dexcontrol 0.2.1__py3-none-any.whl → 0.2.3__py3-none-any.whl

dexcontrol/__init__.py

@@ -1,7 +1,13 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
+#    See README.md for details
 
 """DexControl: Robot Control Interface Library.
 
@@ -15,6 +21,9 @@ import os
 from pathlib import Path
 from typing import Final
 
+from loguru import logger
+from rich.logging import RichHandler
+
 # DO NOT REMOVE this following import, it is needed for hydra to find the config
 import dexcontrol.config  # pylint: disable=unused-import
 from dexcontrol.robot import Robot
@@ -24,6 +33,8 @@ from dexcontrol.utils.constants import COMM_CFG_PATH_ENV_VAR
 LIB_PATH: Final[Path] = Path(__file__).resolve().parent
 CFG_PATH: Final[Path] = LIB_PATH / "config"
 
+logger.configure(handlers=[{"sink": RichHandler(markup=True), "format": "{message}"}])
+
 
 def get_comm_cfg_path() -> Path:
     default_path = list(

dexcontrol/apps/dualsense_teleop_base.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
 """DualSense controller teleoperation base module.
 
@@ -10,9 +15,9 @@ with safety features, emergency stop handling, and customizable control mappings
 """
 
 import threading
+import time
 from abc import ABC, abstractmethod
 from enum import Enum
-import time
 
 from dualsense_controller import DualSenseController
 from loguru import logger
@@ -31,10 +36,10 @@ class ControlMode(Enum):
 
 class ButtonState:
     """Class to track button state with debouncing."""
-    
+
     def __init__(self, debounce_time: float = 0.05):
         """Initialize button state.
-        
+
         Args:
             debounce_time: Time in seconds to wait before considering a state change valid.
         """
@@ -43,10 +48,10 @@ class ButtonState:
         self._last_change_time = 0.0
         self._debounce_time = debounce_time
         self._lock = threading.Lock()
-    
+
     def update(self, new_state: bool) -> None:
         """Update the button state with debouncing.
-        
+
         Args:
             new_state: New raw button state.
         """
@@ -55,11 +60,11 @@ class ButtonState:
             if new_state != self._raw_state:
                 self._last_change_time = current_time
                 self._raw_state = new_state
-            
+
             # Only update debounced state if enough time has passed
             if current_time - self._last_change_time >= self._debounce_time:
                 self._debounced_state = self._raw_state
-    
+
     @property
     def state(self) -> bool:
         """Get the current debounced button state."""
@@ -189,7 +194,7 @@ class DualSenseTeleopBase(ABC):
 
     def _update_button_state(self, button: str, state: bool) -> None:
         """Update the state of a button with debouncing.
-        
+
         Args:
             button: Name of the button being updated.
             state: New raw button state.

dexcontrol/config/__init__.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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 hydra.core.config_store import ConfigStore
 
@@ -10,5 +15,5 @@ from .vega import Vega1Config, VegaConfig
 # Register the configs
 cs = ConfigStore.instance()
 cs.store(name="vega", node=VegaConfig)
-cs.store(name="vega_rc2", node=VegaConfig)
-cs.store(name="vega_1", node=Vega1Config)
+cs.store(name="vega-rc2", node=VegaConfig)
+cs.store(name="vega-1", node=Vega1Config)

dexcontrol/config/core/__init__.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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 .arm import ArmConfig
 from .chassis import ChassisConfig

dexcontrol/config/core/arm.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 

dexcontrol/config/core/chassis.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
@@ -15,8 +20,8 @@ class ChassisConfig:
     center_to_wheel_axis_dist: float = (
         0.219  # the distance between base center and wheel axis in m
     )
-    wheels_dist: float = 0.41  # the distance between two wheels in m (0.41 for vega_rc2, 0.45 for vega_1)
+    wheels_dist: float = 0.45  # the distance between two wheels in m (0.41 for vega-rc2, 0.45 for vega-1)
     joint_name: list[str] = field(
         default_factory=lambda: ["L_wheel_j1", "L_wheel_j2", "R_wheel_j1", "R_wheel_j2"]
     )
-    max_vel: float = 0.6
+    max_vel: float = 0.8

