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

dexcontrol/core/__init__.py

@@ -0,0 +1,9 @@
+# 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

dexcontrol/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
 
 """Robot arm control module.
 
@@ -15,6 +20,7 @@ from typing import Final, Literal
 import numpy as np
 import zenoh
 from jaxtyping import Float
+from loguru import logger
 
 from dexcontrol.config.core.arm import ArmConfig
 from dexcontrol.core.component import RobotComponent, RobotJointComponent
@@ -97,7 +103,7 @@ class Arm(RobotJointComponent):
             joint_pos: Joint positions as numpy array.
         """
         control_msg = dexcontrol_msg_pb2.ArmCommand()
-        control_msg.joint_pos.extend(joint_pos.astype(np.float32).tolist())
+        control_msg.joint_pos.extend(joint_pos.tolist())
         self._publish_control(control_msg)
 
     def set_joint_pos(
@@ -249,8 +255,17 @@ class Arm(RobotJointComponent):
     def shutdown(self) -> None:
         """Cleans up all Zenoh resources."""
         super().shutdown()
-        if hasattr(self, "mode_querier") and self.mode_querier:
-            self.mode_querier.undeclare()
+        try:
+            if hasattr(self, "mode_querier") and self.mode_querier:
+                self.mode_querier.undeclare()
+        except Exception as e:
+            # Don't log "Undeclared querier" errors as warnings - they're expected during shutdown
+            error_msg = str(e).lower()
+            if not ("undeclared" in error_msg or "closed" in error_msg):
+                logger.warning(
+                    f"Error undeclaring mode querier for {self.__class__.__name__}: {e}"
+                )
+
         if self.wrench_sensor:
             self.wrench_sensor.shutdown()
 

dexcontrol/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
 
 """Robot base control module.
 

dexcontrol/core/component.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
 
 """Base module for robot components with Zenoh communication.
 
@@ -17,6 +22,7 @@ import numpy as np
 import zenoh
 from google.protobuf.message import Message
 from jaxtyping import Float
+from loguru import logger
 
 from dexcontrol.utils.os_utils import resolve_key_name
 from dexcontrol.utils.subscribers import ProtobufZenohSubscriber
@@ -115,7 +121,13 @@ class RobotComponent:
         if hasattr(self, "stop"):
             method = getattr(self, "stop")
             if callable(method):
-                method()
+                try:
+                    method()
+                except Exception as e:
+                    # During shutdown, stop() methods may fail due to inactive subscribers
+                    logger.debug(
+                        f"Error during stop() for {self.__class__.__name__}: {e}"
+                    )
 
         # Shutdown subscriber to release resources
         if hasattr(self, "_subscriber") and self._subscriber:
@@ -194,8 +206,16 @@ class RobotJointComponent(RobotComponent):
     def shutdown(self) -> None:
         """Cleans up all Zenoh resources."""
         super().shutdown()
-        if hasattr(self, "_publisher") and self._publisher:
-            self._publisher.undeclare()
+        try:
+            if hasattr(self, "_publisher") and self._publisher:
+                self._publisher.undeclare()
+        except Exception as e:
+            # Don't log "Undeclared publisher" errors as warnings - they're expected during shutdown
+            error_msg = str(e).lower()
+            if not ("undeclared" in error_msg or "closed" in error_msg):
+                logger.warning(
+                    f"Error undeclaring publisher for {self.__class__.__name__}: {e}"
+                )
 
     @property
     def joint_name(self) -> list[str]:

dexcontrol/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
 
 """Robot hand control module.
 

dexcontrol/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
 
 """Robot head control module.
 
@@ -194,6 +199,16 @@ class Head(RobotJointComponent):
         """Clean up Zenoh resources for the head component."""
         self.stop()
         super().shutdown()
+        try:
+            if hasattr(self, "mode_querier") and self.mode_querier:
+                self.mode_querier.undeclare()
+        except Exception as e:
+            # Don't log "Undeclared querier" errors as warnings - they're expected during shutdown
+            error_msg = str(e).lower()
+            if not ("undeclared" in error_msg or "closed" in error_msg):
+                logger.warning(
+                    f"Error undeclaring mode querier for {self.__class__.__name__}: {e}"
+                )
 
     def _process_joint_velocities(
         self,

dexcontrol/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 components module.
 
