dexcontrol 0.2.1__py3-none-any.whl

dexcontrol/core/torso.py

@@ -0,0 +1,198 @@
+# 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].
+
+"""Robot torso control module.
+
+This module provides the Torso class for controlling a robot torso through Zenoh
+communication. It handles joint position and velocity control and state monitoring.
+"""
+
+import time
+
+import numpy as np
+import zenoh
+from jaxtyping import Float
+
+from dexcontrol.config.core import TorsoConfig
+from dexcontrol.core.component import RobotJointComponent
+from dexcontrol.proto import dexcontrol_msg_pb2
+
+
+class Torso(RobotJointComponent):
+    """Robot torso control class.
+
+    This class provides methods to control a robot torso by publishing commands and
+    receiving state information through Zenoh communication.
+
+    Attributes:
+        default_vel: Default joint velocity in rad/s when not explicitly specified.
+        max_vel: Maximum allowed joint velocity in rad/s.
+    """
+
+    def __init__(
+        self,
+        configs: TorsoConfig,
+        zenoh_session: zenoh.Session,
+    ) -> None:
+        """Initialize the torso controller.
+
+        Args:
+            configs: Torso configuration parameters containing communication topics
+                and default velocity settings.
+            zenoh_session: Active Zenoh communication session for message passing.
+        """
+        super().__init__(
+            state_sub_topic=configs.state_sub_topic,
+            control_pub_topic=configs.control_pub_topic,
+            state_message_type=dexcontrol_msg_pb2.TorsoState,
+            zenoh_session=zenoh_session,
+            joint_name=configs.joint_name,
+            pose_pool=configs.pose_pool,
+        )
+        self.default_vel = configs.default_vel
+        self.max_vel = configs.max_vel
+
+    def set_joint_pos_vel(
+        self,
+        joint_pos: Float[np.ndarray, "3"] | list[float] | dict[str, float],
+        joint_vel: Float[np.ndarray, "3"]
+        | list[float]
+        | dict[str, float]
+        | float
+        | None = None,
+        relative: bool = False,
+        wait_time: float = 0.0,
+    ) -> None:
+        """Send control commands to the torso.
+
+        Args:
+            joint_pos: Joint positions as either:
+                - List of joint values [j1, j2, j3]
+                - Numpy array with shape (3,), in radians
+                - Dictionary mapping joint names to position values
+            joint_vel: Optional joint velocities as either:
+                - List of joint values [v1, v2, v3]
+                - Numpy array with shape (3,), in rad/s
+                - Dictionary mapping joint names to velocity values
+                - Single float value to be applied to all joints
+                If None, velocities are calculated based on default velocity setting.
+            relative: If True, the joint positions are relative to the current position.
+            wait_time: Time to wait after sending command in seconds. If 0, returns
+                immediately after sending command.
+
+        Raises:
+            ValueError: If wait_time is negative or joint_pos dictionary contains
+                invalid joint names.
+        """
+        if wait_time < 0.0:
+            raise ValueError("wait_time must be greater than or equal to 0")
+
+        # Handle relative positioning
+        if relative:
+            joint_pos = self._resolve_relative_joint_cmd(joint_pos)
+
+        # Convert inputs to numpy arrays
+        joint_pos = self._convert_joint_cmd_to_array(joint_pos)
+        joint_vel = self._process_joint_velocities(joint_vel, joint_pos)
+
+        # Create and send control message
+        control_msg = dexcontrol_msg_pb2.TorsoCommand()
+        control_msg.joint_pos.extend(joint_pos.tolist())
+        control_msg.joint_vel.extend(joint_vel.tolist())
+        self._publish_control(control_msg)
+
+        # Wait if specified
+        if wait_time > 0.0:
+            time.sleep(wait_time)
+
+    def set_joint_pos(
+        self,
+        joint_pos: Float[np.ndarray, "3"] | list[float] | dict[str, float],
+        relative: bool = False,
+        wait_time: float = 0.0,
+        wait_kwargs: dict[str, float] | None = None,
+    ) -> None:
+        """Send joint position control commands to the torso.
+
+        Args:
+            joint_pos: Joint positions as either:
+                - List of joint values [j1, j2, j3]
+                - Numpy array with shape (3,), in radians
+                - Dictionary mapping joint names to position values
+            relative: If True, the joint positions are relative to the current position.
