dexcontrol 0.2.1__py3-none-any.whl

dexcontrol/utils/timer.py

@@ -0,0 +1,136 @@
+# 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 measuring code execution time."""
+
+import time
+from collections.abc import Callable
+from functools import wraps
+from typing import Any, TypeVar, cast
+
+from loguru import logger
+
+# Type variable for preserving function return type in decorator
+F = TypeVar("F", bound=Callable[..., Any])
+
+
+class ExecutionTimer:
+    """A utility class for measuring execution time of code blocks.
+
+    This class can be used either as a context manager or decorator.
+
+    Examples:
+        As context manager:
+            with ExecutionTimer("operation name"):
+                # code to time
+
+        As decorator:
+            @ExecutionTimer("operation name")
+            def function_to_time():
+                # code to time
+    """
+
+    def __init__(self, name: str | None = "Operation") -> None:
+        """Initialize the timer.
+
+        Args:
+            name: Optional name to identify this timing operation in logs.
+                 Defaults to "Operation" if not provided.
+        """
+        self.name = name or "Operation"
+        self.start_time: float = 0.0
+        self.end_time: float | None = None
+
+    def __enter__(self) -> "ExecutionTimer":
+        """Start timing when entering context.
+
+        Returns:
+            Self reference for context manager usage.
+        """
+        self.start_time = time.perf_counter()
+        self.end_time = None
+        return self
+
+    def __exit__(self, *args: Any) -> None:
+        """Stop timing when exiting context and log the duration.
+
+        Args:
+            *args: Exception information passed by context manager.
+        """
+        self.end_time = time.perf_counter()
+        duration = self.elapsed
+        logger.info(f"{self.name} took {duration:.4f} seconds")
+
+    def __call__(self, func: F) -> F:
+        """Allow the ExecutionTimer to be used as a decorator.
+
+        Args:
+            func: The function to be timed.
+
+        Returns:
+            Wrapped function that measures and logs execution time.
+        """
+
+        @wraps(func)
+        def wrapper(*args: Any, **kwargs: Any) -> Any:
+            with self:
+                return func(*args, **kwargs)
+
+        return cast(F, wrapper)
+
+    def start(self) -> "ExecutionTimer":
+        """Start timing manually.
+
+        Returns:
+            Self reference for method chaining.
+        """
+        return self.__enter__()
+
+    def stop(self) -> float:
+        """Stop timing manually and return elapsed time.
+
+        Returns:
+            Elapsed time in seconds.
+        """
+        self.__exit__(None, None, None)
+        return self.elapsed
+
+    @property
+    def elapsed(self) -> float:
+        """Get the elapsed time in seconds.
+
+        Returns:
+            Time elapsed since start in seconds. If timer is still running,
+            returns current elapsed time.
+        """
+        if self.end_time is not None:
+            return self.end_time - self.start_time
+        return time.perf_counter() - self.start_time
+
+
+if __name__ == "__main__":
+    # Test as a context manager
+    logger.info("Testing ExecutionTimer as context manager:")
+    with ExecutionTimer("Sleep operation"):
+        time.sleep(1.0)
+
+    # Test as a decorator
+    logger.info("\nTesting ExecutionTimer as decorator:")
+
+    @ExecutionTimer("Decorated function")
+    def slow_function() -> str:
+        time.sleep(0.5)
+        return "Done!"
+
+    result = slow_function()
+    logger.info(f"Function returned: {result}")
+
+    # Test with manual timing
+    logger.info("\nTesting ExecutionTimer with manual timing:")
+    timer = ExecutionTimer("Manual timing")
+    timer.start()
+    time.sleep(3.0)
+    timer.stop()
+    logger.info(f"Elapsed time property: {timer.elapsed:.4f} seconds")

dexcontrol/utils/trajectory_utils.py

@@ -0,0 +1,40 @@
+# 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].
+
+"""Trajectory utility functions for smooth motion generation."""
+
+import numpy as np
+
+
+def generate_linear_trajectory(
+    current_pos: np.ndarray,
+    target_pos: np.ndarray,
+    max_vel: float = 0.5,
+    control_hz: float = 100,
+) -> tuple[np.ndarray, int]:
+    """Generate a linear trajectory between current and target positions.
+
+    Args:
+        current_pos: Current position array.
+        target_pos: Target position array.
+        max_vel: Maximum velocity in units per second.
+        control_hz: Control frequency in Hz.
+
+    Returns:
+        Tuple containing:
+        - trajectory: Array of waypoints from current to target position.
+        - num_steps: Number of steps in the trajectory.
+    """
+    # Calculate linear interpolation between current and target positions
+    max_diff = np.max(np.abs(target_pos - current_pos))
+    num_steps = int(max_diff / max_vel * control_hz)
+
+    # Ensure at least one step
+    num_steps = max(1, num_steps)
+
+    # Generate trajectory with endpoints (exclude the starting point in the return)
+    trajectory = np.linspace(current_pos, target_pos, num_steps + 1, endpoint=True)[1:]
+
+    return trajectory, num_steps

