dexcontrol 0.2.12__py3-none-any.whl → 0.3.4__py3-none-any.whl

dexcontrol/config/sensors/cameras/luxonis_camera.py

@@ -1,51 +0,0 @@
-# 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
-
-from dataclasses import dataclass, field
-
-
-@dataclass
-class LuxonisCameraConfig:
-    """Configuration for LuxonisCameraSensor (wrist camera).
-
-    Attributes:
-        _target_: Target sensor class for Hydra instantiation.
-        name: Logical name of the camera.
-        enable: Whether this sensor is enabled.
-        enable_fps_tracking: Enable FPS tracking logs.
-        fps_log_interval: Frames between FPS logs.
-        subscriber_config: Topics for RGB and Depth Zenoh subscribers.
-    """
-
-    _target_: str = "dexcontrol.sensors.camera.luxonis_camera.LuxonisCameraSensor"
-    name: str = "wrist_camera"
-    enable: bool = False
-    enable_fps_tracking: bool = False
-    fps_log_interval: int = 30
-
-    # Note: Resolution is set by the publisher (dexsensor). The publisher now defaults
-    # to 720p to match common Luxonis sensor capabilities (e.g., OV9782 supports 720p/800p).
-    # These subscribers only define topics to consume.
-    subscriber_config: dict = field(
-        default_factory=lambda: {
-            "left_rgb": {
-                "enable": True,
-                "topic": "camera/wrist/left_rgb",
-            },
-            "right_rgb": {
-                "enable": True,
-                "topic": "camera/wrist/right_rgb",
-            },
-            "depth": {
-                "enable": False,
-                "topic": "camera/wrist/depth",
-            },
-        }
-    )

dexcontrol/proto/dexcontrol_msg_pb2.py

@@ -1,73 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# NO CHECKED-IN PROTOBUF GENCODE
-# source: dexcontrol_msg.proto
-# Protobuf Python Version: 6.31.0
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import runtime_version as _runtime_version
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf.internal import builder as _builder
-
-_runtime_version.ValidateProtobufRuntimeVersion(
-    _runtime_version.Domain.PUBLIC,
-    6,
-    31,
-    0,
-    '',
-    'dexcontrol_msg.proto'
-)
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-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)
-_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=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

@@ -1,220 +0,0 @@
-from collections.abc import Iterable as _Iterable
-from collections.abc import Mapping as _Mapping
-from typing import ClassVar as _ClassVar
-from typing import Optional as _Optional
-from typing import Union as _Union
-
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf.internal import containers as _containers
-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", "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]
-    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", "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]
-    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", "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]
-    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", "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]
-    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")
-    STEERING_POS_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_POS_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_VEL_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_CUR_FIELD_NUMBER: _ClassVar[int]
-    steering_pos: float
-    wheel_pos: float
-    wheel_vel: float
-    wheel_cur: float
-    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", "timestamp_ns")
-    LEFT_FIELD_NUMBER: _ClassVar[int]
-    RIGHT_FIELD_NUMBER: _ClassVar[int]
-    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
-    left: SingleWheelState
-    right: SingleWheelState
-    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", "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
-    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", "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
-    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", "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
-    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", "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
-    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", "timestamp_ns")
-    ACC_X_FIELD_NUMBER: _ClassVar[int]
-    ACC_Y_FIELD_NUMBER: _ClassVar[int]
-    ACC_Z_FIELD_NUMBER: _ClassVar[int]
-    GYRO_X_FIELD_NUMBER: _ClassVar[int]
-    GYRO_Y_FIELD_NUMBER: _ClassVar[int]
-    GYRO_Z_FIELD_NUMBER: _ClassVar[int]
-    QUAT_W_FIELD_NUMBER: _ClassVar[int]
-    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
-    gyro_x: float
-    gyro_y: float
-    gyro_z: float
-    quat_w: float
-    quat_x: float
-    quat_y: float
-    quat_z: float
-    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")
-    class CommandType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-        __slots__ = ()
-        POSITION: _ClassVar[ArmCommand.CommandType]
-        VELOCITY_FEEDFORWARD: _ClassVar[ArmCommand.CommandType]
-    POSITION: ArmCommand.CommandType
-    VELOCITY_FEEDFORWARD: ArmCommand.CommandType
-    COMMAND_TYPE_FIELD_NUMBER: _ClassVar[int]
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    command_type: ArmCommand.CommandType
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, command_type: _Optional[_Union[ArmCommand.CommandType, str]] = ..., joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class HandCommand(_message.Message):
-    __slots__ = ("joint_pos",)
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class HeadCommand(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_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: ...
-
-class TorsoCommand(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_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: ...
-
-class SingleWheelCommand(_message.Message):
-    __slots__ = ("steering_pos", "wheel_vel")
-    STEERING_POS_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_VEL_FIELD_NUMBER: _ClassVar[int]
-    steering_pos: float
-    wheel_vel: float
-    def __init__(self, steering_pos: _Optional[float] = ..., wheel_vel: _Optional[float] = ...) -> None: ...
-
-class ChassisCommand(_message.Message):
-    __slots__ = ("left", "right")
-    LEFT_FIELD_NUMBER: _ClassVar[int]
-    RIGHT_FIELD_NUMBER: _ClassVar[int]
-    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: ...

