat_monitor(self) -> None:
         """Background thread that continuously monitors heartbeat signal."""
@@ -527,6 +561,52 @@ class Heartbeat:
             return False
         return self._subscriber.is_active()
 
+    @staticmethod
+    def _format_uptime(seconds: float) -> str:
+        """Convert seconds to human-readable uptime format with high resolution.
+
+        Args:
+            seconds: Total seconds of uptime.
+
+        Returns:
+            Human-readable string like "1mo 2d 3h 45m 12s 345ms".
+        """
+        # Calculate months (assuming 30 days per month)
+        months = int(seconds // (86400 * 30))
+        remaining = seconds % (86400 * 30)
+
+        # Calculate days
+        days = int(remaining // 86400)
+        remaining = remaining % 86400
+
+        # Calculate hours
+        hours = int(remaining // 3600)
+        remaining = remaining % 3600
+
+        # Calculate minutes
+        minutes = int(remaining // 60)
+        remaining = remaining % 60
+
+        # Calculate seconds and milliseconds
+        secs = int(remaining)
+        milliseconds = int((remaining - secs) * 1000)
+
+        parts = []
+        if months > 0:
+            parts.append(f"{months}mo")
+        if days > 0:
+            parts.append(f"{days}d")
+        if hours > 0:
+            parts.append(f"{hours}h")
+        if minutes > 0:
+            parts.append(f"{minutes}m")
+        if secs > 0:
+            parts.append(f"{secs}s")
+        if milliseconds > 0 or not parts:
+            parts.append(f"{milliseconds}ms")
+
+        return " ".join(parts)
+
     def shutdown(self) -> None:
         """Shuts down the heartbeat monitor and stops monitoring thread."""
         if not self._enabled:
@@ -567,12 +647,13 @@ class Heartbeat:
             active_style = "bold dark_green" if status["is_active"] else "bold red"
             table.add_row("Signal Active", f"[{active_style}]{status['is_active']}[/]")
 
-        # Last heartbeat value
+        # Last heartbeat value (robot uptime)
         last_value = status["last_value"]
         if last_value is not None:
-            table.add_row("Last Value", f"[blue]{last_value:.6f}s[/]")
+            uptime_str = self._format_uptime(last_value)
+            table.add_row("Robot server uptime", f"[blue]{uptime_str}[/]")
         else:
-            table.add_row("Last Value", "[red]No data[/]")
+            table.add_row("Robot server uptime", "[red]No data[/]")
 
         # Time since last heartbeat
         time_since = status["time_since_last"]

dexcontrol/core/torso.py

@@ -52,10 +52,15 @@ class Torso(RobotJointComponent):
             state_message_type=dexcontrol_msg_pb2.TorsoState,
             zenoh_session=zenoh_session,
             joint_name=configs.joint_name,
+            joint_limit=configs.joint_limit
+            if hasattr(configs, "joint_limit")
+            else None,
+            joint_vel_limit=configs.joint_vel_limit
+            if hasattr(configs, "joint_vel_limit")
+            else None,
             pose_pool=configs.pose_pool,
         )
-        self.default_vel = configs.default_vel
-        self.max_vel = configs.max_vel
+        assert self._joint_vel_limit is not None, "joint_vel_limit is not set"
 
     def set_joint_pos_vel(
         self,
@@ -104,6 +109,15 @@ class Torso(RobotJointComponent):
         joint_pos = self._convert_joint_cmd_to_array(joint_pos)
         joint_vel = self._process_joint_velocities(joint_vel, joint_pos)
 
+        if self._joint_limit is not None:
+            joint_pos = np.clip(
+                joint_pos, self._joint_limit[:, 0], self._joint_limit[:, 1]
+            )
+        if self._joint_vel_limit is not None:
+            joint_vel = np.clip(
+                joint_vel, -self._joint_vel_limit, self._joint_vel_limit
+            )
+
         # Create and send control message
         control_msg = dexcontrol_msg_pb2.TorsoCommand()
         control_msg.joint_pos.extend(joint_pos.tolist())
@@ -207,12 +221,16 @@ class Torso(RobotJointComponent):
             if motion_norm < 1e-6:  # Avoid division by zero
                 return np.zeros(3, dtype=np.float32)
 