+            wait_time: Time to wait after sending command in seconds. If 0, returns
+                immediately after sending command.
+            wait_kwargs: Optional parameters for trajectory generation (not used in Torso).
+
+        Raises:
+            ValueError: If joint_pos dictionary contains invalid joint names.
+        """
+        self.set_joint_pos_vel(
+            joint_pos, joint_vel=None, relative=relative, wait_time=wait_time
+        )
+
+    def stop(self) -> None:
+        """Stop the torso by setting target position to current position with zero velocity."""
+        current_pos = self.get_joint_pos()
+        zero_vel = np.zeros(3, dtype=np.float32)
+        self.set_joint_pos_vel(current_pos, zero_vel, relative=False, wait_time=0.0)
+
+    @property
+    def pitch_angle(self) -> float:
+        """Gets the pitch angle of the torso.
+
+        The pitch angle is defined as the angle between the third link (the link that
+        is closest to the arms) and the horizontal plane.
+
+        Examples:
+            At zero position: shoulder pitch angle = pi/2
+            At (60, 120, -30) degrees: shoulder pitch angle = 0
+
+        Returns:
+            The pitch angle in radians.
+        """
+        joint_pos = self.get_joint_pos()
+        return joint_pos[0] + joint_pos[2] + np.pi / 2 - joint_pos[1]
+
+    def shutdown(self) -> None:
+        """Clean up Zenoh resources for the torso component."""
+        self.stop()
+        super().shutdown()
+
+    def _process_joint_velocities(
+        self,
+        joint_vel: Float[np.ndarray, "3"]
+        | list[float]
+        | dict[str, float]
+        | float
+        | None,
+        joint_pos: np.ndarray,
+    ) -> np.ndarray:
+        """Process and validate joint velocities.
+
+        Args:
+            joint_vel: Joint velocities in various formats or None.
+            joint_pos: Target joint positions for velocity calculation.
+
+        Returns:
+            Processed joint velocities as numpy array.
+        """
+        if joint_vel is None:
+            # Calculate velocities based on motion direction and default velocity
+            joint_motion = np.abs(joint_pos - self.get_joint_pos())
+            motion_norm = np.linalg.norm(joint_motion)
+
+            if motion_norm < 1e-6:  # Avoid division by zero
+                return np.zeros(3, dtype=np.float32)
+
+            # Scale velocities by default velocity
+            return (joint_motion / motion_norm) * self.default_vel
+
+        if isinstance(joint_vel, (int, float)):
+            # Single value - apply to all joints
+            return np.full(3, joint_vel, dtype=np.float32)
+
+        # Convert to array and clip to max velocity
+        return self._convert_joint_cmd_to_array(joint_vel, clip_value=self.max_vel)

dexcontrol/proto/dexcontrol_msg_pb2.py

@@ -0,0 +1,69 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: dexcontrol_msg.proto
+# Protobuf Python Version: 6.31.0
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    0,
+    '',
+    'dexcontrol_msg.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_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')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dexcontrol_msg_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ARMSTATE']._serialized_start=36
+  _globals['_ARMSTATE']._serialized_end=122
+  _globals['_HANDSTATE']._serialized_start=124
+  _globals['_HANDSTATE']._serialized_end=194
+  _globals['_HEADSTATE']._serialized_start=196
+  _globals['_HEADSTATE']._serialized_end=245
+  _globals['_TORSOSTATE']._serialized_start=247
+  _globals['_TORSOSTATE']._serialized_end=297
+  _globals['_SINGLEWHEELSTATE']._serialized_start=299
+  _globals['_SINGLEWHEELSTATE']._serialized_end=396
+  _globals['_CHASSISSTATE']._serialized_start=398
+  _globals['_CHASSISSTATE']._serialized_end=501
+  _globals['_BMSSTATE']._serialized_start=503
+  _globals['_BMSSTATE']._serialized_end=609
+  _globals['_WRENCHSTATE']._serialized_start=611
+  _globals['_WRENCHSTATE']._serialized_end=683
+  _globals['_ESTOPSTATE']._serialized_start=685
+  _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
+# @@protoc_insertion_point(module_scope)

dexcontrol/proto/dexcontrol_msg_pb2.pyi

@@ -0,0 +1,168 @@
+from collections.abc import Iterable as _Iterable
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar
+from typing import Optional as _Optional
+from typing import Union as _Union
+
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class ArmState(_message.Message):
+    __slots__ = ("joint_pos", "joint_vel", "joint_cur", "joint_err")
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    JOINT_CUR_FIELD_NUMBER: _ClassVar[int]
+    JOINT_ERR_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    joint_cur: _containers.RepeatedScalarFieldContainer[float]
+    joint_err: _containers.RepeatedScalarFieldContainer[int]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_cur: _Optional[_Iterable[float]] = ..., joint_err: _Optional[_Iterable[int]] = ...) -> None: ...