@@ -11,6 +16,7 @@ EStop (emergency stop), and UltraSonicSensor.
 
 import os
 import threading
+import time
 from typing import TypeVar
 
 import zenoh
@@ -124,8 +130,10 @@ class Battery(RobotComponent):
     def shutdown(self) -> None:
         """Shuts down the battery component and stops monitoring thread."""
         self._shutdown_event.set()
-        if self._monitor_thread.is_alive():
-            self._monitor_thread.join(timeout=1.0)
+        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("Battery monitor thread did not terminate cleanly")
         super().shutdown()
 
     @staticmethod
@@ -284,8 +292,10 @@ class EStop(RobotComponent):
     def shutdown(self) -> None:
         """Shuts down the EStop component and stops monitoring thread."""
         self._shutdown_event.set()
-        if self._monitor_thread.is_alive():
-            self._monitor_thread.join(timeout=1.0)
+        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:
@@ -325,6 +335,7 @@ class Heartbeat:
         _shutdown_event: Event to signal thread shutdown.
         _timeout_seconds: Timeout in seconds before triggering emergency exit.
         _enabled: Whether heartbeat monitoring is enabled.
+        _paused: Whether heartbeat monitoring is temporarily paused.
     """
 
     def __init__(
@@ -340,8 +351,9 @@ class Heartbeat:
         """
         self._timeout_seconds = configs.timeout_seconds
         self._enabled = configs.enabled
+        self._paused = False
+        self._paused_lock = threading.Lock()
         self._shutdown_event = threading.Event()
-
         if not self._enabled:
             logger.info("Heartbeat monitoring is DISABLED via configuration")
             # Create a dummy subscriber that's never active
@@ -386,6 +398,13 @@ class Heartbeat:
 
         while not self._shutdown_event.is_set():
             try:
+                # Skip monitoring if paused
+                with self._paused_lock:
+                    is_paused = self._paused
+                if is_paused:
+                    self._shutdown_event.wait(0.1)
+                    continue
+
                 # Check if fresh data is being received within the timeout period
                 if self._subscriber.is_active():
                     if not self._subscriber.is_data_fresh(self._timeout_seconds):
@@ -413,16 +432,65 @@ class Heartbeat:
                 # Continue monitoring even if there's an error
                 self._shutdown_event.wait(0.1)
 
+    def pause(self) -> None:
+        """Pause heartbeat monitoring temporarily.
+
+        When paused, the heartbeat monitor will not check for timeouts or exit
+        the program. This is useful for scenarios where you need to temporarily
+        disable safety monitoring (e.g., during system maintenance or testing).
+
+        Warning: Use with caution as this disables a critical safety mechanism.
+        """
+        if not self._enabled:
+            logger.warning("Cannot pause heartbeat monitoring - it's already disabled")
+            return
+
+        with self._paused_lock:
+            self._paused = True
+        logger.warning(
+            "Heartbeat monitoring PAUSED - safety mechanism temporarily disabled"
+        )
+
+    def resume(self) -> None:
+        """Resume heartbeat monitoring after being paused.
+
+        This re-enables the heartbeat timeout checking that was temporarily
+        disabled by pause(). The monitor will immediately start checking
+        for fresh heartbeat data again.
+        """
+        if not self._enabled:
+            logger.warning("Cannot resume heartbeat monitoring - it's disabled")
+            return
+
+        with self._paused_lock:
+            if not self._paused:
+                logger.info("Heartbeat monitoring is already active")
+                return
+            self._paused = False
+        # sleep for some time to make sure the heartbeat subscriber is resumed
+        time.sleep(self._timeout_seconds)
+        logger.info("Heartbeat monitoring RESUMED - safety mechanism re-enabled")
+
+    def is_paused(self) -> bool:
+        """Check if heartbeat monitoring is currently paused.
+
+        Returns:
+            True if monitoring is paused, False if active or disabled.
+        """
+        with self._paused_lock:
+            return self._paused
+
     def get_status(self) -> dict[str, bool | float | float | None]:
         """Gets the current heartbeat status information.
 
