dexcontrol 0.3.0__py3-none-any.whl → 0.3.2__py3-none-any.whl

dexcontrol-0.3.2.dist-info/RECORD

@@ -0,0 +1,68 @@
+dexcontrol/__init__.py,sha256=IjeenMFvYyasRDb58qzVHdftwTH_nRgKDVLSmhH7g-k,2009
+dexcontrol/robot.py,sha256=mXezG10UMVBYynE-WD5_XBOjvnjVBhYZjarP_W09TPs,40471
+dexcontrol/apps/dualsense_teleop_base.py,sha256=HJ5aB9zaXdEUQtkd8Vrd0dQqYZrKH1nEjcSGSlDpYD4,12686
+dexcontrol/comm/__init__.py,sha256=YV8Sfv15vuUUqR2lg_H97RCHWUaOblxbI5NgigP4kzc,1272
+dexcontrol/comm/base.py,sha256=PjrEiK7fhGvJ6snaWziSeoNHiRe5I9JDiOs_ptLQC1s,12241
+dexcontrol/comm/rtc.py,sha256=kGFppq3ewXIY4OQ92cExf7AohoSrLImYyb_zBFpUswI,13118
+dexcontrol/comm/subscribers.py,sha256=eg_rdgEUDU8dMPpNsLYJhupxB52fKs7MJmfX9ung66Q,8946
+dexcontrol/config/__init__.py,sha256=UVLNpzGD14e8g68rUZFXTh0B7FRx6uS0Eg_MecjinYM,520
+dexcontrol/config/vega.py,sha256=Uh14vBOZoMAmFXQgjh-IK9x_W0j8YvqgUsoDNHx1ZsE,8443
+dexcontrol/config/core/__init__.py,sha256=Ym2R1hr1iMKQuXcg16BpZfQtTb0hQ5Q7smUIMlwKfho,637
+dexcontrol/config/core/arm.py,sha256=5hN1dQMe2H6oufaqgtZqx9vuB969DxM26leJqPsKEiA,1471
+dexcontrol/config/core/chassis.py,sha256=2FjyFujg2q7aw8J9BklNM7eeLxscY9BSTlBvz-tLwOM,1092
+dexcontrol/config/core/hand.py,sha256=r6XVyGCuwv7MFmaMLn7l3iPZUH376NZSmtsfLnznAgw,1033
+dexcontrol/config/core/head.py,sha256=SLwZE-lYEOk8XAmW-Ex7VkLF2w5HLItwsA3Dc7n5FtE,1061
+dexcontrol/config/core/misc.py,sha256=zHkJ144b6kbmMFE63wy_fgfo_6V-4XmM19hr6BUtQ0Y,1567
+dexcontrol/config/core/torso.py,sha256=DCTFgN1_Gn4THkKy23sIHOedACQtQ7cET3g4AmkVPco,1460
+dexcontrol/config/sensors/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
+dexcontrol/config/sensors/vega_sensors.py,sha256=m_Z5ywKxGBvP7pUr6dxLNnGEPI2jWt2hDtxln4uFnY8,2675
+dexcontrol/config/sensors/cameras/__init__.py,sha256=GmwRW9ovZ_JcpD2QmzTO_in_LRBoRDorjMVGY6XgGI8,383
+dexcontrol/config/sensors/cameras/rgb_camera.py,sha256=MN4SjyZlfbrQ3JKDDkT8HhC0Aiyc0bWfDLt4ik0Xcvs,1448
+dexcontrol/config/sensors/cameras/zed_camera.py,sha256=UGAjXlOu5E0M3vjMSIOqdvNjK8mhx52OIDgs5RksqUc,1895
+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
+dexcontrol/config/sensors/lidar/__init__.py,sha256=j8vFkF675Z7zKtCztJcyG7oSA_XqrD8OeQLEK0GACug,288
+dexcontrol/config/sensors/lidar/rplidar.py,sha256=ybuT_f1ADWF3oGH1gi6D2F80TbJEm4vbm68Fe108OAA,541
+dexcontrol/config/sensors/ultrasonic/__init__.py,sha256=-q83RhIMZJGVFVPYaA4hOugoG6wZw8EL6wJg7-HTSxU,294
+dexcontrol/config/sensors/ultrasonic/ultrasonic.py,sha256=7b4dm1QOhy5_5RFVpY-frXZyDzqok0K1u7ed9gf3PL0,552
+dexcontrol/core/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
+dexcontrol/core/arm.py,sha256=4T6s3WuzX7udq2RqesZkZ3KVq4ANmnJnvDFaLqR0X8k,16230
+dexcontrol/core/chassis.py,sha256=cxiZv86v9vWSGoWJLZZFn-vEo4OCDlh5S-J9Z0iED0c,24189
