dexcontrol 0.2.10__py3-none-any.whl → 0.3.0__py3-none-any.whl

dexcontrol/core/robot_query_interface.py

@@ -0,0 +1,440 @@
+# Copyright (C) 2025 Dexmate Inc.
+#
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
+
+"""Zenoh query utilities for robot communication.
+
+This module provides the ZenohQueryable class that encapsulates all zenoh-based
+queries and communication with the robot server. It handles various query types
+including hand type detection, version information, status queries, and control operations.
+"""
+
+import json
+import time
+from typing import TYPE_CHECKING, Any, Literal, cast
+
+import zenoh
+from loguru import logger
+
+from dexcontrol.config.vega import VegaConfig, get_vega_config
+from dexcontrol.core.hand import HandType
+from dexcontrol.proto import dexcontrol_query_pb2
+from dexcontrol.utils.os_utils import resolve_key_name
+from dexcontrol.utils.pb_utils import (
+    ComponentStatus,
+    status_to_dict,
+)
+from dexcontrol.utils.viz_utils import show_component_status
+from dexcontrol.utils.zenoh_utils import compute_ntp_stats, create_zenoh_session
+
+if TYPE_CHECKING:
+    from dexcontrol.config.vega import VegaConfig
+
+
+class RobotQueryInterface:
+    """Base class for zenoh query operations.
+
+    This class provides a clean interface for all zenoh-based queries and
+    communication operations. It maintains references to the zenoh session
+    and configuration needed for queries.
+
+    Can be used as a context manager for automatic resource cleanup:
+        >>> with RobotQueryInterface.create() as interface:
+        ...     version_info = interface.get_version_info()
+    """
+
+    def __init__(self, zenoh_session: zenoh.Session, configs: "VegaConfig"):
+        """Initialize the RobotQueryInterface with session and config.
+
+        Args:
+            zenoh_session: Active zenoh session for communication.
+            configs: Robot configuration containing query names.
+        """
+        self._zenoh_session: zenoh.Session = zenoh_session
+        self._configs = configs
+        self._owns_session = False
+
+    @classmethod
+    def create(
+        cls,
+        zenoh_config_file: str | None = None,
+    ) -> "RobotQueryInterface":
+        """Create a standalone RobotQueryInterface with its own zenoh session.
+
+        This class method provides a convenient way to create a RobotQueryInterface
+        without requiring the full Robot class. The created interface will manage
+        its own zenoh session and configuration.
+
+        Args:
+            zenoh_config_file: Path to zenoh configuration file. If None,
+                              uses the default configuration path.
+            robot_config_path: Path to robot configuration file. If None,
+                              uses default configuration for detected robot model.
+
+        Returns:
+            RobotQueryInterface instance ready for use.
+
+        Raises:
+            RuntimeError: If zenoh session initialization fails.
+            ValueError: If robot configuration cannot be loaded.
+
+        Example:
+            >>> query_interface = RobotQueryInterface.create_standalone()
+            >>> version_info = query_interface.get_version_info()
+            >>> query_interface.close()
+        """
+
+        session = create_zenoh_session(zenoh_config_file)
+        config: VegaConfig = get_vega_config()
+
+        instance = cls(session, config)
+        instance._owns_session = True
+        return instance
+
+    def close(self) -> None:
+        """Close the zenoh session if owned by this instance.
+
+        This method should be called when done using a standalone
+        RobotQueryInterface to properly clean up resources.
+        """
+        if self._owns_session and self._zenoh_session:
+            logger.debug("Closing zenoh session")
+            self._zenoh_session.close()
+
+    def __enter__(self) -> "RobotQueryInterface":
+        """Enter context manager."""
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        """Exit context manager and clean up resources."""
+        self.close()
+
+    def query_hand_type(self) -> dict[str, HandType]:
+        """Query the hand type information from the server.
+
+        Returns:
+            Dictionary containing hand type information for left and right hands.
+            Format: {"left": hand_type_name, "right": hand_type_name}
+            Possible hand types: "UNKNOWN", "HandF5D6_V1", "HandF5D6_V2"
+            UNKNOWN means not connected or unknown end effector connected.
