dexcontrol 0.2.3__py3-none-any.whl → 0.2.7__py3-none-any.whl

dexcontrol/utils/subscribers/lidar.py

@@ -36,8 +36,8 @@ class LidarSubscriber(BaseZenohSubscriber):
     """Zenoh subscriber for LIDAR scan data.
 
     This subscriber handles LIDAR scan data encoded using the dexsensor
-    lidar serialization format with compression.
-    Uses lazy decoding - data is only decoded when requested.
+    lidar serialization format. Uses lazy decoding - data is only decoded
+    when requested.
     """
 
     def __init__(
@@ -89,16 +89,9 @@ class LidarSubscriber(BaseZenohSubscriber):
         Returns:
             Latest scan data dictionary if available, None otherwise.
             Dictionary contains:
-                - ranges: Array of range measurements
-                - angles: Array of corresponding angles
-                - intensities: Array of intensity values (if available)
-                - angle_min: Minimum angle of the scan
-                - angle_max: Maximum angle of the scan
-                - angle_increment: Angular distance between measurements
-                - scan_time: Time for a complete scan
-                - time_increment: Time between measurements
-                - range_min: Minimum range value
-                - range_max: Maximum range value
+                - ranges: Array of range measurements in meters
+                - angles: Array of corresponding angles in radians
+                - qualities: Array of quality values (0-255) if available, None otherwise
         """
         with self._data_lock:
             if self._latest_raw_data is None:
@@ -136,7 +129,7 @@ class LidarSubscriber(BaseZenohSubscriber):
         """Get the latest range measurements.
 
         Returns:
-            Array of range measurements if available, None otherwise.
+            Array of range measurements in meters if available, None otherwise.
         """
         scan_data = self.get_latest_data()
         if scan_data is not None:
@@ -147,54 +140,32 @@ class LidarSubscriber(BaseZenohSubscriber):
         """Get the latest angle measurements.
 
         Returns:
-            Array of angle measurements if available, None otherwise.
+            Array of angle measurements in radians if available, None otherwise.
         """
         scan_data = self.get_latest_data()
         if scan_data is not None:
             return scan_data["angles"]
         return None
 
-    def get_intensities(self) -> np.ndarray | None:
-        """Get the latest intensity measurements.
+    def get_qualities(self) -> np.ndarray | None:
+        """Get the latest quality measurements.
 
         Returns:
-            Array of intensity measurements if available, None otherwise.
-        """
-        scan_data = self.get_latest_data()
-        if scan_data is not None and "intensities" in scan_data:
-            intensities = scan_data["intensities"]
-            return intensities if intensities is not None else None
-        return None
-
-    def get_scan_info(self) -> dict[str, float] | None:
-        """Get scan metadata information.
-
-        Returns:
-            Dictionary with scan metadata if available, None otherwise.
-            Contains: angle_min, angle_max, angle_increment, scan_time,
-                     time_increment, range_min, range_max
+            Array of quality values (0-255) if available, None otherwise.
         """
         scan_data = self.get_latest_data()
         if scan_data is not None:
-            return {
-                "angle_min": scan_data["angle_min"],
-                "angle_max": scan_data["angle_max"],
-                "angle_increment": scan_data["angle_increment"],
-                "scan_time": scan_data["scan_time"],
-                "time_increment": scan_data["time_increment"],
-                "range_min": scan_data["range_min"],
-                "range_max": scan_data["range_max"],
-            }
+            return scan_data.get("qualities")
         return None
 
-    def has_intensities(self) -> bool:
-        """Check if the latest scan data includes intensity information.
+    def has_qualities(self) -> bool:
+        """Check if the latest scan data includes quality information.
 
         Returns:
-            True if intensity data is available, False otherwise.
+            True if quality data is available, False otherwise.
         """
         scan_data = self.get_latest_data()
         if scan_data is not None:
-            intensities = scan_data.get("intensities")
-            return intensities is not None and len(intensities) > 0
+            qualities = scan_data.get("qualities")
+            return qualities is not None and len(qualities) > 0
         return False

dexcontrol/utils/subscribers/rtc.py

@@ -155,7 +155,8 @@ class RTCSubscriber:
             async with websockets.connect(self._url) as websocket:
                 self._websocket = websocket
 
-                # Create an offer
+                # Create an offer. The server's assertive codec control makes
+                # client-side preferences redundant and potentially conflicting.
                 self._pc.addTransceiver("video", direction="recvonly")
                 offer = await self._pc.createOffer()
                 await self._pc.setLocalDescription(offer)

dexcontrol/utils/viz_utils.py

@@ -10,15 +10,13 @@
 
 """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]
+from dexcontrol.utils.pb_utils import TYPE_SOFTWARE_VERSION
 
 
-def show_software_version(version_info: dict[str, TYPE_VERSION]) -> None:
+def show_software_version(version_info: dict[str, TYPE_SOFTWARE_VERSION]) -> None:
     """Create a Rich table for displaying firmware version information.
 