+
+class HandState(_message.Message):
+    __slots__ = ("joint_pos", "joint_vel", "joint_statu")
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    JOINT_STATU_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    joint_statu: _containers.RepeatedScalarFieldContainer[int]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_statu: _Optional[_Iterable[int]] = ...) -> None: ...
+
+class HeadState(_message.Message):
+    __slots__ = ("joint_pos", "joint_vel")
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class TorsoState(_message.Message):
+    __slots__ = ("joint_pos", "joint_vel")
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class SingleWheelState(_message.Message):
+    __slots__ = ("steering_pos", "wheel_pos", "wheel_vel", "wheel_cur")
+    STEERING_POS_FIELD_NUMBER: _ClassVar[int]
+    WHEEL_POS_FIELD_NUMBER: _ClassVar[int]
+    WHEEL_VEL_FIELD_NUMBER: _ClassVar[int]
+    WHEEL_CUR_FIELD_NUMBER: _ClassVar[int]
+    steering_pos: float
+    wheel_pos: float
+    wheel_vel: float
+    wheel_cur: float
+    def __init__(self, steering_pos: _Optional[float] = ..., wheel_pos: _Optional[float] = ..., wheel_vel: _Optional[float] = ..., wheel_cur: _Optional[float] = ...) -> None: ...
+
+class ChassisState(_message.Message):
+    __slots__ = ("left", "right")
+    LEFT_FIELD_NUMBER: _ClassVar[int]
+    RIGHT_FIELD_NUMBER: _ClassVar[int]
+    left: SingleWheelState
+    right: SingleWheelState
+    def __init__(self, left: _Optional[_Union[SingleWheelState, _Mapping]] = ..., right: _Optional[_Union[SingleWheelState, _Mapping]] = ...) -> None: ...
+
+class BMSState(_message.Message):
+    __slots__ = ("voltage", "current", "temperature", "percentage", "is_charging")
+    VOLTAGE_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_FIELD_NUMBER: _ClassVar[int]
+    TEMPERATURE_FIELD_NUMBER: _ClassVar[int]
+    PERCENTAGE_FIELD_NUMBER: _ClassVar[int]
+    IS_CHARGING_FIELD_NUMBER: _ClassVar[int]
+    voltage: float
+    current: float
+    temperature: float
+    percentage: int
+    is_charging: bool
+    def __init__(self, voltage: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., percentage: _Optional[int] = ..., is_charging: bool = ...) -> None: ...
+
+class WrenchState(_message.Message):
+    __slots__ = ("wrench", "blue_button", "green_button")
+    WRENCH_FIELD_NUMBER: _ClassVar[int]
+    BLUE_BUTTON_FIELD_NUMBER: _ClassVar[int]
+    GREEN_BUTTON_FIELD_NUMBER: _ClassVar[int]
+    wrench: _containers.RepeatedScalarFieldContainer[float]
+    blue_button: bool
+    green_button: bool
+    def __init__(self, wrench: _Optional[_Iterable[float]] = ..., blue_button: bool = ..., green_button: bool = ...) -> None: ...
+
+class EStopState(_message.Message):
+    __slots__ = ("button_pressed", "software_estop_enabled")
+    BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
+    SOFTWARE_ESTOP_ENABLED_FIELD_NUMBER: _ClassVar[int]
+    button_pressed: bool
+    software_estop_enabled: bool
+    def __init__(self, button_pressed: bool = ..., software_estop_enabled: bool = ...) -> None: ...
+
+class UltrasonicState(_message.Message):
+    __slots__ = ("front_left", "front_right", "back_left", "back_right")
+    FRONT_LEFT_FIELD_NUMBER: _ClassVar[int]
+    FRONT_RIGHT_FIELD_NUMBER: _ClassVar[int]
+    BACK_LEFT_FIELD_NUMBER: _ClassVar[int]
+    BACK_RIGHT_FIELD_NUMBER: _ClassVar[int]
+    front_left: float
+    front_right: float
+    back_left: float
+    back_right: float
+    def __init__(self, front_left: _Optional[float] = ..., front_right: _Optional[float] = ..., back_left: _Optional[float] = ..., back_right: _Optional[float] = ...) -> None: ...