dexcontrol/utils/viz_utils.py

@@ -0,0 +1,86 @@
+# 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 functions for displaying information in a Rich table format."""
+
+from typing import Literal
+
+from rich.console import Console
+from rich.table import Table
+
+TYPE_VERSION = dict[Literal["hardware_version", "software_version", "main_hash"], str]
+
+
+def show_software_version(version_info: dict[str, TYPE_VERSION]) -> None:
+    """Create a Rich table for displaying firmware version information.
+
+    Args:
+        version_info: Dictionary containing version info for each component.
+    """
+    table = Table(title="Firmware Version")
+    table.add_column("Component", style="cyan")
+    table.add_column("Hardware Version")
+    table.add_column("Software Version")
+    table.add_column("Main Hash")
+
+    for component, version in sorted(version_info.items()):
+        table.add_row(
+            component,
+            str(version["hardware_version"]),
+            str(version["software_version"]),
+            str(version["main_hash"]),
+        )
+
+    console = Console()
+    console.print(table)
+
+
+def show_component_status(status_info: dict[str, dict]) -> None:
+    """Create a Rich table for displaying component status information.
+
+    Args:
+        status_info: Dictionary containing status info for each component.
+    """
+    from dexcontrol.utils.pb_utils import ComponentStatus
+
+    table = Table(title="Component Status")
+    table.add_column("Component", style="cyan")
+    table.add_column("Connected", justify="center")
+    table.add_column("Enabled", justify="center")
+    table.add_column("Error", justify="center")
+
+    status_icons = {
+        True: ":white_check_mark:",
+        False: ":x:",
+        ComponentStatus.NORMAL: ":white_check_mark:",
+        ComponentStatus.NA: "N/A",
+    }
+
+    # Sort components by name to ensure consistent order
+    for component in sorted(status_info.keys()):
+        status = status_info[component]
+        # Format connection status
+        connected = status_icons[status["connected"]]
+
+        # Format enabled status
+        enabled = status_icons.get(status["enabled"], ":x:")
+
+        # Format error status
+        if status["error_state"] == ComponentStatus.NORMAL:
+            error = ":white_check_mark:"
+        elif status["error_state"] == ComponentStatus.NA:
+            error = "N/A"
+        else:
+            error = status["error_code"]
+
+        table.add_row(
+            component,
+            connected,
+            enabled,
+            error,
+        )
+
+    console = Console()
+    console.print(table)