+
+        Raises:
+            RuntimeError: If hand type information cannot be retrieved.
+        """
+        try:
+            # Sleep more time to avoice zenoh query timeout
+            time.sleep(2)
+            replies = self._zenoh_session.get(
+                resolve_key_name(self._configs.hand_info_query_name), timeout=5.0
+            )
+
+            for reply in replies:
+                if reply.ok and reply.ok.payload:
+                    # Parse JSON response (not protobuf)
+                    payload_bytes = reply.ok.payload.to_bytes()
+                    payload_str = payload_bytes.decode("utf-8")
+                    hand_info = json.loads(payload_str)
+
+                    # Validate the expected format
+                    if isinstance(hand_info, dict):
+                        logger.info(f"End effector hand types: {hand_info}")
+                        return {
+                            "left": HandType(hand_info["left"]),
+                            "right": HandType(hand_info["right"]),
+                        }
+                    else:
+                        logger.warning(
+                            f"Invalid hand type format received: {hand_info}"
+                        )
+
+            # If no valid response received, assume v1 for backward compatibility
+            return {"left": HandType.HandF5D6_V1, "right": HandType.HandF5D6_V1}
+
+        except Exception as e:
+            logger.warning(f"Failed to query hand type: {e}. Assuming v1 hand types.")
+            return {"left": HandType.HandF5D6_V1, "right": HandType.HandF5D6_V1}
+
+    def query_ntp(
+        self,
+        sample_count: int = 30,
+        show: bool = False,
+        timeout: float = 1.0,
+        device: Literal["soc", "jetson"] = "soc",
+    ) -> dict[Literal["success", "offset", "rtt"], bool | float]:
+        """Query the NTP server via zenoh for time synchronization and compute robust statistics.
+
+        Args:
+            sample_count: Number of NTP samples to request (default: 50).
+            show: Whether to print summary statistics using a rich table.
+            timeout: Timeout for the zenoh querier in seconds (default: 2.0).
+            device: Which device to query for NTP ("soc" or "jetson").
+
+        Returns:
+            Dictionary with keys:
+                - "success": True if any replies were received, False otherwise.
+                - "offset": Mean offset (in seconds) after removing RTT outliers.
+                - "rtt": Mean round-trip time (in seconds) after removing RTT outliers.
+        """
+        if device == "soc":
+            ntp_key = resolve_key_name(self._configs.soc_ntp_query_name)
+        elif device == "jetson":
+            raise NotImplementedError("Jetson NTP query is not implemented yet")
+
+        time_offset = []
+        time_rtt = []
+
+        querier = self._zenoh_session.declare_querier(ntp_key, timeout=timeout)
+        time.sleep(0.1)
+
+        reply_count = 0
+        for i in range(sample_count):
+            request = dexcontrol_query_pb2.NTPRequest()
+            request.client_send_time_ns = time.time_ns()
+            request.sample_count = sample_count
+            request.sample_index = i
+            replies = querier.get(payload=request.SerializeToString())
+
+            for reply in replies:
+                reply_count += 1
+                if reply.ok and reply.ok.payload:
+                    client_receive_time_ns = time.time_ns()
+                    response = dexcontrol_query_pb2.NTPResponse()
+                    response.ParseFromString(reply.ok.payload.to_bytes())
+                    t0 = request.client_send_time_ns
+                    t1 = response.server_receive_time_ns
+                    t2 = response.server_send_time_ns
+                    t3 = client_receive_time_ns
+                    offset = ((t1 - t0) + (t2 - t3)) // 2 / 1e9
+                    rtt = (t3 - t0) / 1e9
+                    time_offset.append(offset)
+                    time_rtt.append(rtt)
+            if i < sample_count - 1:
+                time.sleep(0.01)
+
+        querier.undeclare()
+        if reply_count == 0:
+            return {"success": False, "offset": 0, "rtt": 0}
+
+        stats = compute_ntp_stats(time_offset, time_rtt)
+        offset = stats["offset (mean)"]
+        rtt = stats["round_trip_time (mean)"]
+        if show:
+            from dexcontrol.utils.viz_utils import show_ntp_stats
+
+            show_ntp_stats(stats)
+
+        return {"success": True, "offset": offset, "rtt": rtt}
+
+    def get_version_info(self, show: bool = True) -> dict[str, Any]:
+        """Retrieve comprehensive version information using JSON interface.