-            # Scale velocities by default velocity
-            return (joint_motion / motion_norm) * self.default_vel
+            default_vel = (
+                0.6 if self._joint_vel_limit is None else np.min(self._joint_vel_limit)
+            )
+            return (joint_motion / motion_norm) * default_vel
 
         if isinstance(joint_vel, (int, float)):
             # Single value - apply to all joints
             return np.full(3, joint_vel, dtype=np.float32)
 
-        # Convert to array and clip to max velocity
-        return self._convert_joint_cmd_to_array(joint_vel, clip_value=self.max_vel)
+        # Convert to array and clip to velocity limits
+        return self._convert_joint_cmd_to_array(
+            joint_vel, clip_value=self._joint_vel_limit
+        )

dexcontrol/proto/dexcontrol_msg_pb2.py

@@ -25,7 +25,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x14\x64\x65xcontrol_msg.proto\x12\ndexcontrol\"V\n\x08\x41rmState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\x12\x11\n\tjoint_cur\x18\x03 \x03(\x02\x12\x11\n\tjoint_err\x18\x04 \x03(\r\"F\n\tHandState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\x12\x13\n\x0bjoint_statu\x18\x03 \x03(\r\"1\n\tHeadState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\"2\n\nTorsoState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\"a\n\x10SingleWheelState\x12\x14\n\x0csteering_pos\x18\x01 \x01(\x02\x12\x11\n\twheel_pos\x18\x02 \x01(\x02\x12\x11\n\twheel_vel\x18\x03 \x01(\x02\x12\x11\n\twheel_cur\x18\x04 \x01(\x02\"g\n\x0c\x43hassisState\x12*\n\x04left\x18\x01 \x01(\x0b\x32\x1c.dexcontrol.SingleWheelState\x12+\n\x05right\x18\x02 \x01(\x0b\x32\x1c.dexcontrol.SingleWheelState\"j\n\x08\x42MSState\x12\x0f\n\x07voltage\x18\x01 \x01(\x02\x12\x0f\n\x07\x63urrent\x18\x02 \x01(\x02\x12\x13\n\x0btemperature\x18\x03 \x01(\x02\x12\x12\n\npercentage\x18\x04 \x01(\r\x12\x13\n\x0bis_charging\x18\x05 \x01(\x08\"H\n\x0bWrenchState\x12\x0e\n\x06wrench\x18\x01 \x03(\x02\x12\x13\n\x0b\x62lue_button\x18\x02 \x01(\x08\x12\x14\n\x0cgreen_button\x18\x03 \x01(\x08\"D\n\nEStopState\x12\x16\n\x0e\x62utton_pressed\x18\x01 \x01(\x08\x12\x1e\n\x16software_estop_enabled\x18\x02 \x01(\x08\"a\n\x0fUltrasonicState\x12\x12\n\nfront_left\x18\x01 \x01(\x02\x12\x13\n\x0b\x66ront_right\x18\x02 \x01(\x02\x12\x11\n\tback_left\x18\x03 \x01(\x02\x12\x12\n\nback_right\x18\x04 \x01(\x02\"\xa7\x01\n\x08IMUState\x12\r\n\x05\x61\x63\x63_x\x18\x01 \x01(\x02\x12\r\n\x05\x61\x63\x63_y\x18\x02 \x01(\x02\x12\r\n\x05\x61\x63\x63_z\x18\x03 \x01(\x02\x12\x0e\n\x06gyro_x\x18\x04 \x01(\x02\x12\x0e\n\x06gyro_y\x18\x05 \x01(\x02\x12\x0e\n\x06gyro_z\x18\x06 \x01(\x02\x12\x0e\n\x06quat_w\x18\x07 \x01(\x02\x12\x0e\n\x06quat_x\x18\x08 \x01(\x02\x12\x0e\n\x06quat_y\x18\t \x01(\x02\x12\x0e\n\x06quat_z\x18\n \x01(\x02\"\xa3\x01\n\nArmCommand\x12\x38\n\x0c\x63ommand_type\x18\x01 \x01(\x0e\x32\".dexcontrol.ArmCommand.CommandType\x12\x11\n\tjoint_pos\x18\x02 \x03(\x02\x12\x11\n\tjoint_vel\x18\x03 \x03(\x02\"5\n\x0b\x43ommandType\x12\x0c\n\x08POSITION\x10\x00\x12\x18\n\x14VELOCITY_FEEDFORWARD\x10\x01\" \n\x0bHandCommand\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\"3\n\x0bHeadCommand\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\"4\n\x0cTorsoCommand\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\"=\n\x12SingleWheelCommand\x12\x14\n\x0csteering_pos\x18\x01 \x01(\x02\x12\x11\n\twheel_vel\x18\x02 \x01(\x02\"m\n\x0e\x43hassisCommand\x12,\n\x04left\x18\x01 \x01(\x0b\x32\x1e.dexcontrol.SingleWheelCommand\x12-\n\x05right\x18\x02 \x01(\x0b\x32\x1e.dexcontrol.SingleWheelCommandb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x14\x64\x65xcontrol_msg.proto\x12\ndexcontrol\"l\n\x08\x41rmState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\x12\x11\n\tjoint_cur\x18\x03 \x03(\x02\x12\x11\n\tjoint_err\x18\x04 \x03(\r\x12\x14\n\x0ctimestamp_ns\x18\x05 \x01(\x04\"\\\n\tHandState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\x12\x13\n\x0bjoint_statu\x18\x03 \x03(\r\x12\x14\n\x0ctimestamp_ns\x18\x04 \x01(\x04\"G\n\tHeadState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x03 \x01(\x04\"H\n\nTorsoState\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x03 \x01(\x04\"a\n\x10SingleWheelState\x12\x14\n\x0csteering_pos\x18\x01 \x01(\x02\x12\x11\n\twheel_pos\x18\x02 \x01(\x02\x12\x11\n\twheel_vel\x18\x03 \x01(\x02\x12\x11\n\twheel_cur\x18\x04 \x01(\x02\"}\n\x0c\x43hassisState\x12*\n\x04left\x18\x01 \x01(\x0b\x32\x1c.dexcontrol.SingleWheelState\x12+\n\x05right\x18\x02 \x01(\x0b\x32\x1c.dexcontrol.SingleWheelState\x12\x14\n\x0ctimestamp_ns\x18\x05 \x01(\x04\"\x8f\x01\n\x08\x42MSState\x12\x0f\n\x07voltage\x18\x01 \x01(\x02\x12\x0f\n\x07\x63urrent\x18\x02 \x01(\x02\x12\x13\n\x0btemperature\x18\x03 \x01(\x02\x12\x12\n\npercentage\x18\x04 \x01(\r\x12\x13\n\x0bis_charging\x18\x05 \x01(\x08\x12\r\n\x05\x65rror\x18\x06 \x01(\r\x12\x14\n\x0ctimestamp_ns\x18\x07 \x01(\x04\"^\n\x0bWrenchState\x12\x0e\n\x06wrench\x18\x01 \x03(\x02\x12\x13\n\x0b\x62lue_button\x18\x02 \x01(\x08\x12\x14\n\x0cgreen_button\x18\x03 \x01(\x08\x12\x14\n\x0ctimestamp_ns\x18\x04 \x01(\x04\"Z\n\nEStopState\x12\x16\n\x0e\x62utton_pressed\x18\x01 \x01(\x08\x12\x1e\n\x16software_estop_enabled\x18\x02 \x01(\x08\x12\x14\n\x0ctimestamp_ns\x18\x03 \x01(\x04\"w\n\x0fUltrasonicState\x12\x12\n\nfront_left\x18\x01 \x01(\x02\x12\x13\n\x0b\x66ront_right\x18\x02 \x01(\x02\x12\x11\n\tback_left\x18\x03 \x01(\x02\x12\x12\n\nback_right\x18\x04 \x01(\x02\x12\x14\n\x0ctimestamp_ns\x18\x05 \x01(\x04\"\xbd\x01\n\x08IMUState\x12\r\n\x05\x61\x63\x63_x\x18\x01 \x01(\x02\x12\r\n\x05\x61\x63\x63_y\x18\x02 \x01(\x02\x12\r\n\x05\x61\x63\x63_z\x18\x03 \x01(\x02\x12\x0e\n\x06gyro_x\x18\x04 \x01(\x02\x12\x0e\n\x06gyro_y\x18\x05 \x01(\x02\x12\x0e\n\x06gyro_z\x18\x06 \x01(\x02\x12\x0e\n\x06quat_w\x18\x07 \x01(\x02\x12\x0e\n\x06quat_x\x18\x08 \x01(\x02\x12\x0e\n\x06quat_y\x18\t \x01(\x02\x12\x0e\n\x06quat_z\x18\n \x01(\x02\x12\x14\n\x0ctimestamp_ns\x18\x0b \x01(\x04\"\xa3\x01\n\nArmCommand\x12\x38\n\x0c\x63ommand_type\x18\x01 \x01(\x0e\x32\".dexcontrol.ArmCommand.CommandType\x12\x11\n\tjoint_pos\x18\x02 \x03(\x02\x12\x11\n\tjoint_vel\x18\x03 \x03(\x02\"5\n\x0b\x43ommandType\x12\x0c\n\x08POSITION\x10\x00\x12\x18\n\x14VELOCITY_FEEDFORWARD\x10\x01\" \n\x0bHandCommand\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\"3\n\x0bHeadCommand\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\"4\n\x0cTorsoCommand\x12\x11\n\tjoint_pos\x18\x01 \x03(\x02\x12\x11\n\tjoint_vel\x18\x02 \x03(\x02\"=\n\x12SingleWheelCommand\x12\x14\n\x0csteering_pos\x18\x01 \x01(\x02\x12\x11\n\twheel_vel\x18\x02 \x01(\x02\"m\n\x0e\x43hassisCommand\x12,\n\x04left\x18\x01 \x01(\x0b\x32\x1e.dexcontrol.SingleWheelCommand\x12-\n\x05right\x18\x02 \x01(\x0b\x32\x1e.dexcontrol.SingleWheelCommand\"-\n\x1d\x45ndEffectorPassThroughCommand\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,39 +33,41 @@ _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dexcontrol_msg_pb2', _globa
 if not _descriptor._USE_C_DESCRIPTORS:
   DESCRIPTOR._loaded_options = None
   _globals['_ARMSTATE']._serialized_start=36
-  _globals['_ARMSTATE']._serialized_end=122
-  _globals['_HANDSTATE']._serialized_start=124
-  _globals['_HANDSTATE']._serialized_end=194
-  _globals['_HEADSTATE']._serialized_start=196
-  _globals['_HEADSTATE']._serialized_end=245
-  _globals['_TORSOSTATE']._serialized_start=247
-  _globals['_TORSOSTATE']._serialized_end=297
-  _globals['_SINGLEWHEELSTATE']._serialized_start=299
-  _globals['_SINGLEWHEELSTATE']._serialized_end=396
-  _globals['_CHASSISSTATE']._serialized_start=398
-  _globals['_CHASSISSTATE']._serialized_end=501
-  _globals['_BMSSTATE']._serialized_start=503
-  _globals['_BMSSTATE']._serialized_end=609
-  _globals['_WRENCHSTATE']._serialized_start=611
-  _globals['_WRENCHSTATE']._serialized_end=683
-  _globals['_ESTOPSTATE']._serialized_start=685
-  _globals['_ESTOPSTATE']._serialized_end=753
-  _globals['_ULTRASONICSTATE']._serialized_start=755
-  _globals['_ULTRASONICSTATE']._serialized_end=852
-  _globals['_IMUSTATE']._serialized_start=855
-  _globals['_IMUSTATE']._serialized_end=1022