dexcontrol/proto/dexcontrol_query_pb2.py

@@ -1,77 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# NO CHECKED-IN PROTOBUF GENCODE
-# source: dexcontrol_query.proto
-# Protobuf Python Version: 6.31.0
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import runtime_version as _runtime_version
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf.internal import builder as _builder
-
-_runtime_version.ValidateProtobufRuntimeVersion(
-    _runtime_version.Domain.PUBLIC,
-    6,
-    31,
-    0,
-    '',
-    'dexcontrol_query.proto'
-)
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16\x64\x65xcontrol_query.proto\x12\ndexcontrol\"Z\n\nSetArmMode\x12)\n\x04mode\x18\x01 \x01(\x0e\x32\x1b.dexcontrol.SetArmMode.Mode\"!\n\x04Mode\x12\x0c\n\x08POSITION\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"Z\n\x0bSetHeadMode\x12*\n\x04mode\x18\x01 \x01(\x0e\x32\x1c.dexcontrol.SetHeadMode.Mode\"\x1f\n\x04Mode\x12\n\n\x06\x45NABLE\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"\x1a\n\x08SetEstop\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x18\n\x06SetLed\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x82\x01\n\nClearError\x12\x33\n\tcomponent\x18\x01 \x01(\x0e\x32 .dexcontrol.ClearError.Component\"?\n\tComponent\x12\x0c\n\x08LEFT_ARM\x10\x00\x12\r\n\tRIGHT_ARM\x10\x01\x12\x08\n\x04HEAD\x10\x02\x12\x0b\n\x07\x43HASSIS\x10\x03\"y\n\x0fRebootComponent\x12\x38\n\tcomponent\x18\x01 \x01(\x0e\x32%.dexcontrol.RebootComponent.Component\",\n\tComponent\x12\x07\n\x03\x41RM\x10\x00\x12\t\n\x05TORSO\x10\x01\x12\x0b\n\x07\x43HASSIS\x10\x02\"\x80\x01\n\x0f\x46irmwareVersion\x12\x18\n\x10hardware_version\x18\x01 \x01(\x05\x12\x18\n\x10software_version\x18\x02 \x01(\x05\x12\x14\n\x0c\x63ompile_time\x18\x03 \x01(\x05\x12\x11\n\tmain_hash\x18\x04 \x01(\t\x12\x10\n\x08sub_hash\x18\x05 \x01(\t\"\xb2\x01\n\x0fSoftwareVersion\x12J\n\x10\x66irmware_version\x18\x01 \x03(\x0b\x32\x30.dexcontrol.SoftwareVersion.FirmwareVersionEntry\x1aS\n\x14\x46irmwareVersionEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12*\n\x05value\x18\x02 \x01(\x0b\x32\x1b.dexcontrol.FirmwareVersion:\x02\x38\x01\"\x9d\x01\n\x14SingleComponentState\x12\x11\n\tconnected\x18\x01 \x01(\x08\x12,\n\x07\x65nabled\x18\x02 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x30\n\x0b\x65rror_state\x18\x03 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x12\n\nerror_code\x18\x04 \x01(\t\"\x9b\x01\n\x0f\x43omponentStates\x12\x37\n\x06states\x18\x01 \x03(\x0b\x32\'.dexcontrol.ComponentStates.StatesEntry\x1aO\n\x0bStatesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12/\n\x05value\x18\x02 \x01(\x0b\x32 .dexcontrol.SingleComponentState:\x02\x38\x01\"U\n\nNTPRequest\x12\x1b\n\x13\x63lient_send_time_ns\x18\x01 \x01(\x04\x12\x14\n\x0csample_count\x18\x02 \x01(\r\x12\x14\n\x0csample_index\x18\x03 \x01(\r\"\x94\x01\n\x0bNTPResponse\x12\x1b\n\x13\x63lient_send_time_ns\x18\x01 \x01(\x04\x12\x1e\n\x16server_receive_time_ns\x18\x02 \x01(\x04\x12\x1b\n\x13server_send_time_ns\x18\x03 \x01(\x04\x12\x14\n\x0csample_index\x18\x04 \x01(\r\x12\x15\n\rtotal_samples\x18\x05 \x01(\r*0\n\x0f\x43omponentStatus\x12\n\n\x06NORMAL\x10\x00\x12\x06\n\x02NA\x10\x01\x12\t\n\x05\x45RROR\x10\x02\x62\x06proto3')