     Args:
@@ -29,6 +27,7 @@ def show_software_version(version_info: dict[str, TYPE_VERSION]) -> None:
     table.add_column("Hardware Version")
     table.add_column("Software Version")
     table.add_column("Main Hash")
+    table.add_column("Compile Time")
 
     for component, version in sorted(version_info.items()):
         table.add_row(
@@ -36,6 +35,7 @@ def show_software_version(version_info: dict[str, TYPE_VERSION]) -> None:
             str(version["hardware_version"]),
             str(version["software_version"]),
             str(version["main_hash"]),
+            str(version["compile_time"]),
         )
 
     console = Console()

{dexcontrol-0.2.3.dist-info → dexcontrol-0.2.7.dist-info}/METADATA

@@ -1,9 +1,9 @@
 Metadata-Version: 2.4
 Name: dexcontrol
-Version: 0.2.3
-Summary: A Python library of Robot Motion Control
+Version: 0.2.7
+Summary: A Python library of Sensing and Control for Dexmate's Robot
 Project-URL: Repository, https://github.com/dexmate-ai/dexcontrol
-Author-email: Dexmate <contact@dexmate.com>
+Author-email: Dexmate <contact@dexmate.ai>
 License: GNU AFFERO GENERAL PUBLIC LICENSE
         
         Version 3, 19 November 2007
@@ -198,6 +198,7 @@ Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Typing :: Typed
 Requires-Python: <3.13,>=3.10
 Requires-Dist: eclipse-zenoh>=1.2.0
@@ -233,10 +234,12 @@ Requires-Dist: tyro; extra == 'example'
 Description-Content-Type: text/markdown
 
 <div align="center">
-  <h1>Dexmate Robot Control and Sensing API</h1>
+  <h1>🤖 Dexmate Robot Control and Sensing API</h1>
 </div>
 
-## Installation
+![Python](https://img.shields.io/badge/python-3.10%20%7C%203.11%20%7C%203.12%20%7C%203.13-blue)
+
+## 📦 Installation
 
 ```shell
 pip install dexcontrol
@@ -248,18 +251,40 @@ To run the examples in this repo, you can try:
 pip install dexcontrol[example]
 ```
 
-## Licensing
+## 📄 Licensing
 
-This project is dual-licensed:
+This project is **dual-licensed**:
 
-### Open Source License
-This software is available under the GNU Affero General Public License v3.0 (AGPL-3.0).
+### 🔓 Open Source License
+This software is available under the **GNU Affero General Public License v3.0 (AGPL-3.0)**.
 See the [LICENSE](./LICENSE) file for details.
 
-### Commercial License
-For businesses that want to use this software in proprietary applications without the AGPL requirements, commercial licenses are available. Contact us for commercial licensing: contact@dexmate.ai
+### 💼 Commercial License
+For businesses that want to use this software in proprietary applications without the AGPL requirements, commercial licenses are available.
+
+**📧 Contact us for commercial licensing:** contact@dexmate.ai
+
+**Commercial licenses provide:**
+- ✅ Right to use in closed-source applications
+- ✅ No source code disclosure requirements
+- ✅ Priority support options
+
+
+## 📚 Examples
 
-Commercial licenses provide:
-- Right to use in closed-source applications
-- No source code disclosure requirements
-- Priority support options
+Explore our comprehensive examples in the `examples/` directory:
+
+- 🎮 **Basic Control** - Simple movement and sensor reading
+- 🎯 **Advanced Control** - Complex manipulation tasks
+- 📺 **Teleoperation** - Remote control interfaces
+- 🔧 **Troubleshooting** - Diagnostic and maintenance tools
+
+---
+
+<div align="center">
+  <h3>🤝 Ready to build amazing robots?</h3>
+  <p>
+    <a href="mailto:contact@dexmate.ai">📧 Contact Us</a> •
+    <a href="./examples/">📚 View Examples</a> •
+  </p>
+</div>