+
+        This method queries the new JSON-based version endpoint that provides:
+        - Server component versions (hardware, software, compile_time, hashes)
+        - Minimum required client version
+        - Version compatibility information
+
+        Args:
+            show: Whether to display the version information.
+
+        Returns:
+            Dictionary containing comprehensive version information with structure:
+            {
+                "server": {
+                    "component_name": {
+                        "hardware_version": int,
+                        "software_version": int,
+                        "compile_time": str,
+                        "main_hash": str,
+                        "sub_hash": str
+                    }
+                },
+                "client": {
+                    "minimal_version": str
+                }
+            }
+
+        Raises:
+            RuntimeError: If version information cannot be retrieved.
+        """
+        try:
+            replies = self._zenoh_session.get(
+                resolve_key_name(self._configs.version_info_name), timeout=5.0
+            )
+
+            for reply in replies:
+                if reply.ok and reply.ok.payload:
+                    try:
+                        # Parse JSON response
+                        payload_bytes = reply.ok.payload.to_bytes()
+                        payload_str = payload_bytes.decode("utf-8")
+                        version_info = json.loads(payload_str)
+
+                        # Validate expected structure
+                        if (
+                            isinstance(version_info, dict)
+                            and "server" in version_info
+                            and "client" in version_info
+                        ):
+                            if show:
+                                self._show_version_info(version_info)
+                            return version_info
+                        else:
+                            logger.warning(
+                                f"Invalid version info format received: {version_info}"
+                            )
+                    except (json.JSONDecodeError, UnicodeDecodeError) as e:
+                        logger.warning(f"Failed to parse version info response: {e}")
+                        continue
+
+            raise RuntimeError("No valid version information received from server")
+
+        except Exception as e:
+            raise RuntimeError(f"Failed to retrieve version information: {e}") from e
+
+    def get_component_status(
+        self, show: bool = True
+    ) -> dict[str, dict[str, bool | ComponentStatus]]:
+        """Retrieve status information for all components.
+
+        Args:
+            show: Whether to display the status information.
+
+        Returns:
+            Dictionary containing status information for all components.
+
+        Raises:
+            RuntimeError: If status information cannot be retrieved.
+        """
+        try:
+            replies = self._zenoh_session.get(
+                resolve_key_name(self._configs.status_info_name)
+            )
+            status_dict = {}
+            for reply in replies:
+                if reply.ok and reply.ok.payload:
+                    status_bytes = reply.ok.payload.to_bytes()
+                    status_msg = cast(
+                        dexcontrol_query_pb2.ComponentStates,
+                        dexcontrol_query_pb2.ComponentStates.FromString(status_bytes),
+                    )
+                    status_dict = status_to_dict(status_msg)
+                    break
+
+            if show:
+                show_component_status(status_dict)
+            return status_dict
+        except Exception as e:
+            raise RuntimeError(f"Failed to retrieve component status: {e}") from e
+
+    def reboot_component(
+        self,
+        part: Literal["arm", "chassis", "torso"],
+    ) -> None:
+        """Reboot a specific robot component.
+
+        Args:
+            part: Component to reboot ("arm", "chassis", or "torso").
+
+        Raises:
+            ValueError: If the specified component is invalid.
+            RuntimeError: If the reboot operation fails.
+        """
+        component_map = {
+            "arm": dexcontrol_query_pb2.RebootComponent.Component.ARM,
+            "chassis": dexcontrol_query_pb2.RebootComponent.Component.CHASSIS,
+            "torso": dexcontrol_query_pb2.RebootComponent.Component.TORSO,
+        }
+
+        if part not in component_map:
+            raise ValueError(f"Invalid component: {part}")
+
+        try:
+            query_msg = dexcontrol_query_pb2.RebootComponent(
+                component=component_map[part]
+            )
+            self._zenoh_session.get(
+                resolve_key_name(self._configs.reboot_query_name),
+                payload=query_msg.SerializeToString(),
+            )
+            logger.info(f"Rebooting component: {part}")
+        except Exception as e:
+            raise RuntimeError(f"Failed to reboot component {part}: {e}") from e
+
+    def clear_error(
+        self,
+        part: Literal["left_arm", "right_arm", "chassis", "head"] | str,
+    ) -> None:
+        """Clear error state for a specific component.