         Returns:
             Dictionary containing heartbeat metrics including:
                 - is_active: Whether heartbeat signal is being received (bool)
-                - last_value: Last received heartbeat value (Optional[float])
-                - time_since_last: Time since last fresh data in seconds (Optional[float])
+                - last_value: Last received heartbeat value (float | None)
+                - time_since_last: Time since last fresh data in seconds (float | None)
                 - timeout_seconds: Configured timeout value (float)
                 - enabled: Whether heartbeat monitoring is enabled (bool)
+                - paused: Whether heartbeat monitoring is paused (bool)
         """
         if not self._enabled or self._subscriber is None:
             return {
@@ -431,17 +499,22 @@ class Heartbeat:
                 "time_since_last": None,
                 "timeout_seconds": self._timeout_seconds,
                 "enabled": False,
+                "paused": False,
             }
 
         last_value = self._subscriber.get_latest_data()
         time_since_last = self._subscriber.get_time_since_last_data()
 
+        with self._paused_lock:
+            paused = self._paused
+
         return {
             "is_active": self._subscriber.is_active(),
             "last_value": last_value,
             "time_since_last": time_since_last,
             "timeout_seconds": self._timeout_seconds,
             "enabled": True,
+            "paused": paused,
         }
 
     def is_active(self) -> bool:
@@ -458,11 +531,11 @@ class Heartbeat:
         """Shuts down the heartbeat monitor and stops monitoring thread."""
         if not self._enabled:
             return
-
-        logger.info("Shutting down heartbeat monitor")
         self._shutdown_event.set()
         if self._monitor_thread and self._monitor_thread.is_alive():
-            self._monitor_thread.join(timeout=1.0)
+            self._monitor_thread.join(timeout=2.0)  # Extended timeout
+            if self._monitor_thread.is_alive():
+                logger.warning("Heartbeat monitor thread did not terminate cleanly")
         if self._subscriber:
             self._subscriber.shutdown()
 
@@ -485,9 +558,14 @@ class Heartbeat:
             console.print(table)
             return
 
-        # Active status
-        active_style = "bold dark_green" if status["is_active"] else "bold red"
-        table.add_row("Signal Active", f"[{active_style}]{status['is_active']}[/]")
+        # Paused status
+        paused = status.get("paused", False)
+        if paused:
+            table.add_row("Status", "[yellow]PAUSED[/]")
+        else:
+            # Active status
+            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_value = status["last_value"]

dexcontrol/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
 
 """Robot torso control module.
 

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\"\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\"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')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -52,18 +52,20 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_ESTOPSTATE']._serialized_end=753
   _globals['_ULTRASONICSTATE']._serialized_start=755
   _globals['_ULTRASONICSTATE']._serialized_end=852
-  _globals['_ARMCOMMAND']._serialized_start=855
-  _globals['_ARMCOMMAND']._serialized_end=1018
-  _globals['_ARMCOMMAND_COMMANDTYPE']._serialized_start=965
-  _globals['_ARMCOMMAND_COMMANDTYPE']._serialized_end=1018
-  _globals['_HANDCOMMAND']._serialized_start=1020
-  _globals['_HANDCOMMAND']._serialized_end=1052
-  _globals['_HEADCOMMAND']._serialized_start=1054
-  _globals['_HEADCOMMAND']._serialized_end=1105
-  _globals['_TORSOCOMMAND']._serialized_start=1107
-  _globals['_TORSOCOMMAND']._serialized_end=1159
-  _globals['_SINGLEWHEELCOMMAND']._serialized_start=1161
-  _globals['_SINGLEWHEELCOMMAND']._serialized_end=1222
-  _globals['_CHASSISCOMMAND']._serialized_start=1224
-  _globals['_CHASSISCOMMAND']._serialized_end=1333
+  _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
 # @@protoc_insertion_point(module_scope)

dexcontrol/proto/dexcontrol_msg_pb2.pyi

@@ -113,6 +113,30 @@ class UltrasonicState(_message.Message):
     back_right: float
     def __init__(self, front_left: _Optional[float] = ..., front_right: _Optional[float] = ..., back_left: _Optional[float] = ..., back_right: _Optional[float] = ...) -> 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")
+    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]
+    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
+    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: ...
+
 class ArmCommand(_message.Message):
     __slots__ = ("command_type", "joint_pos", "joint_vel")
     class CommandType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):