{dexcontrol-0.2.3.dist-info → dexcontrol-0.2.7.dist-info}/RECORD

@@ -1,8 +1,8 @@
 dexcontrol/__init__.py,sha256=1UGkcmMHphLJM7MYIfSuWfSameV1XLBDVjEazl5hb1I,1656
-dexcontrol/robot.py,sha256=pVm-97SAHYxVRMhb3I616i197qwr47kekq1mrzSyVew,42016
+dexcontrol/robot.py,sha256=Kyp8VXcDM6PORlvWBQqH4JR-4Uu6ttn652gNX7t5fg8,41686
 dexcontrol/apps/dualsense_teleop_base.py,sha256=Dw1z-2HA5D7DPKutZxlOdXsN9vpk4gS6XzJsL5ZQLM0,12702
 dexcontrol/config/__init__.py,sha256=UVLNpzGD14e8g68rUZFXTh0B7FRx6uS0Eg_MecjinYM,520
-dexcontrol/config/vega.py,sha256=mEcOJZQ_6vasdxxjAxH0YFmx45Cy4eOv9uS2FK08ZFk,6993
+dexcontrol/config/vega.py,sha256=4RrP0V5bmH0OUM3V0gND6cpRuMqoziLTQdKiRey1_ag,7192
 dexcontrol/config/core/__init__.py,sha256=Ym2R1hr1iMKQuXcg16BpZfQtTb0hQ5Q7smUIMlwKfho,637
 dexcontrol/config/core/arm.py,sha256=bRemtNO_eQVUgcojw1ItwWiqOZVOaaIq72G5-QqFu-I,1183
 dexcontrol/config/core/chassis.py,sha256=163hO4lVVaW7r9dvNleH0cdDds_GfO15EepnjloeT9U,868
@@ -11,10 +11,10 @@ dexcontrol/config/core/head.py,sha256=1eqsDPGBG8r8MocJwUMnDAQnOD152sl7P2k6Lg_ZKO
 dexcontrol/config/core/misc.py,sha256=KQstrVKFL-vdoaHVdj-VGwMrrhzm4pVz2g4A2etnav4,1169
 dexcontrol/config/core/torso.py,sha256=6B_-8LhT4rJ4K_oF9sjroOwIIj_JwlNS2JC8LmCCrSA,1456
 dexcontrol/config/sensors/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
-dexcontrol/config/sensors/vega_sensors.py,sha256=HJ3Kp6Bkrvng17xWH879IILKTp1Q2PY2_MGAcZlwk8Y,2532
-dexcontrol/config/sensors/cameras/__init__.py,sha256=5E93VOonbI1P6kWJdc9IQayuBcp_ppSTH4mEjKgW5C8,333
-dexcontrol/config/sensors/cameras/rgb_camera.py,sha256=T0ckKeoTJEnt0TyM-Rc9qU_iJbDT-QeA_ZJep5JQfO0,728
-dexcontrol/config/sensors/cameras/zed_camera.py,sha256=t6qvC8p-FlrsT1GKOro4iYD61G2cthmq3JmAppXHVWM,982
+dexcontrol/config/sensors/vega_sensors.py,sha256=oQrJcder-kcGujON5mwmThSgnBeIclq7OVWQ5lbwj1E,2581
+dexcontrol/config/sensors/cameras/__init__.py,sha256=GmwRW9ovZ_JcpD2QmzTO_in_LRBoRDorjMVGY6XgGI8,383
+dexcontrol/config/sensors/cameras/rgb_camera.py,sha256=20sniWVjo-Lj8SEfsXfwN07pm3MYOOaT1WP0G6Vrfxs,1465
+dexcontrol/config/sensors/cameras/zed_camera.py,sha256=7wgY-jBePtAWC6PWYKb3S0XSxD0Eg3UlPzoy5p0Y1lw,1852
 dexcontrol/config/sensors/imu/__init__.py,sha256=fW-DlevCvf_W8HV_fvLe9yIe-XL5op2mggoTKh-6fGQ,328
 dexcontrol/config/sensors/imu/chassis_imu.py,sha256=3OlTTBH6k1QGM5c5bcg8NL3XUXzYA8gCLM8lpCq2KFM,559
 dexcontrol/config/sensors/imu/zed_imu.py,sha256=y-dPI-XS6Kyq0WOf0wwuc2BgVnMN2hwCMxb0Vmwt4O4,550
@@ -32,41 +32,41 @@ dexcontrol/core/misc.py,sha256=m7WtziXGyhM7z27MjxiIQfTMu0_z30ReLkUCHzaRk9E,22547