dexcontrol-0.2.1.dist-info/METADATA

@@ -0,0 +1,369 @@
+Metadata-Version: 2.4
+Name: dexcontrol
+Version: 0.2.1
+Summary: A Python library of Robot Motion Control
+Author-email: Dexmate <contact@dexmate.com>
+License: “Commons Clause” License Condition v1.0
+        
+        The Software is provided to you by the Licensor under the License, as defined below, subject to the following condition.
+        
+        Without limiting other conditions in the License, the grant of rights under the License will not include, and the License does not grant to you,  right to Sell the Software.
+        
+        For purposes of the foregoing, “Sell” means practicing any or all of the rights granted to you under the License to provide to third parties, for a fee or other consideration (including without limitation fees for hosting or consulting/ support services related to the Software), a product or service whose value derives, entirely or substantially, from the functionality of the Software.  Any license notice or attribution required by the License must also include this Commons Cause License Condition notice.
+        
+        Software: dexcontrol
+        License: Apache 2.0
+        Licensor: Dexmate
+        
+                                         Apache License
+                                   Version 2.0, January 2004
+                                http://www.apache.org/licenses/
+        
+           TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+        
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+           END OF TERMS AND CONDITIONS
+Project-URL: Repository, https://github.com/dm-ai-core/dexcontrol
+Keywords: robot,python,control,learning
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: OS Independent
+Classifier: Typing :: Typed
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: protobuf>=6.31.0
+Requires-Dist: numpy>=2.2.6
+Requires-Dist: eclipse-zenoh>=1.2.0
+Requires-Dist: hydra-core==1.3.2
+Requires-Dist: loguru>=0.7.3
+Requires-Dist: jaxtyping>=0.2.38
+Requires-Dist: rich
+Requires-Dist: opencv-python>=4.11.0
+Provides-Extra: dev
+Requires-Dist: pytest>=7.4.0; extra == "dev"
+Requires-Dist: pytest-cov>=4.1.0; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: isort>=5.12.0; extra == "dev"
+Requires-Dist: pyright; extra == "dev"
+Requires-Dist: pre-commit; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: sphinx>=7.0.0; extra == "docs"
+Requires-Dist: furo>=2023.09.10; extra == "docs"
+Requires-Dist: sphinx-autodoc-typehints>=1.24.0; extra == "docs"
+Requires-Dist: sphinx-rtd-theme>=1.3.0; extra == "docs"
+Requires-Dist: myst-parser>=2.0.0; extra == "docs"
+Requires-Dist: markitdown[all]>=0.1.0; extra == "docs"
+Provides-Extra: example
+Requires-Dist: matplotlib>=3.8.0; extra == "example"
+Requires-Dist: tyro; extra == "example"
+Requires-Dist: dualsense-controller>=0.3.1; extra == "example"
+Requires-Dist: pytransform3d==3.13.0; extra == "example"
+Requires-Dist: ruckig; extra == "example"
+Dynamic: license-file
+
+# dexcontrol
+
+A user-friendly robot learning oriented control library implemented in Python.
+
+
+## Development Guide
+
+### Pre-commit Hooks
+This repository uses pre-commit hooks to maintain high code quality standards. The hooks automatically run code formatting and linting checks before each commit, ensuring consistent code style and catching potential issues early in the development process.
+
+To set up pre-commit:
+
+1. Install the development dependencies:
+   ```bash
+   pip install pre-commit
+   ```
+
+2. Install the pre-commit hooks:
+   ```bash
+   pre-commit install
+   ```
+
+
+## Setup
+
+### 1. Install dextop
+
+First, install [dextop](https://github.com/dm-ai-core/dextop) for secure robot communication. This handles authentication of zenoh communication and robot selection when multiple robots are present.
+
+The robot (SOC and Jetson) and your development computer must use certificates generated by the same CA. For internal Dexmate users, you can use the pre-generated `dexmate_internal_certs.zip`.
+
+> [!TIP]
+> For security reasons, find these certificates in the slack channel rather than Github. Internal certificates are removed before customer delivery.
+
+Install the certificates (no need to unzip manually):
+```shell
+dextop cert unpack dexmate_internal_certs.zip
+dextop cfg gen
+```
+
+Install certificates on all three devices (SOC, Jetson, and development computer). This is a one-time setup, and certificates will be stored in `~/.dexmate/comm/zenoh`.
+
+### 2. Install pylibdexcontrol
+
+Install [pylibdexcontrol](https://github.com/dm-ai-core/pylibdexcontrol) on the **SOC**. Start the zenoh server:
+```shell
+robot-server --start
+```
+
+### 3. Network Configuration
+
+**Standard Setup**
+For running dexcontrol on Jetson, no additional configuration is needed. The default network architecture looks like this:
+
+```ASCII
+Router (192.168.0.1)
+    ↕
+Jetson [WiFi: 192.168.0.70, Ethernet: 192.168.50.20]
+    ↕
+SOC [192.168.50.21 / 192.168.100.22:50000]
+```
+
+**Remote Development Setup**
+You'll need additional configuration in these scenarios:
+- You want to control the robot from your development computer
+- The zenoh server is running on SOC
+- SOC is only connected to Jetson via Ethernet (no WiFi connection)
+
+In this case, run the following command on Jetson:
+```shell
+dextop node start --config ~/.dexmate/comm/zenoh/zenoh_peer_config.json5
+```
+
+This command configures Jetson to act as a network bridge:
+- Jetson will route traffic between your development computer and the SOC
+- Allows dexcontrol (on your computer) to communicate with pylibdexcontrol (on SOC)
+- Enables control even when your computer and SOC are on different networks
+
+## Examples
+
+Check out the [examples](./examples) for examples.
+
+
+## Changelist from V1 to V2
+
+The primary difference between V1 and V2. After migration, the v2 will take over these files:
+1. `configs/`
+2. `core/`
+
+## System Design
+
+Dexcontrol acts as a client for the Dexmate robot. It fetches robot information and sends control commands by communicating with the robot server via the zenoh protocol.
+
+### Units
+
+All API units use the International System of Units (SI):
+- Distance: meters (m)
+- Angles: radians (rad)
+- Angular velocity: radians per second (rad/s)
+- Force: newtons (N)
+- Torque: newton-meters (N·m)
+
+The only exception is temperature, we use degree celsius instead of Kelvin in dexcontrol.
+
+### Zenoh Communication Protocol
+
+DexControl uses the following naming convention for zenoh communication:
+
+| Name        | Type          | Example              | Description                                                                                       |
+| ----------- | ------------- | -------------------- | ------------------------------------------------------------------------------------------------- |
+| `state/*`   | Topic (async) | `state/arm/left`     | Robot motor state information. DexControl handles this automatically.                             |
+| `control/*` | Topic (async) | `control/torso`      | Send control commands to robot motors. Requires a control message.                                |
+| `mode/*`    | Query (sync)  | `mode/arm/left`      | Set the mode of robot motors (e.g., position mode, disable a motor). Requires a query message.    |
+| `system/*`  | Query (sync)  | `system/clear_error` | System-level commands (e.g., reboot components, handle emergency stop). Requires a query message. |
+| `info/*`    | Get (sync)    | `info/version`       | Retrieve information from the robot. No query message needed and no impact on the physical robot. |
+
+The final name of zenoh topic is `{robot_name}/{topic_name}`, e.g. `dm-d17edf944753/state/hand/left`.
+
+## Documentation
+
+Documentation generation tools and scripts are located in the `docgen/` directory. To build documentation:
+
+```bash
+# Install documentation dependencies
+pip install -e ".[docs]"
+
+# Build HTML documentation
+python docgen/build_docs.py
+
+# Build GitBook documentation
+python docgen/build_docs.py --gitbook
+```
+
+For detailed documentation setup and configuration, see [`docgen/DOCUMENTATION_SETUP.md`](docgen/DOCUMENTATION_SETUP.md).