-  _globals['_ARMCOMMAND']._serialized_start=1025
-  _globals['_ARMCOMMAND']._serialized_end=1188
-  _globals['_ARMCOMMAND_COMMANDTYPE']._serialized_start=1135
-  _globals['_ARMCOMMAND_COMMANDTYPE']._serialized_end=1188
-  _globals['_HANDCOMMAND']._serialized_start=1190
-  _globals['_HANDCOMMAND']._serialized_end=1222
-  _globals['_HEADCOMMAND']._serialized_start=1224
-  _globals['_HEADCOMMAND']._serialized_end=1275
-  _globals['_TORSOCOMMAND']._serialized_start=1277
-  _globals['_TORSOCOMMAND']._serialized_end=1329
-  _globals['_SINGLEWHEELCOMMAND']._serialized_start=1331
-  _globals['_SINGLEWHEELCOMMAND']._serialized_end=1392
-  _globals['_CHASSISCOMMAND']._serialized_start=1394
-  _globals['_CHASSISCOMMAND']._serialized_end=1503
+  _globals['_ARMSTATE']._serialized_end=144
+  _globals['_HANDSTATE']._serialized_start=146
+  _globals['_HANDSTATE']._serialized_end=238
+  _globals['_HEADSTATE']._serialized_start=240
+  _globals['_HEADSTATE']._serialized_end=311
+  _globals['_TORSOSTATE']._serialized_start=313
+  _globals['_TORSOSTATE']._serialized_end=385
+  _globals['_SINGLEWHEELSTATE']._serialized_start=387
+  _globals['_SINGLEWHEELSTATE']._serialized_end=484
+  _globals['_CHASSISSTATE']._serialized_start=486
+  _globals['_CHASSISSTATE']._serialized_end=611
+  _globals['_BMSSTATE']._serialized_start=614
+  _globals['_BMSSTATE']._serialized_end=757
+  _globals['_WRENCHSTATE']._serialized_start=759
+  _globals['_WRENCHSTATE']._serialized_end=853
+  _globals['_ESTOPSTATE']._serialized_start=855
+  _globals['_ESTOPSTATE']._serialized_end=945
+  _globals['_ULTRASONICSTATE']._serialized_start=947
+  _globals['_ULTRASONICSTATE']._serialized_end=1066
+  _globals['_IMUSTATE']._serialized_start=1069
+  _globals['_IMUSTATE']._serialized_end=1258
+  _globals['_ARMCOMMAND']._serialized_start=1261
+  _globals['_ARMCOMMAND']._serialized_end=1424
+  _globals['_ARMCOMMAND_COMMANDTYPE']._serialized_start=1371
+  _globals['_ARMCOMMAND_COMMANDTYPE']._serialized_end=1424
+  _globals['_HANDCOMMAND']._serialized_start=1426
+  _globals['_HANDCOMMAND']._serialized_end=1458
+  _globals['_HEADCOMMAND']._serialized_start=1460
+  _globals['_HEADCOMMAND']._serialized_end=1511
+  _globals['_TORSOCOMMAND']._serialized_start=1513
+  _globals['_TORSOCOMMAND']._serialized_end=1565
+  _globals['_SINGLEWHEELCOMMAND']._serialized_start=1567
+  _globals['_SINGLEWHEELCOMMAND']._serialized_end=1628
+  _globals['_CHASSISCOMMAND']._serialized_start=1630
+  _globals['_CHASSISCOMMAND']._serialized_end=1739
+  _globals['_ENDEFFECTORPASSTHROUGHCOMMAND']._serialized_start=1741
+  _globals['_ENDEFFECTORPASSTHROUGHCOMMAND']._serialized_end=1786
 # @@protoc_insertion_point(module_scope)