 dexcontrol/core/torso.py,sha256=N5XE_lY-i78iMFEjIxMJ9I6KWK4YgHv6VqVUKEWLrcg,7402
 dexcontrol/proto/dexcontrol_msg_pb2.py,sha256=iRvfKLjV7eRxb9jOB_KrCsd77GbgzByThW_JIKd_ibM,5691
 dexcontrol/proto/dexcontrol_msg_pb2.pyi,sha256=_vzo6hozKpC5jzdKUOTH81VXCNYO1awcgTFhVNo91N0,9371
-dexcontrol/proto/dexcontrol_query_pb2.py,sha256=SHUEOmrwdijro3dRp9zhuXfyTg9HeTacIeVwg0mO9zE,5234
-dexcontrol/proto/dexcontrol_query_pb2.pyi,sha256=dlGbOy_qEQSzPDgxmd-E12ZLB9kGKpNZilxiBzW-b7k,5615
+dexcontrol/proto/dexcontrol_query_pb2.py,sha256=Aa98bPmOuImBheN6fv4Ysy1Bmk5oX2tGatqcykDUz0E,5328
+dexcontrol/proto/dexcontrol_query_pb2.pyi,sha256=iZXySZ_GJkB23ALpLpf2r5bpiGEtsf1zQt0wALz9aKU,5839
 dexcontrol/sensors/__init__.py,sha256=Dp06cuO_3xC6i4u5rHqfK5NqlIC5kaCue_bAtTC6JEE,960
 dexcontrol/sensors/manager.py,sha256=pBseqoAcrYdbBbSpFGChh_ROQlxnKDcolcKzKCEjpwM,6853
 dexcontrol/sensors/ultrasonic.py,sha256=WAHvHh64iQ0HfqVf-Oo0Rg8R32Cdk5d8k8kDSwa3Xrc,3258
 dexcontrol/sensors/camera/__init__.py,sha256=Vwe98I4Lvdv3F2UslOzKkeUkt5Rl2jSqbKlU6gIBeF0,609
-dexcontrol/sensors/camera/rgb_camera.py,sha256=WxycPiVOrWiFfNSduS98OTjY9aq3gHBw4LebbGp4yeQ,3154
-dexcontrol/sensors/camera/zed_camera.py,sha256=t3tkk1mIuFfCW-WaOT2F548nZQn5_7SelGwLtGl6XYo,13878
+dexcontrol/sensors/camera/rgb_camera.py,sha256=ZyWS2FkEF7MYg5rlG_YXd8VpbBu--Y-1Rlb6uzYHNNo,5045
+dexcontrol/sensors/camera/zed_camera.py,sha256=7gVoRhwynCUjyTOtUBZCiNZS3MhXoQYBDrr_fGlho4g,14007
 dexcontrol/sensors/imu/__init__.py,sha256=bBC7_NSLJ5qLMvUYu2-9yXKO2bRpQLC0HyywBwnbM0A,768
 dexcontrol/sensors/imu/chassis_imu.py,sha256=9gziCrtFKfWmeiDdbgD4aIkkdtjJahbckayYj_Lv5r4,4858
 dexcontrol/sensors/imu/zed_imu.py,sha256=VB0TfQYIqKNEPGPCbdAO9YtshWs4nE7y0y9FnWU-Mko,5148
 dexcontrol/sensors/lidar/__init__.py,sha256=frF16HmeQnfbvH0dVJ4pPjD4TySF13wCk-O9L3Memeg,317
-dexcontrol/sensors/lidar/rplidar.py,sha256=9TlQlxfHOdvf62sjA9c2S_McI5GI2Ef_b2TTk_o5VyY,5167
+dexcontrol/sensors/lidar/rplidar.py,sha256=xi3y0imYJwfKTzRX66okrxwbo-ZWZmreUnXIK-RZfoU,4439
 dexcontrol/utils/__init__.py,sha256=ayMZ6xNlA9xKfS_XRr8bWcoXW4-8Jg_25XSbMd5Jx58,468
 dexcontrol/utils/constants.py,sha256=qTaMgMPexSOgn9eGkKNZBAmvac_QCfU2g_fCTaMjb78,661
 dexcontrol/utils/io_utils.py,sha256=4TYV33ufECo8fuQivrZR9vtSdwWYUiPvpAUSneEzOOs,850
 dexcontrol/utils/motion_utils.py,sha256=p4kXQm_YorISDC2crrpY0gwCVw_yQCPv-acxPUSfh8w,7172
 dexcontrol/utils/os_utils.py,sha256=CC2st_Pb0C5cWfCg-i1P5bgBx3ZBX4LWVUiBq63dNeo,1852
-dexcontrol/utils/pb_utils.py,sha256=iTYoC9LQoSVAHn8KTcdIB8G1_sKjmjNfm8xdRUQL6fQ,3061