-
-_globals = globals()
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dexcontrol_query_pb2', _globals)
-if not _descriptor._USE_C_DESCRIPTORS:
-  DESCRIPTOR._loaded_options = None
-  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._loaded_options = None
-  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_options = b'8\001'
-  _globals['_COMPONENTSTATES_STATESENTRY']._loaded_options = None
-  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_options = b'8\001'
-  _globals['_COMPONENTSTATUS']._serialized_start=1400
-  _globals['_COMPONENTSTATUS']._serialized_end=1448
-  _globals['_SETARMMODE']._serialized_start=38
-  _globals['_SETARMMODE']._serialized_end=128
-  _globals['_SETARMMODE_MODE']._serialized_start=95
-  _globals['_SETARMMODE_MODE']._serialized_end=128
-  _globals['_SETHEADMODE']._serialized_start=130
-  _globals['_SETHEADMODE']._serialized_end=220
-  _globals['_SETHEADMODE_MODE']._serialized_start=189
-  _globals['_SETHEADMODE_MODE']._serialized_end=220
-  _globals['_SETESTOP']._serialized_start=222
-  _globals['_SETESTOP']._serialized_end=248
-  _globals['_SETLED']._serialized_start=250
-  _globals['_SETLED']._serialized_end=274
-  _globals['_CLEARERROR']._serialized_start=277
-  _globals['_CLEARERROR']._serialized_end=407
-  _globals['_CLEARERROR_COMPONENT']._serialized_start=344
-  _globals['_CLEARERROR_COMPONENT']._serialized_end=407
-  _globals['_REBOOTCOMPONENT']._serialized_start=409
-  _globals['_REBOOTCOMPONENT']._serialized_end=530
-  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_start=486
-  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_end=530
-  _globals['_FIRMWAREVERSION']._serialized_start=533
-  _globals['_FIRMWAREVERSION']._serialized_end=661
-  _globals['_SOFTWAREVERSION']._serialized_start=664
-  _globals['_SOFTWAREVERSION']._serialized_end=842
-  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_start=759
-  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_end=842
-  _globals['_SINGLECOMPONENTSTATE']._serialized_start=845
-  _globals['_SINGLECOMPONENTSTATE']._serialized_end=1002
-  _globals['_COMPONENTSTATES']._serialized_start=1005
-  _globals['_COMPONENTSTATES']._serialized_end=1160
-  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_start=1081
-  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_end=1160
-  _globals['_NTPREQUEST']._serialized_start=1162
-  _globals['_NTPREQUEST']._serialized_end=1247
-  _globals['_NTPRESPONSE']._serialized_start=1250
-  _globals['_NTPRESPONSE']._serialized_end=1398
-# @@protoc_insertion_point(module_scope)

