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

dexcontrol/config/sensors/imu/gemini_imu.py

@@ -1,15 +0,0 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
-
-from dataclasses import dataclass
-
-
-@dataclass
-class GeminiIMUConfig:
-    _target_: str = "dexcontrol.sensors.imu.gemini_imu.GeminiIMUSensor"
-    topic: str = "/imu/gemini"
-    name: str = "gemini_imu"
-    enable_fps_tracking: bool = False
-    fps_log_interval: int = 30

dexcontrol/config/sensors/imu/nine_axis_imu.py

@@ -1,15 +0,0 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
-
-from dataclasses import dataclass
-
-
-@dataclass
-class NineAxisIMUConfig:
-    _target_: str = "dexcontrol.sensors.imu.nine_axis_imu.NineAxisIMUSensor"
-    topic: str = "/imu/nine_axis"
-    name: str = "nine_axis_imu"
-    enable_fps_tracking: bool = False
-    fps_log_interval: int = 30

dexcontrol/sensors/camera/gemini_camera.py

@@ -1,139 +0,0 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
-
-"""Gemini RGBD camera sensor implementation using Zenoh subscriber."""
-
-import numpy as np
-import zenoh
-
-from dexcontrol.utils.subscribers.camera import RGBDCameraSubscriber
-
-
-class GeminiCameraSensor:
-    """Gemini RGBD camera sensor using Zenoh subscriber.
-
-    This sensor provides both RGB and depth image data from an Orbbec Gemini camera
-    using the RGBDCameraSubscriber for efficient data handling with lazy decoding.
-    """
-
-    def __init__(
-        self,
-        configs,
-        zenoh_session: zenoh.Session,
-    ) -> None:
-        """Initialize the Gemini RGBD camera sensor.
-
-        Args:
-            rgb_topic: Zenoh topic for RGB data.
-            depth_topic: Zenoh topic for depth data.
-            zenoh_session: Active Zenoh session for communication.
-            name: Name for the sensor instance.
-            enable_fps_tracking: Whether to track and log FPS metrics.
-            fps_log_interval: Number of frames between FPS calculations.
-        """
-        self._name = configs.name
-
-        # Create the RGBD camera subscriber
-        self._subscriber = RGBDCameraSubscriber(
-            rgb_topic=configs.rgb_topic,
-            depth_topic=configs.depth_topic,
-            zenoh_session=zenoh_session,
-            name=f"{self._name}_subscriber",
-            enable_fps_tracking=configs.enable_fps_tracking,
-            fps_log_interval=configs.fps_log_interval,
-        )
-
-    def shutdown(self) -> None:
-        """Shutdown the camera sensor."""
-        self._subscriber.shutdown()
-
-    def is_active(self) -> bool:
-        """Check if the camera sensor is actively receiving data.
-
-        Returns:
-            True if both RGB and depth are receiving data, False otherwise.
-        """
-        return self._subscriber.is_active()
-
-    def wait_for_active(self, timeout: float = 5.0) -> bool:
-        """Wait for the camera sensor to start receiving data.
-
-        Args:
-            timeout: Maximum time to wait in seconds.
-
-        Returns:
-            True if both RGB and depth become active, False if timeout is reached.
-        """
-        return self._subscriber.wait_for_active(timeout)
-
-    def get_obs(self, obs_keys: list[str] | None = None) -> dict[str, np.ndarray] | None:
-        """Get the latest RGBD data.
-
-        Returns:
-            Tuple of (rgb, depth) if both available, None otherwise.
-        """
-        if obs_keys is None:
-            obs_keys = ["rgb", "depth"]
-        obs_out = {}
-        for key in obs_keys:
-            if key == "rgb":
-                obs_out[key] = self._subscriber.get_latest_rgb()
-            elif key == "depth":
-                obs_out[key] = self._subscriber.get_latest_depth()
-            else:
-                raise ValueError(f"Invalid observation key: {key}")
-        return obs_out
-
-    def get_rgb_image(self) -> np.ndarray | None:
-        """Get the latest RGB image.
-
-        Returns:
-            Latest RGB image as numpy array (HxWxC) if available, None otherwise.
-        """
-        return self._subscriber.get_latest_rgb()
-
-    def get_depth_image(self) -> np.ndarray | None:
-        """Get the latest depth image.
-
-        Returns:
-            Latest depth image as numpy array (HxW) with values in meters if available, None otherwise.
-        """
-        return self._subscriber.get_latest_depth()
-
-    @property
-    def rgb_fps(self) -> float:
-        """Get the RGB stream FPS measurement.
-
-        Returns:
-            Current RGB frames per second measurement.
-        """
-        return self._subscriber.rgb_fps
-
-    @property
-    def depth_fps(self) -> float:
-        """Get the depth stream FPS measurement.
-
-        Returns:
-            Current depth frames per second measurement.
-        """
-        return self._subscriber.depth_fps
-
-    @property
-    def fps(self) -> float:
-        """Get the combined FPS measurement (minimum of RGB and depth).
-
-        Returns:
-            Current frames per second measurement.
-        """
-        return min(self.rgb_fps, self.depth_fps)
-
-    @property
-    def name(self) -> str:
-        """Get the sensor name.
-
-        Returns:
-            Sensor name string.
-        """
-        return self._name