+
+        Args:
+            part: Component to clear error state for.
+
+        Raises:
+            ValueError: If the specified component is invalid.
+            RuntimeError: If the error clearing operation fails.
+        """
+        component_map = {
+            "left_arm": dexcontrol_query_pb2.ClearError.Component.LEFT_ARM,
+            "right_arm": dexcontrol_query_pb2.ClearError.Component.RIGHT_ARM,
+            "chassis": dexcontrol_query_pb2.ClearError.Component.CHASSIS,
+            "head": dexcontrol_query_pb2.ClearError.Component.HEAD,
+        }
+
+        if part not in component_map:
+            raise ValueError(f"Invalid component: {part}")
+
+        try:
+            query_msg = dexcontrol_query_pb2.ClearError(component=component_map[part])
+            self._zenoh_session.get(
+                resolve_key_name(self._configs.clear_error_query_name),
+                handler=lambda reply: logger.info(f"Cleared error of {part}"),
+                payload=query_msg.SerializeToString(),
+            )
+        except Exception as e:
+            raise RuntimeError(
+                f"Failed to clear error for component {part}: {e}"
+            ) from e
+
+    def _show_version_info(self, version_info: dict[str, Any]) -> None:
+        """Display comprehensive version information in a formatted table.
+
+        Args:
+            version_info: Dictionary containing server and client version information.
+        """
+        from rich.console import Console
+        from rich.table import Table
+
+        console = Console()
+        table = Table(title="🤖 Robot System Version Information")
+
+        table.add_column("Component", justify="left", style="cyan", no_wrap=True)
+        table.add_column("Hardware Ver.", justify="center", style="magenta")
+        table.add_column("Software Ver.", justify="center", style="green")
+        table.add_column("Compile Time", justify="center", style="yellow")
+        table.add_column("Main Hash", justify="center", style="blue")
+        table.add_column("Sub Hash", justify="center", style="red")
+
+        # Display server components
+        server_info = version_info.get("server", {})
+        for component, info in server_info.items():
+            if isinstance(info, dict):
+                table.add_row(
+                    component,
+                    str(info.get("hardware_version", "N/A")),
+                    str(info.get("software_version", "N/A")),
+                    str(info.get("compile_time", "N/A")),
+                    str(info.get("main_hash", "N/A")[:8])
+                    if info.get("main_hash")
+                    else "N/A",
+                    str(info.get("sub_hash", "N/A")[:8])
+                    if info.get("sub_hash")
+                    else "N/A",
+                )
+
+        console.print(table)

dexcontrol/core/torso.py

@@ -49,13 +49,18 @@ class Torso(RobotJointComponent):
         super().__init__(
             state_sub_topic=configs.state_sub_topic,
             control_pub_topic=configs.control_pub_topic,
-            state_message_type=dexcontrol_msg_pb2.TorsoState,
+            state_message_type=dexcontrol_msg_pb2.MotorStateWithCurrent,
             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,
@@ -104,10 +109,19 @@ 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())
-        control_msg.joint_vel.extend(joint_vel.tolist())
+        control_msg = dexcontrol_msg_pb2.MotorPosVelCommand()
+        control_msg.pos.extend(joint_pos.tolist())