+dexcontrol/utils/pb_utils.py,sha256=_6nFLKwAtq56vYXMZ6YmHnMfL5SarD96MVEA-9cxXns,3178
 dexcontrol/utils/rate_limiter.py,sha256=wFNaJ1fh-GO6zItuksKd_DSxLA1esE71WAiNDLpGsU0,6176
 dexcontrol/utils/rtc_utils.py,sha256=o2F9puC7CdAPnqiVq2vzomFZ7hMHljwtAbp9UiLhxJY,4426
 dexcontrol/utils/timer.py,sha256=1sOYYEapbZ5aBqJwknClsxgjDx0FDRQuGEdcTGnYTCI,3948
 dexcontrol/utils/trajectory_utils.py,sha256=gEi-hYSkySUO8rZPFig8t14vMxJPBY7hK-UldsXY1uA,1420
-dexcontrol/utils/viz_utils.py,sha256=UQPXIk2g4jlmbOeeSRk2hp5a3jGIdjUdBTg25Cs8CIE,2737
+dexcontrol/utils/viz_utils.py,sha256=UZZ-IX9yz7T9e8Rb-xN1wtD4H_vDBZxf-BSc7VGEMZo,2770
 dexcontrol/utils/zenoh_utils.py,sha256=JlfhNwg4agPSRb6_Gkqi3ymuw_b13bnnTWClchWpGn8,2809
 dexcontrol/utils/subscribers/__init__.py,sha256=Sqa-PPElwdUKxdh9BbU5MSqnf_i7BFqANrzVUXYUNuQ,1380
 dexcontrol/utils/subscribers/base.py,sha256=t4zcps_kjFG1wj6WSrZ4HJg0Bxcdnu-C8NkVVupmNVg,9769
-dexcontrol/utils/subscribers/camera.py,sha256=5XFLTpZxztyZfPHqtoET0E0svVeX87DiUC3bJYxa8xk,11171
+dexcontrol/utils/subscribers/camera.py,sha256=0kaeoKjKCxRQ5iaKK3r_94xEaVxNDBAMd2ZHL6X1kWU,11201
 dexcontrol/utils/subscribers/decoders.py,sha256=X39NY7zNEUlOaG0b1Eooc1T7U5SCQ3rZ2ddaz12fi0o,2134
 dexcontrol/utils/subscribers/generic.py,sha256=EKRutiu2zJBfzNIHCfYEfkcGE6QQTJmkOEMRRvEXJXA,3704
 dexcontrol/utils/subscribers/imu.py,sha256=Us4ZWzLfqujg16jvrNIoHcvUyxbRCv6mZlaAizvX6uo,5925
-dexcontrol/utils/subscribers/lidar.py,sha256=EmLIpjS2wVqXrkgaJZJTaIGijgFtOaOWE25A2kPTDmg,6961
+dexcontrol/utils/subscribers/lidar.py,sha256=ZIUpzfb-n5zLnCfZBDxJMMI4FKmlwdOYHQzpVlfIGQw,5631
 dexcontrol/utils/subscribers/protobuf.py,sha256=gtE2b9ZtR2UXftKA5nX7bvTLkj8AeXDYZMqe4B3t5BQ,3696
-dexcontrol/utils/subscribers/rtc.py,sha256=JA_GjRw-mI8D34bxGgx6ZFr3FIS6BTbd_vK6Ckaw98U,11225
-dexcontrol-0.2.3.dist-info/METADATA,sha256=4iPfeeBB_mRTBouvLaTeLAw7hMk0mOXpVLkRftPgGrM,36034
-dexcontrol-0.2.3.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-dexcontrol-0.2.3.dist-info/licenses/LICENSE,sha256=0J2KCMNNnW5WZPK5x8xUiCxApBf7h83693ggSJYiue0,31745
-dexcontrol-0.2.3.dist-info/RECORD,,
+dexcontrol/utils/subscribers/rtc.py,sha256=mxD-IIeQwluvq0_D63lQJJEXrJsIc6yxX7uD0PDh08k,11350
+dexcontrol-0.2.7.dist-info/METADATA,sha256=9V7o2gUcFDBux04BFEqFSmYs0MCA8Pxqbvara3g9Fe8,36790
+dexcontrol-0.2.7.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+dexcontrol-0.2.7.dist-info/licenses/LICENSE,sha256=0J2KCMNNnW5WZPK5x8xUiCxApBf7h83693ggSJYiue0,31745
+dexcontrol-0.2.7.dist-info/RECORD,,