dexcontrol/sensors/imu/gemini_imu.py

@@ -1,139 +0,0 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
-
-"""Gemini IMU sensor implementation using Zenoh subscriber."""
-
-import numpy as np
-import zenoh
-
-from dexcontrol.utils.subscribers.imu import IMUSubscriber
-
-
-class GeminiIMUSensor:
-    """Gemini IMU sensor using Zenoh subscriber.
-
-    This sensor provides 6-axis IMU data (accelerometer + gyroscope) from Gemini hardware
-    using the IMUSubscriber for efficient data handling. Note: Gemini IMU does not include
-    magnetometer data.
-    """
-
-    def __init__(
-        self,
-        configs,
-        zenoh_session: zenoh.Session,
-    ) -> None:
-        """Initialize the Gemini IMU sensor.
-
-        Args:
-            topic: Zenoh topic to subscribe to for IMU data.
-            zenoh_session: Active Zenoh session for communication.
-            name: Name for the sensor instance.
-            enable_fps_tracking: Whether to track and log FPS metrics.
-        """
-        self._name = configs.name
-
-        # Create the IMU subscriber
-        self._subscriber = IMUSubscriber(
-            topic=configs.topic,
-            zenoh_session=zenoh_session,
-            name=f"{self._name}_subscriber",
-            enable_fps_tracking=configs.enable_fps_tracking,
-            fps_log_interval=configs.fps_log_interval,
-        )
-
-
-    def shutdown(self) -> None:
-        """Shutdown the IMU sensor."""
-        self._subscriber.shutdown()
-
-    def is_active(self) -> bool:
-        """Check if the IMU sensor is actively receiving data.
-
-        Returns:
-            True if receiving data, False otherwise.
-        """
-        return self._subscriber.is_active()
-
-    def wait_for_active(self, timeout: float = 5.0) -> bool:
-        """Wait for the IMU sensor to start receiving data.
-
-        Args:
-            timeout: Maximum time to wait in seconds.
-
-        Returns:
-            True if sensor becomes active, False if timeout is reached.
-        """
-        return self._subscriber.wait_for_active(timeout)
-
-    def get_obs(self, obs_keys: list[str] | None = None) -> dict[str, np.ndarray] | None:
-        """Get observation data for the Gemini IMU sensor.
-
-        Args:
-            obs_keys: List of observation keys to retrieve. If None, returns available data.
-                     Valid keys: ['ang_vel', 'acc', 'quat'] (no magnetometer for Gemini)
-
-        Returns:
-            Dictionary with observation data including IMU measurements.
-            Note: Magnetometer data is not available for Gemini IMU.
-        """
-        if obs_keys is None:
-            obs_keys = ['ang_vel', 'acc', 'quat']
-
-        obs_out = {}
-        data = self._subscriber.get_latest_data()
-
-        for key in obs_keys:
-            if key == 'ang_vel':
-                obs_out[key] = data['ang_vel']
-            elif key == 'acc':
-                obs_out[key] = data['acc']
-            elif key == 'quat':
-                obs_out[key] = data['quat']
-            else:
-                raise ValueError(f"Invalid observation key: {key}")
-
-        return obs_out
-
-    def get_acceleration(self) -> np.ndarray | None:
-        """Get the latest linear acceleration.
-
-        Returns:
-            Linear acceleration [x, y, z] in m/s² if available, None otherwise.
-        """
-        return self._subscriber.get_acceleration()
-
-    def get_angular_velocity(self) -> np.ndarray | None:
-        """Get the latest angular velocity.
-
-        Returns:
-            Angular velocity [x, y, z] in rad/s if available, None otherwise.
-        """
-        return self._subscriber.get_angular_velocity()
-
-    def get_orientation(self) -> np.ndarray | None:
-        """Get the latest orientation quaternion.
-
-        Returns:
-            Orientation quaternion [x, y, z, w] if available, None otherwise.
-        """
-        return self._subscriber.get_orientation()
-
-    @property
-    def fps(self) -> float:
-        """Get the current FPS measurement.
-
-        Returns:
-            Current frames per second measurement.
-        """
-        return self._subscriber.fps
-
-    @property
-    def name(self) -> str:
-        """Get the IMU name.
-
-        Returns:
-            IMU name string.
-        """
-        return self._name