dexcontrol/proto/dexcontrol_query_pb2.pyi

@@ -1,162 +0,0 @@
-from collections.abc import Mapping as _Mapping
-from typing import ClassVar as _ClassVar
-from typing import Optional as _Optional
-from typing import Union as _Union
-
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf.internal import containers as _containers
-from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
-
-DESCRIPTOR: _descriptor.FileDescriptor
-
-class ComponentStatus(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-    __slots__ = ()
-    NORMAL: _ClassVar[ComponentStatus]
-    NA: _ClassVar[ComponentStatus]
-    ERROR: _ClassVar[ComponentStatus]
-NORMAL: ComponentStatus
-NA: ComponentStatus
-ERROR: ComponentStatus
-
-class SetArmMode(_message.Message):
-    __slots__ = ("mode",)
-    class Mode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-        __slots__ = ()
-        POSITION: _ClassVar[SetArmMode.Mode]
-        DISABLE: _ClassVar[SetArmMode.Mode]
-    POSITION: SetArmMode.Mode
-    DISABLE: SetArmMode.Mode
-    MODE_FIELD_NUMBER: _ClassVar[int]
-    mode: SetArmMode.Mode
-    def __init__(self, mode: _Optional[_Union[SetArmMode.Mode, str]] = ...) -> None: ...
-
-class SetHeadMode(_message.Message):
-    __slots__ = ("mode",)
-    class Mode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-        __slots__ = ()
-        ENABLE: _ClassVar[SetHeadMode.Mode]
-        DISABLE: _ClassVar[SetHeadMode.Mode]
-    ENABLE: SetHeadMode.Mode
-    DISABLE: SetHeadMode.Mode
-    MODE_FIELD_NUMBER: _ClassVar[int]
-    mode: SetHeadMode.Mode
-    def __init__(self, mode: _Optional[_Union[SetHeadMode.Mode, str]] = ...) -> None: ...
-
-class SetEstop(_message.Message):
-    __slots__ = ("enable",)
-    ENABLE_FIELD_NUMBER: _ClassVar[int]
-    enable: bool
-    def __init__(self, enable: bool = ...) -> None: ...
-
-class SetLed(_message.Message):
-    __slots__ = ("enable",)
-    ENABLE_FIELD_NUMBER: _ClassVar[int]
-    enable: bool
-    def __init__(self, enable: bool = ...) -> None: ...
-
-class ClearError(_message.Message):
-    __slots__ = ("component",)
-    class Component(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-        __slots__ = ()
-        LEFT_ARM: _ClassVar[ClearError.Component]
-        RIGHT_ARM: _ClassVar[ClearError.Component]
-        HEAD: _ClassVar[ClearError.Component]
-        CHASSIS: _ClassVar[ClearError.Component]
-    LEFT_ARM: ClearError.Component
-    RIGHT_ARM: ClearError.Component
-    HEAD: ClearError.Component
-    CHASSIS: ClearError.Component
-    COMPONENT_FIELD_NUMBER: _ClassVar[int]
-    component: ClearError.Component
-    def __init__(self, component: _Optional[_Union[ClearError.Component, str]] = ...) -> None: ...
-
-class RebootComponent(_message.Message):
-    __slots__ = ("component",)
-    class Component(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-        __slots__ = ()
-        ARM: _ClassVar[RebootComponent.Component]
-        TORSO: _ClassVar[RebootComponent.Component]
-        CHASSIS: _ClassVar[RebootComponent.Component]
-    ARM: RebootComponent.Component
-    TORSO: RebootComponent.Component
-    CHASSIS: RebootComponent.Component
-    COMPONENT_FIELD_NUMBER: _ClassVar[int]
-    component: RebootComponent.Component
-    def __init__(self, component: _Optional[_Union[RebootComponent.Component, str]] = ...) -> None: ...
-
-class FirmwareVersion(_message.Message):
-    __slots__ = ("hardware_version", "software_version", "compile_time", "main_hash", "sub_hash")
-    HARDWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
-    SOFTWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
-    COMPILE_TIME_FIELD_NUMBER: _ClassVar[int]