+dexcontrol/core/component.py,sha256=J7TscC7u4io38gS9SNaRvnBBH48LgKF6dRbSeHzl2Vk,36346
+dexcontrol/core/hand.py,sha256=yRimScGR0wdL6nPaoEO2M1okc7tYBXMIwriLjpOs35g,9596
+dexcontrol/core/head.py,sha256=Dd-Wk4-BiUM8q9LnTU017fijCwDT9QhFsU4v9Hqeo-E,9932
+dexcontrol/core/misc.py,sha256=nCY-rOslBZyx1w7QUfu6M7VZvMeiTfWg2eFTjYAbI-M,30809
+dexcontrol/core/robot_query_interface.py,sha256=JrZRH0YcOoFHHVjElxmesvOfjKv6YwzsbECLBudvOBk,17488
+dexcontrol/core/torso.py,sha256=xOLfhivwNM-JR8nw6Lg1FdctXlmX-qvjD2nUgHm5iKw,8762
+dexcontrol/proto/dexcontrol_msg_pb2.py,sha256=pIbSlweIVSU3hN13kZxPycySU_OYXPoHRuDh7NIBXho,5289
+dexcontrol/proto/dexcontrol_msg_pb2.pyi,sha256=1KpTJnLq6KG2eijZ_vlFq1JsTPeCeLz1IdmoUhW6Tec,8722
+dexcontrol/proto/dexcontrol_query_pb2.py,sha256=KXPCAaKb2n55MBxmhIaFvAoqbS9XsKD6RdztGNe0occ,6230
+dexcontrol/proto/dexcontrol_query_pb2.pyi,sha256=CGwwceF5Ibt9U3R8x2e7GjVNv2GyuD5WM_nyN4YF2wQ,7822
+dexcontrol/sensors/__init__.py,sha256=Dp06cuO_3xC6i4u5rHqfK5NqlIC5kaCue_bAtTC6JEE,960
+dexcontrol/sensors/manager.py,sha256=bvoKH6NIHEjfWsnffoUaNU14CDPkgOV06NL7NwY6s2U,6762
+dexcontrol/sensors/ultrasonic.py,sha256=1rXzA_5w5Lf6TgLvPLnNyiIAMS_cuTuJusLWEBkc_fc,2882
+dexcontrol/sensors/camera/__init__.py,sha256=Vwe98I4Lvdv3F2UslOzKkeUkt5Rl2jSqbKlU6gIBeF0,609
+dexcontrol/sensors/camera/base_camera.py,sha256=JqVb1b82CxMH1FleGobr5dxN18sbDaqotE8RuivGAJo,4741
+dexcontrol/sensors/camera/rgb_camera.py,sha256=w_SLJuJvbQgsq_h3DHNrTk8ofn8XEoX18GPCc-19g1g,6344
+dexcontrol/sensors/camera/zed_camera.py,sha256=zOLwszwk3lvlyajEvfPgEhrKrHhQeVBxyLH1ECOD9Gc,13590
+dexcontrol/sensors/imu/__init__.py,sha256=bBC7_NSLJ5qLMvUYu2-9yXKO2bRpQLC0HyywBwnbM0A,768
+dexcontrol/sensors/imu/chassis_imu.py,sha256=kRP7jAeDDim2C0gIV7xG31VSBO4dnXUZDMfh0JOzNDs,5611
+dexcontrol/sensors/imu/zed_imu.py,sha256=rGT0S2TIj0JGdlJMQKNldtCclOYunCmS0xdzvjAhq9A,5628
+dexcontrol/sensors/lidar/__init__.py,sha256=frF16HmeQnfbvH0dVJ4pPjD4TySF13wCk-O9L3Memeg,317
+dexcontrol/sensors/lidar/rplidar.py,sha256=MrmxP99-YsfoRlYUZTCcmvNbF-YCOLynhoe2tCMpDnE,4191
+dexcontrol/utils/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
+dexcontrol/utils/comm_helper.py,sha256=5KZPCc_HA3tnptlYlyYLjbi7H17BXqR_bwt9Fy_FjlQ,3572
+dexcontrol/utils/constants.py,sha256=uzR6AW5LNU3Otmf0G8M4yg-0iaHLhKtJ5e-OPuqxr9g,783
+dexcontrol/utils/error_code.py,sha256=iy840qnWn9wv_nVqyEDP8-l2CuXlPH2xXXW0k-5cHKk,7321
+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=F9cyAfI-h4JXT3HOlms2nxe6WI1CZuOA3QHUYQA7pk4,7560
+dexcontrol/utils/pb_utils.py,sha256=zN4pMS9GV9OTj1TmhcWTaDmfmgttyIDFJEuOE5tbCS0,2508
+dexcontrol/utils/timer.py,sha256=1sOYYEapbZ5aBqJwknClsxgjDx0FDRQuGEdcTGnYTCI,3948