dexcontrol/config/core/hand.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
@@ -28,15 +33,15 @@ class HandConfig:
         default_factory=lambda: ["th_j1", "ff_j1", "mf_j1", "rf_j1", "lf_j1", "th_j0"]
     )
     joint_pos_open: list[float] = field(
-        default_factory=lambda: [0.18313, 0.29012, 0.28084, 0.28498, 0.28204, -0.034]
+        default_factory=lambda: [0.1834, 0.2891, 0.2801, 0.284, 0.2811, -0.0158]
     )
     joint_pos_close: list[float] = field(
         default_factory=lambda: [
-            -0.64862,
-            -1.17584,
-            -1.16855,
-            -1.17493,
-            -1.17277,
+            -0.3468,
+            -1.0946,
+            -1.0844,
+            -1.0154,
+            -1.0118,
             1.6,
         ]
     )

dexcontrol/config/core/head.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 

dexcontrol/config/core/misc.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
 """Miscellaneous robot component configurations."""
 

dexcontrol/config/core/torso.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 

dexcontrol/config/sensors/__init__.py

@@ -1,4 +1,9 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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

dexcontrol/config/sensors/cameras/__init__.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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 .gemini_camera import GeminiCameraConfig
 from .rgb_camera import RGBCameraConfig
+from .zed_camera import ZedCameraConfig

dexcontrol/config/sensors/cameras/rgb_camera.py

@@ -1,15 +1,28 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
+from dataclasses import dataclass, field
 
 
 @dataclass
 class RGBCameraConfig:
     _target_: str = "dexcontrol.sensors.camera.rgb_camera.RGBCameraSensor"
-    topic: str = "/camera/rgb"
     name: str = "rgb_camera"
     enable_fps_tracking: bool = False
     fps_log_interval: int = 30
+    enable: bool = False
+    subscriber_config: dict = field(
+        default_factory=lambda: dict(
+            rgb=dict(
+                enable=True,
+                info_key="camera/rgb/info",
+            )
+        )
+    )

dexcontrol/config/sensors/cameras/zed_camera.py

@@ -0,0 +1,36 @@
+# 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 ZedCameraConfig:
+    _target_: str = "dexcontrol.sensors.camera.zed_camera.ZedCameraSensor"
+    name: str = "zed_camera"
+    enable_fps_tracking: bool = False
+    fps_log_interval: int = 30
+    enable: bool = False
+    subscriber_config: dict = field(
+        default_factory=lambda: dict(
+            left_rgb=dict(
+                enable=True,
+                info_key="camera/head/left_rgb/info",
+            ),
+            right_rgb=dict(
+                enable=True,
+                info_key="camera/head/right_rgb/info",
+            ),
+            depth=dict(
+                enable=True,
+                topic="camera/head/depth",
+            ),
+        )
+    )

dexcontrol/config/sensors/imu/__init__.py

@@ -1,6 +1,11 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
-from .gemini_imu import GeminiIMUConfig
-from .nine_axis_imu import NineAxisIMUConfig
+# 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 .chassis_imu import ChassisIMUConfig
+from .zed_imu import ZedIMUConfig

dexcontrol/config/sensors/imu/chassis_imu.py

@@ -0,0 +1,21 @@
+# 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
+
+
+@dataclass
+class ChassisIMUConfig:
+    _target_: str = "dexcontrol.sensors.imu.chassis_imu.ChassisIMUSensor"
+    topic: str = "state/chassis_imu"
+    name: str = "chassis_imu"
+    enable_fps_tracking: bool = False
+    fps_log_interval: int = 30
+    enable: bool = False

dexcontrol/config/sensors/imu/zed_imu.py

@@ -0,0 +1,21 @@
+# 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
+
+
+@dataclass
+class ZedIMUConfig:
+    _target_: str = "dexcontrol.sensors.imu.zed_imu.ZedIMUSensor"
+    topic: str = "/imu/head_camera"
+    name: str = "head_camera_imu"
+    enable_fps_tracking: bool = False
+    fps_log_interval: int = 30
+    enable: bool = False

dexcontrol/config/sensors/lidar/__init__.py

@@ -1,6 +1,11 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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 .rplidar import RPLidarConfig

dexcontrol/config/sensors/lidar/rplidar.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
@@ -13,3 +18,4 @@ class RPLidarConfig:
     name: str = "rplidar"
     enable_fps_tracking: bool = False
     fps_log_interval: int = 30
+    enable: bool = False

dexcontrol/config/sensors/ultrasonic/__init__.py

@@ -1,6 +1,11 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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 .ultrasonic import UltraSonicConfig

dexcontrol/config/sensors/ultrasonic/ultrasonic.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
@@ -13,3 +18,4 @@ class UltraSonicConfig:
     name: str = "ultrasonic"
     enable_fps_tracking: bool = False
     fps_log_interval: int = 30
+    enable: bool = False

dexcontrol/config/sensors/vega_sensors.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 
 """Configuration dataclass for Vega robot sensors.
 