dexcontrol/proto/dexcontrol_msg_pb2.pyi

@@ -12,42 +12,50 @@ from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
 DESCRIPTOR: _descriptor.FileDescriptor
 
 class ArmState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel", "joint_cur", "joint_err")
+    __slots__ = ("joint_pos", "joint_vel", "joint_cur", "joint_err", "timestamp_ns")
     JOINT_POS_FIELD_NUMBER: _ClassVar[int]
     JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
     JOINT_CUR_FIELD_NUMBER: _ClassVar[int]
     JOINT_ERR_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     joint_pos: _containers.RepeatedScalarFieldContainer[float]
     joint_vel: _containers.RepeatedScalarFieldContainer[float]
     joint_cur: _containers.RepeatedScalarFieldContainer[float]
     joint_err: _containers.RepeatedScalarFieldContainer[int]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_cur: _Optional[_Iterable[float]] = ..., joint_err: _Optional[_Iterable[int]] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_cur: _Optional[_Iterable[float]] = ..., joint_err: _Optional[_Iterable[int]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class HandState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel", "joint_statu")
+    __slots__ = ("joint_pos", "joint_vel", "joint_statu", "timestamp_ns")
     JOINT_POS_FIELD_NUMBER: _ClassVar[int]
     JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
     JOINT_STATU_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     joint_pos: _containers.RepeatedScalarFieldContainer[float]
     joint_vel: _containers.RepeatedScalarFieldContainer[float]
     joint_statu: _containers.RepeatedScalarFieldContainer[int]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_statu: _Optional[_Iterable[int]] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_statu: _Optional[_Iterable[int]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class HeadState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
+    __slots__ = ("joint_pos", "joint_vel", "timestamp_ns")
     JOINT_POS_FIELD_NUMBER: _ClassVar[int]
     JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     joint_pos: _containers.RepeatedScalarFieldContainer[float]
     joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class TorsoState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
+    __slots__ = ("joint_pos", "joint_vel", "timestamp_ns")
     JOINT_POS_FIELD_NUMBER: _ClassVar[int]
     JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     joint_pos: _containers.RepeatedScalarFieldContainer[float]
     joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class SingleWheelState(_message.Message):
     __slots__ = ("steering_pos", "wheel_pos", "wheel_vel", "wheel_cur")
@@ -62,59 +70,71 @@ class SingleWheelState(_message.Message):
     def __init__(self, steering_pos: _Optional[float] = ..., wheel_pos: _Optional[float] = ..., wheel_vel: _Optional[float] = ..., wheel_cur: _Optional[float] = ...) -> None: ...
 