dexcontrol/utils/reset_orbbec_camera_usb.py

@@ -1,98 +0,0 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
-
-"""Utility for resetting Orbbec camera USB connection."""
-
-import os
-import sys
-import time
-
-import pyudev
-from loguru import logger
-
-# Orbbec vendor ID constant
-_ORBBEC_VENDOR_ID = "2bc5"
-
-
-def check_root() -> None:
-    """Verify the script is running with root privileges.
-
-    Exits the program if not running as root.
-    """
-    if os.geteuid() != 0:
-        logger.error("This script must be run as root (sudo). Exiting...")
-        logger.info("Run with: sudo $(which python) reset_orbbec_camera_usb.py")
-        sys.exit(1)
-
-
-def reset_orbbec() -> bool:
-    """Reset the USB connection for an Orbbec camera.
-
-    Simulates unplugging and replugging the device by toggling the USB
-    authorization state.
-
-    Returns:
-        bool: True if camera was found and reset successfully, False otherwise.
-    """
-    # Check for root privileges first
-    check_root()
-
-    # Initialize pyudev
-    context = pyudev.Context()
-
-    # Find Orbbec device
-    for device in context.list_devices(subsystem="usb"):
-        if device.properties.get("ID_VENDOR_ID") == _ORBBEC_VENDOR_ID:
-            return _reset_device(device)
-
-    logger.warning("Orbbec camera not found")
-    return False
-
-
-def _reset_device(device: pyudev.Device) -> bool:
-    """Reset a specific USB device.
-
-    Args:
-        device: pyudev Device object to reset
-
-    Returns:
-        bool: True if reset was successful, False otherwise
-    """
-    # Get the parent device (USB port)
-    port = device.find_parent("usb", "usb_device")
-
-    if port is None:
-        logger.warning("Could not find parent USB device")
-        return False
-
-    # Construct path to authorized file
-    path = os.path.join(port.sys_path, "authorized")
-
-    if not os.path.exists(path):
-        logger.warning(f"Authorize file not found at: {path}")
-        return False
-
-    try:
-        # Simulate unplug
-        with open(path, "w") as f:
-            f.write("0")
-        logger.info("USB device deauthorized")
-
-        # Wait a moment for the system to process
-        time.sleep(1)
-
-        # Simulate plug
-        with open(path, "w") as f:
-            f.write("1")
-
-        logger.info(f"Orbbec camera reset successfully. Path: {path}")
-        return True
-    except IOError as e:
-        logger.error(f"Failed to reset device: {e}")
-        return False
-
-
-if __name__ == "__main__":
-    reset_orbbec()