dexcontrol 0.2.1__py3-none-any.whl

dexcontrol/config/sensors/cameras/gemini_camera.py

@@ -0,0 +1,16 @@
+# 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 GeminiCameraConfig:
+    _target_: str = "dexcontrol.sensors.camera.gemini_camera.GeminiCameraSensor"
+    rgb_topic: str = "camera/gemini/rgb"
+    depth_topic: str = "camera/gemini/depth"
+    name: str = "gemini_camera"
+    enable_fps_tracking: bool = False
+    fps_log_interval: int = 30

dexcontrol/config/sensors/cameras/rgb_camera.py

@@ -0,0 +1,15 @@
+# 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 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

dexcontrol/config/sensors/imu/__init__.py

@@ -0,0 +1,6 @@
+# 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 .gemini_imu import GeminiIMUConfig
+from .nine_axis_imu import NineAxisIMUConfig

dexcontrol/config/sensors/imu/gemini_imu.py

@@ -0,0 +1,15 @@
+# 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

@@ -0,0 +1,15 @@
+# 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/config/sensors/lidar/__init__.py

@@ -0,0 +1,6 @@
+# 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 .rplidar import RPLidarConfig

dexcontrol/config/sensors/lidar/rplidar.py

@@ -0,0 +1,15 @@
+# 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 RPLidarConfig:
+    _target_: str = "dexcontrol.sensors.lidar.rplidar.RPLidarSensor"
+    topic: str = "/lidar/scan"
+    name: str = "rplidar"
+    enable_fps_tracking: bool = False
+    fps_log_interval: int = 30

dexcontrol/config/sensors/ultrasonic/__init__.py

@@ -0,0 +1,6 @@
+# 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 .ultrasonic import UltraSonicConfig

dexcontrol/config/sensors/ultrasonic/ultrasonic.py

@@ -0,0 +1,15 @@
+# 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 UltraSonicConfig:
+    _target_: str = "dexcontrol.sensors.ultrasonic.UltrasonicSensor"
+    topic: str = "state/ultrasonic"
+    name: str = "ultrasonic"
+    enable_fps_tracking: bool = False
+    fps_log_interval: int = 30

dexcontrol/config/sensors/vega_sensors.py

@@ -0,0 +1,65 @@
+# 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].
+
+"""Configuration dataclass for Vega robot sensors.
+
+This module defines the VegaSensorsConfig dataclass which specifies the default
+configurations for all sensors on the Vega robot, including cameras, IMUs,
+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 .lidar import RPLidarConfig
+from .ultrasonic import UltraSonicConfig
+
+
+def _make_rgb_camera(topic: str, 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"
+    )
+
+
+@dataclass
+class VegaSensorsConfig:
+    """Configuration for all sensors on the Vega robot.
+
+    Contains default configurations for:
+    - Head camera (Gemini)
+    - Base cameras (RGB) - left, right, front, back
+    - IMUs - base (9-axis) and head (Gemini)
+    - LiDAR
+    - Ultrasonic sensors
+    """
+
+    head_camera: GeminiCameraConfig = field(default_factory=GeminiCameraConfig)
+    base_left_camera: RGBCameraConfig = field(
+        default_factory=_make_rgb_camera("left", "left")
+    )
+    base_right_camera: RGBCameraConfig = field(
+        default_factory=_make_rgb_camera("right", "right")
+    )
+    base_front_camera: RGBCameraConfig = field(
+        default_factory=_make_rgb_camera("front", "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)
+    lidar: RPLidarConfig = field(default_factory=RPLidarConfig)
+    ultrasonic: UltraSonicConfig = field(default_factory=UltraSonicConfig)