+dexcontrol/utils/trajectory_utils.py,sha256=TURFb0DeDey0416z4L7AXiWcKJYsgg_bB5AE_JPSpXY,1879
+dexcontrol/utils/viz_utils.py,sha256=rKtZfu32-9D9CS4cSiil-oLub_MiKTJV6hURvJbKd0s,6295
+dexcontrol-0.3.2.dist-info/METADATA,sha256=DgATx_wkGCMVaJ6uuJOJYgVEGjeslTfRuSOrPqQY3A8,37269
+dexcontrol-0.3.2.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+dexcontrol-0.3.2.dist-info/licenses/LICENSE,sha256=0J2KCMNNnW5WZPK5x8xUiCxApBf7h83693ggSJYiue0,31745
+dexcontrol-0.3.2.dist-info/RECORD,,

dexcontrol/config/sensors/cameras/luxonis_camera.py

@@ -1,51 +0,0 @@
-# Copyright (C) 2025 Dexmate Inc.
-#
-# This software is dual-licensed:
-#
-# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
-#    See LICENSE-AGPL for details
-#
-# 2. Commercial License
-#    For commercial licensing terms, contact: contact@dexmate.ai
-
-from dataclasses import dataclass, field
-
-
-@dataclass
-class LuxonisCameraConfig:
-    """Configuration for LuxonisCameraSensor (wrist camera).
-
-    Attributes:
-        _target_: Target sensor class for Hydra instantiation.
-        name: Logical name of the camera.
-        enable: Whether this sensor is enabled.
-        enable_fps_tracking: Enable FPS tracking logs.
-        fps_log_interval: Frames between FPS logs.
-        subscriber_config: Topics for RGB and Depth Zenoh subscribers.
-    """
-
-    _target_: str = "dexcontrol.sensors.camera.luxonis_camera.LuxonisCameraSensor"
-    name: str = "wrist_camera"
-    enable: bool = False
-    enable_fps_tracking: bool = False
-    fps_log_interval: int = 30
-
-    # Note: Resolution is set by the publisher (dexsensor). The publisher now defaults
-    # to 720p to match common Luxonis sensor capabilities (e.g., OV9782 supports 720p/800p).
-    # These subscribers only define topics to consume.
-    subscriber_config: dict = field(
-        default_factory=lambda: {
-            "left_rgb": {
-                "enable": True,
-                "topic": "camera/wrist/left_rgb",
-            },
-            "right_rgb": {
-                "enable": True,
-                "topic": "camera/wrist/right_rgb",
-            },
-            "depth": {
-                "enable": False,
-                "topic": "camera/wrist/depth",
-            },
-        }
-    )

dexcontrol/sensors/camera/luxonis_camera.py

@@ -1,169 +0,0 @@
-# Copyright (C) 2025 Dexmate Inc.
-#
-# This software is dual-licensed:
-#
-# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
-#    See LICENSE-AGPL for details
-#
-# 2. Commercial License
-#    For commercial licensing terms, contact: contact@dexmate.ai
-
-"""Luxonis wrist camera sensor using RGB and depth Zenoh subscribers.