+
+class ArmCommand(_message.Message):
+    __slots__ = ("command_type", "joint_pos", "joint_vel")
+    class CommandType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        POSITION: _ClassVar[ArmCommand.CommandType]
+        VELOCITY_FEEDFORWARD: _ClassVar[ArmCommand.CommandType]
+    POSITION: ArmCommand.CommandType
+    VELOCITY_FEEDFORWARD: ArmCommand.CommandType
+    COMMAND_TYPE_FIELD_NUMBER: _ClassVar[int]
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    command_type: ArmCommand.CommandType
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, command_type: _Optional[_Union[ArmCommand.CommandType, str]] = ..., joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class HandCommand(_message.Message):
+    __slots__ = ("joint_pos",)
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class HeadCommand(_message.Message):
+    __slots__ = ("joint_pos", "joint_vel")
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class TorsoCommand(_message.Message):
+    __slots__ = ("joint_pos", "joint_vel")
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class SingleWheelCommand(_message.Message):
+    __slots__ = ("steering_pos", "wheel_vel")
+    STEERING_POS_FIELD_NUMBER: _ClassVar[int]
+    WHEEL_VEL_FIELD_NUMBER: _ClassVar[int]
+    steering_pos: float
+    wheel_vel: float
+    def __init__(self, steering_pos: _Optional[float] = ..., wheel_vel: _Optional[float] = ...) -> None: ...
+
+class ChassisCommand(_message.Message):
+    __slots__ = ("left", "right")
+    LEFT_FIELD_NUMBER: _ClassVar[int]
+    RIGHT_FIELD_NUMBER: _ClassVar[int]
+    left: SingleWheelCommand
+    right: SingleWheelCommand
+    def __init__(self, left: _Optional[_Union[SingleWheelCommand, _Mapping]] = ..., right: _Optional[_Union[SingleWheelCommand, _Mapping]] = ...) -> None: ...

dexcontrol/proto/dexcontrol_query_pb2.py

@@ -0,0 +1,73 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: dexcontrol_query.proto
+# Protobuf Python Version: 6.31.0
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    0,
+    '',
+    'dexcontrol_query.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16\x64\x65xcontrol_query.proto\x12\ndexcontrol\"Z\n\nSetArmMode\x12)\n\x04mode\x18\x01 \x01(\x0e\x32\x1b.dexcontrol.SetArmMode.Mode\"!\n\x04Mode\x12\x0c\n\x08POSITION\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"Z\n\x0bSetHeadMode\x12*\n\x04mode\x18\x01 \x01(\x0e\x32\x1c.dexcontrol.SetHeadMode.Mode\"\x1f\n\x04Mode\x12\n\n\x06\x45NABLE\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"\x1a\n\x08SetEstop\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x18\n\x06SetLed\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x82\x01\n\nClearError\x12\x33\n\tcomponent\x18\x01 \x01(\x0e\x32 .dexcontrol.ClearError.Component\"?\n\tComponent\x12\x0c\n\x08LEFT_ARM\x10\x00\x12\r\n\tRIGHT_ARM\x10\x01\x12\x08\n\x04HEAD\x10\x02\x12\x0b\n\x07\x43HASSIS\x10\x03\"y\n\x0fRebootComponent\x12\x38\n\tcomponent\x18\x01 \x01(\x0e\x32%.dexcontrol.RebootComponent.Component\",\n\tComponent\x12\x07\n\x03\x41RM\x10\x00\x12\t\n\x05TORSO\x10\x01\x12\x0b\n\x07\x43HASSIS\x10\x02\"X\n\x0f\x46irmwareVersion\x12\x18\n\x10hardware_version\x18\x01 \x01(\x05\x12\x18\n\x10software_version\x18\x02 \x01(\x05\x12\x11\n\tmain_hash\x18\x03 \x01(\t\"\xb2\x01\n\x0fSoftwareVersion\x12J\n\x10\x66irmware_version\x18\x01 \x03(\x0b\x32\x30.dexcontrol.SoftwareVersion.FirmwareVersionEntry\x1aS\n\x14\x46irmwareVersionEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12*\n\x05value\x18\x02 \x01(\x0b\x32\x1b.dexcontrol.FirmwareVersion:\x02\x38\x01\"\x9d\x01\n\x14SingleComponentState\x12\x11\n\tconnected\x18\x01 \x01(\x08\x12,\n\x07\x65nabled\x18\x02 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x30\n\x0b\x65rror_state\x18\x03 