dexcontrol/config/vega.py

@@ -0,0 +1,203 @@
+# 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, field
+from typing import ClassVar
+
+from omegaconf import OmegaConf
+
+from .core import (
+    ArmConfig,
+    BatteryConfig,
+    ChassisConfig,
+    EStopConfig,
+    HandConfig,
+    HeadConfig,
+    HeartbeatConfig,
+    TorsoConfig,
+)
+from .sensors.vega_sensors import VegaSensorsConfig
+
+
+@dataclass
+class VegaConfig:
+    """Base configuration for Vega robots.
+
+    This class serves as the base configuration for all Vega robot variants.
+    Different robot variants can extend this class or be loaded through the
+    factory function get_vega_config().
+    """
+
+    # Registry to store variant-specific configuration classes
+    _variants: ClassVar[dict[str, type["VegaConfig"]]] = {}
+
+    sensors: VegaSensorsConfig = field(default_factory=VegaSensorsConfig)
+    left_arm: ArmConfig = field(
+        default_factory=lambda: ArmConfig(
+            state_sub_topic="state/arm/left",
+            control_pub_topic="control/arm/left",
+            set_mode_query="mode/arm/left",
+            wrench_sub_topic="state/wrench/left",
+            joint_name=[f"L_arm_j{i + 1}" for i in range(7)],
+            pose_pool={
+                "folded": [1.57079, 0.0, 0, -3.1, 0, 0, -0.69813],
+                "folded_closed_hand": [1.57079, 0.0, 0, -3.1, 0, 0, -0.9],
+                "L_shape": [0.064, -0.3, 0.0, -1.556, 1.271, 0.0, 0.0],
+                "zero": [-1.57079, 0.0, 0, 0.0, 0, 0, 0.0],
+            },
+        )
+    )
+    right_arm: ArmConfig = field(
+        default_factory=lambda: ArmConfig(
+            state_sub_topic="state/arm/right",
+            control_pub_topic="control/arm/right",
+            set_mode_query="mode/arm/right",
+            wrench_sub_topic="state/wrench/right",
+            joint_name=[f"R_arm_j{i + 1}" for i in range(7)],
+            pose_pool={
+                "folded": [-1.57079, 0.0, 0, -3.1, 0, 0, 0.69813],
+                "folded_closed_hand": [-1.57079, 0.0, 0, -3.1, 0, 0, 0.9],
+                "L_shape": [-0.064, 0.3, 0.0, -1.556, -1.271, 0.0, 0.0],
+                "zero": [1.57079, 0.0, 0, 0.0, 0, 0, 0.0],
+            },
+        )
+    )
+    left_hand: HandConfig = field(
+        default_factory=lambda: HandConfig(
+            state_sub_topic="state/hand/left",
+            control_pub_topic="control/hand/left",
+            joint_name=[
+                "L_th_j1",
+                "L_ff_j1",
+                "L_mf_j1",
+                "L_rf_j1",
+                "L_lf_j1",
+                "L_th_j0",
+            ],
+        )
+    )
+    right_hand: HandConfig = field(
+        default_factory=lambda: HandConfig(
+            state_sub_topic="state/hand/right",
+            control_pub_topic="control/hand/right",
+            joint_name=[
+                "R_th_j1",
+                "R_ff_j1",
+                "R_mf_j1",
+                "R_rf_j1",
+                "R_lf_j1",
+                "R_th_j0",
+            ],
+        )
+    )
+    head: HeadConfig = field(default_factory=HeadConfig)
+    torso: TorsoConfig = field(default_factory=TorsoConfig)
+    chassis: ChassisConfig = field(default_factory=ChassisConfig)
+
+    # Misc
+    battery: BatteryConfig = field(default_factory=BatteryConfig)
+    estop: EStopConfig = field(default_factory=EStopConfig)
+    heartbeat: HeartbeatConfig = field(default_factory=HeartbeatConfig)
+
+    # Queries
+    version_info_name: str = "info/version"
+    status_info_name: str = "info/status"
+    reboot_query_name: str = "system/reboot"
+    clear_error_query_name: str = "system/clear_error"
+    led_query_name: str = "system/led"
+
+    @classmethod
+    def register_variant(
+        cls, variant_name: str, variant_cls: type["VegaConfig"]
+    ) -> None:
+        """Register a variant configuration class.
+
+        Args:
+            variant_name: Name of the robot variant.
+            variant_cls: Configuration class for the variant.
+        """
+        cls._variants[variant_name] = variant_cls
+
+
+@dataclass
+class Vega1Config(VegaConfig):
+    """Configuration specific to the Vega 1 robot variant."""
+
+    left_arm: ArmConfig = field(
+        default_factory=lambda: ArmConfig(
+            state_sub_topic="state/arm/left",
+            control_pub_topic="control/arm/left",
+            set_mode_query="mode/arm/left",
+            wrench_sub_topic="state/wrench/left",
+            joint_name=[f"L_arm_j{i + 1}" for i in range(7)],
+            pose_pool={
+                "folded": [1.57079, 0.0, 0, -3.1, 0, 0, -0.69813],
+                "folded_closed_hand": [1.57079, 0.0, 0, -3.1, 0, 0, -0.9],
+                "L_shape": [0.064, 0.3, 0.0, -1.556, 1.271, 0.0, 0.0],
+                "zero": [-1.57079, 0.0, 0, 0.0, 0, 0, 0.0],
+            },
+        )
+    )
+    right_arm: ArmConfig = field(
+        default_factory=lambda: ArmConfig(
+            state_sub_topic="state/arm/right",
+            control_pub_topic="control/arm/right",
+            set_mode_query="mode/arm/right",
+            wrench_sub_topic="state/wrench/right",
+            joint_name=[f"R_arm_j{i + 1}" for i in range(7)],
+            pose_pool={
+                "folded": [-1.57079, 0.0, 0, -3.1, 0, 0, 0.69813],
+                "folded_closed_hand": [-1.57079, 0.0, 0, -3.1, 0, 0, 0.9],
+                "L_shape": [-0.064, -0.3, 0.0, -1.556, -1.271, 0.0, 0.0],
+                "zero": [1.57079, 0.0, 0, 0.0, 0, 0, 0.0],
+            },
+        )
+    )
+    chassis: ChassisConfig = field(
+        default_factory=lambda: ChassisConfig(
+            wheels_dist=0.45,
+        )
+    )
+
+
+# Register variant configurations
+VegaConfig.register_variant("vega-rc1", VegaConfig)
+VegaConfig.register_variant("vega-rc2", VegaConfig)
+VegaConfig.register_variant("vega-1", Vega1Config)
+
+
+def get_vega_config(variant: str | None = None) -> VegaConfig:
+    """Get the configuration for a specific Vega robot variant.
+
+    Args:
+        variant: The robot variant name (e.g., "rc2", "vega-1").
+                If None, returns the base 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:
+        config_class = VegaConfig._variants[variant]
+    else:
+        raise ValueError(
+            f"Unknown robot variant: {variant}. "
+            f"Available variants: {list(VegaConfig._variants.keys())}"
+        )
+
+    config = config_class()
+    return OmegaConf.structured(config)
+
+
+def get_default_vega_config() -> VegaConfig:
+    """Get the default Vega robot configuration.
+
+    This is kept for backward compatibility.
+
+    Returns:
+        The configuration for the default Vega robot as an OmegaConf object.
+    """
+    return get_vega_config("vega-1")