 class ChassisState(_message.Message):
-    __slots__ = ("left", "right")
+    __slots__ = ("left", "right", "timestamp_ns")
     LEFT_FIELD_NUMBER: _ClassVar[int]
     RIGHT_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     left: SingleWheelState
     right: SingleWheelState
-    def __init__(self, left: _Optional[_Union[SingleWheelState, _Mapping]] = ..., right: _Optional[_Union[SingleWheelState, _Mapping]] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, left: _Optional[_Union[SingleWheelState, _Mapping]] = ..., right: _Optional[_Union[SingleWheelState, _Mapping]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class BMSState(_message.Message):
-    __slots__ = ("voltage", "current", "temperature", "percentage", "is_charging")
+    __slots__ = ("voltage", "current", "temperature", "percentage", "is_charging", "error", "timestamp_ns")
     VOLTAGE_FIELD_NUMBER: _ClassVar[int]
     CURRENT_FIELD_NUMBER: _ClassVar[int]
     TEMPERATURE_FIELD_NUMBER: _ClassVar[int]
     PERCENTAGE_FIELD_NUMBER: _ClassVar[int]
     IS_CHARGING_FIELD_NUMBER: _ClassVar[int]
+    ERROR_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     voltage: float
     current: float
     temperature: float
     percentage: int
     is_charging: bool
-    def __init__(self, voltage: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., percentage: _Optional[int] = ..., is_charging: bool = ...) -> None: ...
+    error: int
+    timestamp_ns: int
+    def __init__(self, voltage: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., percentage: _Optional[int] = ..., is_charging: bool = ..., error: _Optional[int] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class WrenchState(_message.Message):
-    __slots__ = ("wrench", "blue_button", "green_button")
+    __slots__ = ("wrench", "blue_button", "green_button", "timestamp_ns")
     WRENCH_FIELD_NUMBER: _ClassVar[int]
     BLUE_BUTTON_FIELD_NUMBER: _ClassVar[int]
     GREEN_BUTTON_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     wrench: _containers.RepeatedScalarFieldContainer[float]
     blue_button: bool
     green_button: bool
-    def __init__(self, wrench: _Optional[_Iterable[float]] = ..., blue_button: bool = ..., green_button: bool = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, wrench: _Optional[_Iterable[float]] = ..., blue_button: bool = ..., green_button: bool = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class EStopState(_message.Message):
-    __slots__ = ("button_pressed", "software_estop_enabled")
+    __slots__ = ("button_pressed", "software_estop_enabled", "timestamp_ns")
     BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
     SOFTWARE_ESTOP_ENABLED_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     button_pressed: bool
     software_estop_enabled: bool
-    def __init__(self, button_pressed: bool = ..., software_estop_enabled: bool = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, button_pressed: bool = ..., software_estop_enabled: bool = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class UltrasonicState(_message.Message):
-    __slots__ = ("front_left", "front_right", "back_left", "back_right")
+    __slots__ = ("front_left", "front_right", "back_left", "back_right", "timestamp_ns")
     FRONT_LEFT_FIELD_NUMBER: _ClassVar[int]
     FRONT_RIGHT_FIELD_NUMBER: _ClassVar[int]
     BACK_LEFT_FIELD_NUMBER: _ClassVar[int]
     BACK_RIGHT_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     front_left: float
     front_right: float
     back_left: float
     back_right: float
-    def __init__(self, front_left: _Optional[float] = ..., front_right: _Optional[float] = ..., back_left: _Optional[float] = ..., back_right: _Optional[float] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, front_left: _Optional[float] = ..., front_right: _Optional[float] = ..., back_left: _Optional[float] = ..., back_right: _Optional[float] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class IMUState(_message.Message):
-    __slots__ = ("acc_x", "acc_y", "acc_z", "gyro_x", "gyro_y", "gyro_z", "quat_w", "quat_x", "quat_y", "quat_z")
+    __slots__ = ("acc_x", "acc_y", "acc_z", "gyro_x", "gyro_y", "gyro_z", "quat_w", "quat_x", "quat_y", "quat_z", "timestamp_ns")
     ACC_X_FIELD_NUMBER: _ClassVar[int]
     ACC_Y_FIELD_NUMBER: _ClassVar[int]
     ACC_Z_FIELD_NUMBER: _ClassVar[int]
@@ -125,6 +145,7 @@ class IMUState(_message.Message):
     QUAT_X_FIELD_NUMBER: _ClassVar[int]
     QUAT_Y_FIELD_NUMBER: _ClassVar[int]
     QUAT_Z_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     acc_x: float
     acc_y: float
     acc_z: float
@@ -135,7 +156,8 @@ class IMUState(_message.Message):
     quat_x: float
     quat_y: float
     quat_z: float
-    def __init__(self, acc_x: _Optional[float] = ..., acc_y: _Optional[float] = ..., acc_z: _Optional[float] = ..., gyro_x: _Optional[float] = ..., gyro_y: _Optional[float] = ..., gyro_z: _Optional[float] = ..., quat_w: _Optional[float] = ..., quat_x: _Optional[float] = ..., quat_y: _Optional[float] = ..., quat_z: _Optional[float] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, acc_x: _Optional[float] = ..., acc_y: _Optional[float] = ..., acc_z: _Optional[float] = ..., gyro_x: _Optional[float] = ..., gyro_y: _Optional[float] = ..., gyro_z: _Optional[float] = ..., quat_w: _Optional[float] = ..., quat_x: _Optional[float] = ..., quat_y: _Optional[float] = ..., quat_z: _Optional[float] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class ArmCommand(_message.Message):
     __slots__ = ("command_type", "joint_pos", "joint_vel")
@@ -190,3 +212,9 @@ class ChassisCommand(_message.Message):
     left: SingleWheelCommand
     right: SingleWheelCommand
     def __init__(self, left: _Optional[_Union[SingleWheelCommand, _Mapping]] = ..., right: _Optional[_Union[SingleWheelCommand, _Mapping]] = ...) -> None: ...
+
+class EndEffectorPassThroughCommand(_message.Message):
+    __slots__ = ("data",)
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    data: bytes
+    def __init__(self, data: _Optional[bytes] = ...) -> None: ...