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x12\n\nerror_code\x18\x04 \x01(\t\"\x9b\x01\n\x0f\x43omponentStates\x12\x37\n\x06states\x18\x01 \x03(\x0b\x32\'.dexcontrol.ComponentStates.StatesEntry\x1aO\n\x0bStatesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12/\n\x05value\x18\x02 \x01(\x0b\x32 .dexcontrol.SingleComponentState:\x02\x38\x01*0\n\x0f\x43omponentStatus\x12\n\n\x06NORMAL\x10\x00\x12\x06\n\x02NA\x10\x01\x12\t\n\x05\x45RROR\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dexcontrol_query_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._loaded_options = None
+  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_options = b'8\001'
+  _globals['_COMPONENTSTATES_STATESENTRY']._loaded_options = None
+  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_options = b'8\001'
+  _globals['_COMPONENTSTATUS']._serialized_start=1121
+  _globals['_COMPONENTSTATUS']._serialized_end=1169
+  _globals['_SETARMMODE']._serialized_start=38
+  _globals['_SETARMMODE']._serialized_end=128
+  _globals['_SETARMMODE_MODE']._serialized_start=95
+  _globals['_SETARMMODE_MODE']._serialized_end=128
+  _globals['_SETHEADMODE']._serialized_start=130
+  _globals['_SETHEADMODE']._serialized_end=220
+  _globals['_SETHEADMODE_MODE']._serialized_start=189
+  _globals['_SETHEADMODE_MODE']._serialized_end=220
+  _globals['_SETESTOP']._serialized_start=222
+  _globals['_SETESTOP']._serialized_end=248
+  _globals['_SETLED']._serialized_start=250
+  _globals['_SETLED']._serialized_end=274
+  _globals['_CLEARERROR']._serialized_start=277
+  _globals['_CLEARERROR']._serialized_end=407
+  _globals['_CLEARERROR_COMPONENT']._serialized_start=344
+  _globals['_CLEARERROR_COMPONENT']._serialized_end=407
+  _globals['_REBOOTCOMPONENT']._serialized_start=409
+  _globals['_REBOOTCOMPONENT']._serialized_end=530
+  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_start=486
+  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_end=530
+  _globals['_FIRMWAREVERSION']._serialized_start=532
+  _globals['_FIRMWAREVERSION']._serialized_end=620
+  _globals['_SOFTWAREVERSION']._serialized_start=623
+  _globals['_SOFTWAREVERSION']._serialized_end=801
+  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_start=718
+  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_end=801
+  _globals['_SINGLECOMPONENTSTATE']._serialized_start=804
+  _globals['_SINGLECOMPONENTSTATE']._serialized_end=961
+  _globals['_COMPONENTSTATES']._serialized_start=964
+  _globals['_COMPONENTSTATES']._serialized_end=1119
+  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_start=1040
+  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_end=1119
+# @@protoc_insertion_point(module_scope)

dexcontrol/proto/dexcontrol_query_pb2.pyi

@@ -0,0 +1,134 @@
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar
+from typing import Optional as _Optional
+from typing import Union as _Union
+
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class ComponentStatus(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    NORMAL: _ClassVar[ComponentStatus]
+    NA: _ClassVar[ComponentStatus]
+    ERROR: _ClassVar[ComponentStatus]
+NORMAL: ComponentStatus
+NA: ComponentStatus
+ERROR: ComponentStatus
+
+class SetArmMode(_message.Message):
+    __slots__ = ("mode",)
+    class Mode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        POSITION: _ClassVar[SetArmMode.Mode]
+        DISABLE: _ClassVar[SetArmMode.Mode]
+    POSITION: SetArmMode.Mode
+    DISABLE: SetArmMode.Mode
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    mode: SetArmMode.Mode
+    def __init__(self, mode: _Optional[_Union[SetArmMode.Mode, str]] = ...) -> None: ...