+        control_msg.vel.extend(joint_vel.tolist())
         self._publish_control(control_msg)
 
         # Wait if specified
@@ -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

@@ -25,47 +25,37 @@ _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\"e\n\x14MotorStateWithTorque\x12\x0b\n\x03pos\x18\x01 \x03(\x02\x12\x0b\n\x03vel\x18\x02 \x03(\x02\x12\x0e\n\x06torque\x18\x03 \x03(\x02\x12\r\n\x05\x65rror\x18\x04 \x03(\r\x12\x14\n\x0ctimestamp_ns\x18\x05 \x01(\x04\"c\n\x15MotorStateWithCurrent\x12\x0b\n\x03pos\x18\x01 \x03(\x02\x12\x0b\n\x03vel\x18\x02 \x03(\x02\x12\x0b\n\x03\x63ur\x18\x03 \x03(\x02\x12\r\n\x05\x65rror\x18\x04 \x03(\r\x12\x14\n\x0ctimestamp_ns\x18\x05 \x01(\x04\"4\n\x0fMotorPosCommand\x12\x0b\n\x03pos\x18\x01 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x02 \x01(\x04\"4\n\x0fMotorVelCommand\x12\x0b\n\x03vel\x18\x01 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x02 \x01(\x04\"D\n\x12MotorPosVelCommand\x12\x0b\n\x03pos\x18\x01 \x03(\x02\x12\x0b\n\x03vel\x18\x02 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x03 \x01(\x04\"X\n\x19MotorPosVelCurrentCommand\x12\x0b\n\x03pos\x18\x01 \x03(\x02\x12\x0b\n\x03vel\x18\x02 \x03(\x02\x12\x0b\n\x03\x63ur\x18\x03 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x04 \x01(\x04\"C\n\x1d\x45ndEffectorPassThroughCommand\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x12\x14\n\x0ctimestamp_ns\x18\x02 \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\"\xbc\x01\n\nEStopState\x12\x1e\n\x16software_estop_enabled\x18\x01 \x01(\x08\x12\x1b\n\x13left_button_pressed\x18\x02 \x01(\x08\x12\x1c\n\x14right_button_pressed\x18\x03 \x01(\x08\x12\x1c\n\x14waist_button_pressed\x18\x04 \x01(\x08\x12\x1f\n\x17wireless_button_pressed\x18\x05 \x01(\x08\x12\x14\n\x0ctimestamp_ns\x18\x06 \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\";\n\x14HandTouchSensorState\x12\r\n\x05\x66orce\x18\x01 \x03(\x02\x12\x14\n\x0ctimestamp_ns\x18\x02 \x01(\x04\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dexcontrol_msg_pb2', _globals)
 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['_MOTORSTATEWITHTORQUE']._serialized_start=36
+  _globals['_MOTORSTATEWITHTORQUE']._serialized_end=137
+  _globals['_MOTORSTATEWITHCURRENT']._serialized_start=139
+  _globals['_MOTORSTATEWITHCURRENT']._serialized_end=238
+  _globals['_MOTORPOSCOMMAND']._serialized_start=240
+  _globals['_MOTORPOSCOMMAND']._serialized_end=292
+  _globals['_MOTORVELCOMMAND']._serialized_start=294
+  _globals['_MOTORVELCOMMAND']._serialized_end=346
+  _globals['_MOTORPOSVELCOMMAND']._serialized_start=348
+  _globals['_MOTORPOSVELCOMMAND']._serialized_end=416
+  _globals['_MOTORPOSVELCURRENTCOMMAND']._serialized_start=418
+  _globals['_MOTORPOSVELCURRENTCOMMAND']._serialized_end=506
+  _globals['_ENDEFFECTORPASSTHROUGHCOMMAND']._serialized_start=508
+  _globals['_ENDEFFECTORPASSTHROUGHCOMMAND']._serialized_end=575
+  _globals['_BMSSTATE']._serialized_start=578
+  _globals['_BMSSTATE']._serialized_end=721
+  _globals['_WRENCHSTATE']._serialized_start=723
+  _globals['_WRENCHSTATE']._serialized_end=817
+  _globals['_ESTOPSTATE']._serialized_start=820
+  _globals['_ESTOPSTATE']._serialized_end=1008
+  _globals['_ULTRASONICSTATE']._serialized_start=1010
+  _globals['_ULTRASONICSTATE']._serialized_end=1129
+  _globals['_IMUSTATE']._serialized_start=1132
+  _globals['_IMUSTATE']._serialized_end=1321
+  _globals['_HANDTOUCHSENSORSTATE']._serialized_start=1323
+  _globals['_HANDTOUCHSENSORSTATE']._serialized_end=1382
 # @@protoc_insertion_point(module_scope)