-    MAIN_HASH_FIELD_NUMBER: _ClassVar[int]
-    SUB_HASH_FIELD_NUMBER: _ClassVar[int]
-    hardware_version: int
-    software_version: int
-    compile_time: int
-    main_hash: str
-    sub_hash: str
-    def __init__(self, hardware_version: _Optional[int] = ..., software_version: _Optional[int] = ..., compile_time: _Optional[int] = ..., main_hash: _Optional[str] = ..., sub_hash: _Optional[str] = ...) -> None: ...
-
-class SoftwareVersion(_message.Message):
-    __slots__ = ("firmware_version",)
-    class FirmwareVersionEntry(_message.Message):
-        __slots__ = ("key", "value")
-        KEY_FIELD_NUMBER: _ClassVar[int]
-        VALUE_FIELD_NUMBER: _ClassVar[int]
-        key: str
-        value: FirmwareVersion
-        def __init__(self, key: _Optional[str] = ..., value: _Optional[_Union[FirmwareVersion, _Mapping]] = ...) -> None: ...
-    FIRMWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
-    firmware_version: _containers.MessageMap[str, FirmwareVersion]
-    def __init__(self, firmware_version: _Optional[_Mapping[str, FirmwareVersion]] = ...) -> None: ...
-
-class SingleComponentState(_message.Message):
-    __slots__ = ("connected", "enabled", "error_state", "error_code")
-    CONNECTED_FIELD_NUMBER: _ClassVar[int]
-    ENABLED_FIELD_NUMBER: _ClassVar[int]
-    ERROR_STATE_FIELD_NUMBER: _ClassVar[int]
-    ERROR_CODE_FIELD_NUMBER: _ClassVar[int]
-    connected: bool
-    enabled: ComponentStatus
-    error_state: ComponentStatus
-    error_code: str
-    def __init__(self, connected: bool = ..., enabled: _Optional[_Union[ComponentStatus, str]] = ..., error_state: _Optional[_Union[ComponentStatus, str]] = ..., error_code: _Optional[str] = ...) -> None: ...
-
-class ComponentStates(_message.Message):
-    __slots__ = ("states",)
-    class StatesEntry(_message.Message):
-        __slots__ = ("key", "value")
-        KEY_FIELD_NUMBER: _ClassVar[int]
-        VALUE_FIELD_NUMBER: _ClassVar[int]
-        key: str
-        value: SingleComponentState
-        def __init__(self, key: _Optional[str] = ..., value: _Optional[_Union[SingleComponentState, _Mapping]] = ...) -> None: ...
-    STATES_FIELD_NUMBER: _ClassVar[int]
-    states: _containers.MessageMap[str, SingleComponentState]
-    def __init__(self, states: _Optional[_Mapping[str, SingleComponentState]] = ...) -> None: ...
-
-class NTPRequest(_message.Message):
-    __slots__ = ("client_send_time_ns", "sample_count", "sample_index")
-    CLIENT_SEND_TIME_NS_FIELD_NUMBER: _ClassVar[int]
-    SAMPLE_COUNT_FIELD_NUMBER: _ClassVar[int]
-    SAMPLE_INDEX_FIELD_NUMBER: _ClassVar[int]
-    client_send_time_ns: int
-    sample_count: int
-    sample_index: int
-    def __init__(self, client_send_time_ns: _Optional[int] = ..., sample_count: _Optional[int] = ..., sample_index: _Optional[int] = ...) -> None: ...
-
-class NTPResponse(_message.Message):
-    __slots__ = ("client_send_time_ns", "server_receive_time_ns", "server_send_time_ns", "sample_index", "total_samples")
-    CLIENT_SEND_TIME_NS_FIELD_NUMBER: _ClassVar[int]
-    SERVER_RECEIVE_TIME_NS_FIELD_NUMBER: _ClassVar[int]
-    SERVER_SEND_TIME_NS_FIELD_NUMBER: _ClassVar[int]
-    SAMPLE_INDEX_FIELD_NUMBER: _ClassVar[int]
-    TOTAL_SAMPLES_FIELD_NUMBER: _ClassVar[int]
-    client_send_time_ns: int
-    server_receive_time_ns: int
-    server_send_time_ns: int
-    sample_index: int
-    total_samples: int
-    def __init__(self, client_send_time_ns: _Optional[int] = ..., server_receive_time_ns: _Optional[int] = ..., server_send_time_ns: _Optional[int] = ..., sample_index: _Optional[int] = ..., total_samples: _Optional[int] = ...) -> None: ...