+
+class SetHeadMode(_message.Message):
+    __slots__ = ("mode",)
+    class Mode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        ENABLE: _ClassVar[SetHeadMode.Mode]
+        DISABLE: _ClassVar[SetHeadMode.Mode]
+    ENABLE: SetHeadMode.Mode
+    DISABLE: SetHeadMode.Mode
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    mode: SetHeadMode.Mode
+    def __init__(self, mode: _Optional[_Union[SetHeadMode.Mode, str]] = ...) -> None: ...
+
+class SetEstop(_message.Message):
+    __slots__ = ("enable",)
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    enable: bool
+    def __init__(self, enable: bool = ...) -> None: ...
+
+class SetLed(_message.Message):
+    __slots__ = ("enable",)
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    enable: bool
+    def __init__(self, enable: bool = ...) -> None: ...
+
+class ClearError(_message.Message):
+    __slots__ = ("component",)
+    class Component(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        LEFT_ARM: _ClassVar[ClearError.Component]
+        RIGHT_ARM: _ClassVar[ClearError.Component]
+        HEAD: _ClassVar[ClearError.Component]
+        CHASSIS: _ClassVar[ClearError.Component]
+    LEFT_ARM: ClearError.Component
+    RIGHT_ARM: ClearError.Component
+    HEAD: ClearError.Component
+    CHASSIS: ClearError.Component
+    COMPONENT_FIELD_NUMBER: _ClassVar[int]
+    component: ClearError.Component
+    def __init__(self, component: _Optional[_Union[ClearError.Component, str]] = ...) -> None: ...
+
+class RebootComponent(_message.Message):
+    __slots__ = ("component",)
+    class Component(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        ARM: _ClassVar[RebootComponent.Component]
+        TORSO: _ClassVar[RebootComponent.Component]
+        CHASSIS: _ClassVar[RebootComponent.Component]
+    ARM: RebootComponent.Component
+    TORSO: RebootComponent.Component
+    CHASSIS: RebootComponent.Component
+    COMPONENT_FIELD_NUMBER: _ClassVar[int]
+    component: RebootComponent.Component
+    def __init__(self, component: _Optional[_Union[RebootComponent.Component, str]] = ...) -> None: ...
+
+class FirmwareVersion(_message.Message):
+    __slots__ = ("hardware_version", "software_version", "main_hash")
+    HARDWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
+    SOFTWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
+    MAIN_HASH_FIELD_NUMBER: _ClassVar[int]
+    hardware_version: int
+    software_version: int
+    main_hash: str
+    def __init__(self, hardware_version: _Optional[int] = ..., software_version: _Optional[int] = ..., main_hash: _Optional[str] = ...) -> None: ...
+
+class SoftwareVersion(_message.Message):
+    __slots__ = ("firmware_version",)
+    class FirmwareVersionEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: str
+        value: FirmwareVersion
+        def __init__(self, key: _Optional[str] = ..., value: _Optional[_Union[FirmwareVersion, _Mapping]] = ...) -> None: ...
+    FIRMWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
+    firmware_version: _containers.MessageMap[str, FirmwareVersion]
+    def __init__(self, firmware_version: _Optional[_Mapping[str, FirmwareVersion]] = ...) -> None: ...
+
+class SingleComponentState(_message.Message):
+    __slots__ = ("connected", "enabled", "error_state", "error_code")
+    CONNECTED_FIELD_NUMBER: _ClassVar[int]
+    ENABLED_FIELD_NUMBER: _ClassVar[int]
+    ERROR_STATE_FIELD_NUMBER: _ClassVar[int]
+    ERROR_CODE_FIELD_NUMBER: _ClassVar[int]
+    connected: bool
+    enabled: ComponentStatus
+    error_state: ComponentStatus
+    error_code: str
+    def __init__(self, connected: bool = ..., enabled: _Optional[_Union[ComponentStatus, str]] = ..., error_state: _Optional[_Union[ComponentStatus, str]] = ..., error_code: _Optional[str] = ...) -> None: ...
+
+class ComponentStates(_message.Message):
+    __slots__ = ("states",)
+    class StatesEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: str
+        value: SingleComponentState
+        def __init__(self, key: _Optional[str] = ..., value: _Optional[_Union[SingleComponentState, _Mapping]] = ...) -> None: ...
+    STATES_FIELD_NUMBER: _ClassVar[int]
+    states: _containers.MessageMap[str, SingleComponentState]
+    def __init__(self, states: _Optional[_Mapping[str, SingleComponentState]] = ...) -> None: ...