@@ -13,24 +18,29 @@ LiDAR and ultrasonic sensors.
 from collections.abc import Callable
 from dataclasses import dataclass, field
 
-from .cameras import GeminiCameraConfig, RGBCameraConfig
-from .imu import GeminiIMUConfig, NineAxisIMUConfig
+from .cameras import RGBCameraConfig, ZedCameraConfig
+from .imu import ChassisIMUConfig, ZedIMUConfig
 from .lidar import RPLidarConfig
 from .ultrasonic import UltraSonicConfig
 
 
-def _make_rgb_camera(topic: str, name: str) -> Callable[[], RGBCameraConfig]:
+def _make_rgb_camera(name: str) -> Callable[[], RGBCameraConfig]:
     """Helper function to create RGB camera config factory.
 
     Args:
-        topic: Camera topic name
         name: Camera instance name
 
     Returns:
         Factory function that creates an RGBCameraConfig
     """
     return lambda: RGBCameraConfig(
-        topic=f"camera/base/{topic}", name=f"base_{name}_camera"
+        subscriber_config=dict(
+            rgb=dict(
+                enable=True,
+                info_key=f"camera/base/{name}/rgb/info",
+            )
+        ),
+        name=f"base_{name}_camera",
     )
 
 
@@ -39,27 +49,30 @@ class VegaSensorsConfig:
     """Configuration for all sensors on the Vega robot.
 
     Contains default configurations for:
-    - Head camera (Gemini)
+    - Head camera (Zed)
     - Base cameras (RGB) - left, right, front, back
-    - IMUs - base (9-axis) and head (Gemini)
+    - IMUs - base and head (Zed)
     - LiDAR
     - Ultrasonic sensors
     """
 
-    head_camera: GeminiCameraConfig = field(default_factory=GeminiCameraConfig)
-    base_left_camera: RGBCameraConfig = field(
-        default_factory=_make_rgb_camera("left", "left")
-    )
+    head_camera: ZedCameraConfig = field(default_factory=ZedCameraConfig)
+    base_left_camera: RGBCameraConfig = field(default_factory=_make_rgb_camera("left"))
     base_right_camera: RGBCameraConfig = field(
-        default_factory=_make_rgb_camera("right", "right")
+        default_factory=_make_rgb_camera("right")
     )
     base_front_camera: RGBCameraConfig = field(
-        default_factory=_make_rgb_camera("front", "front")
+        default_factory=_make_rgb_camera("front")
     )
-    base_back_camera: RGBCameraConfig = field(
-        default_factory=_make_rgb_camera("back", "back")
-    )
-    base_imu: NineAxisIMUConfig = field(default_factory=NineAxisIMUConfig)
-    head_imu: GeminiIMUConfig = field(default_factory=GeminiIMUConfig)
+    base_back_camera: RGBCameraConfig = field(default_factory=_make_rgb_camera("back"))
+    base_imu: ChassisIMUConfig = field(default_factory=ChassisIMUConfig)
+    head_imu: ZedIMUConfig = field(default_factory=ZedIMUConfig)
     lidar: RPLidarConfig = field(default_factory=RPLidarConfig)
     ultrasonic: UltraSonicConfig = field(default_factory=UltraSonicConfig)
+
+    def __post_init__(self) -> None:
+        self.head_camera.enable = False
+        self.base_left_camera.enable = False
+        self.base_right_camera.enable = False
+        self.base_front_camera.enable = False
+        self.base_back_camera.enable = False

dexcontrol/config/vega.py

@@ -1,13 +1,20 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# 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
 from typing import ClassVar
 
 from omegaconf import OmegaConf
 
+from dexcontrol.utils.os_utils import get_robot_model
+
 from .core import (
     ArmConfig,
     BatteryConfig,
@@ -178,9 +185,10 @@ def get_vega_config(variant: str | None = None) -> VegaConfig:
     Returns:
         The configuration for the specified Vega robot variant as an OmegaConf object.
     """
-    if variant is None or variant == "base":
-        config_class = VegaConfig
-    elif variant in VegaConfig._variants:
+    if variant is None:
+        variant = get_robot_model()
+
+    if variant in VegaConfig._variants:
         config_class = VegaConfig._variants[variant]
     else:
         raise ValueError(