-
-This sensor mirrors the high-level API of other camera sensors. It subscribes to
-RGB (JPEG over Zenoh) and depth streams published by dexsensor's Luxonis camera
-pipeline and exposes a simple interface for getting images.
-"""
-
-from __future__ import annotations
-
-import logging
-from typing import Any, Dict, Optional, Union
-
-import numpy as np
-import zenoh
-
-from dexcontrol.config.sensors.cameras.luxonis_camera import LuxonisCameraConfig
-from dexcontrol.utils.subscribers.camera import (
-    DepthCameraSubscriber,
-    RGBCameraSubscriber,
-)
-
-logger = logging.getLogger(__name__)
-
-
-class LuxonisCameraSensor:
-    """RGBD camera sensor wrapper for Luxonis/OAK wrist camera.
-
-    Provides access to RGB and depth frames via dedicated Zenoh subscribers.
-    """
-
-    def __init__(
-        self,
-        configs: LuxonisCameraConfig,
-        zenoh_session: zenoh.Session,
-    ) -> None:
-        self._name = configs.name
-        self._configs = configs
-        self._zenoh_session = zenoh_session
-
-        # Support left and right RGB streams + depth, mirroring ZED structure
-        self._subscribers: Dict[str, Optional[Union[RGBCameraSubscriber, DepthCameraSubscriber]]] = {}
-
-        subscriber_config = configs.subscriber_config
-
-        try:
-            # Create subscribers for left_rgb, right_rgb, depth (configurable enables)
-            stream_defs: Dict[str, Dict[str, Any]] = {
-                "left_rgb": subscriber_config.get("left_rgb", {}),
-                "right_rgb": subscriber_config.get("right_rgb", {}),
-                "depth": subscriber_config.get("depth", {}),
-            }
-
-            for stream_name, cfg in stream_defs.items():
-                if not cfg or not cfg.get("enable", False):
-                    self._subscribers[stream_name] = None
-                    continue
-                topic = cfg.get("topic")
-                if not topic:
-                    logger.warning(f"'{self._name}': No topic configured for '{stream_name}'")
-                    self._subscribers[stream_name] = None
-                    continue
-
-                if stream_name == "depth":
-                    self._subscribers[stream_name] = DepthCameraSubscriber(
-                        topic=topic,
-                        zenoh_session=self._zenoh_session,
-                        name=f"{self._name}_{stream_name}_subscriber",
-                        enable_fps_tracking=configs.enable_fps_tracking,
-                        fps_log_interval=configs.fps_log_interval,
-                    )
-                else:
-                    self._subscribers[stream_name] = RGBCameraSubscriber(
-                        topic=topic,
-                        zenoh_session=self._zenoh_session,
-                        name=f"{self._name}_{stream_name}_subscriber",
-                        enable_fps_tracking=configs.enable_fps_tracking,
-                        fps_log_interval=configs.fps_log_interval,
-                    )
-
-        except Exception as e:
-            logger.error(f"Error creating Luxonis wrist camera subscribers: {e}")
-
-    # Lifecycle
-    def shutdown(self) -> None:
-        for sub in self._subscribers.values():
-            if sub:
-                sub.shutdown()
-        logger.info(f"'{self._name}' sensor shut down.")
-
-    # Status
-    def is_active(self) -> bool:
-        return any(sub.is_active() for sub in self._subscribers.values() if sub is not None)
-
-    def wait_for_active(self, timeout: float = 5.0, require_both: bool = False) -> bool:
-        subs = [s for s in self._subscribers.values() if s is not None]
-        if not subs:
-            return False
-        if require_both:
-            return all(s.wait_for_active(timeout) for s in subs)
-        return any(s.wait_for_active(timeout) for s in subs)
-
-    # Data access
-    def get_obs(
-        self, obs_keys: Optional[list[str]] = None, include_timestamp: bool = False
-    ) -> Dict[str, Optional[np.ndarray]]:
-        """Get latest images.
-
-        obs_keys can include any of: ["left_rgb", "right_rgb", "depth"]. If None, returns
-        all available. If include_timestamp is True and the underlying subscriber returns
-        (image, timestamp), that tuple is forwarded; otherwise only the image is returned.
-        """
-        keys_to_fetch = obs_keys or self.available_streams
-
-        out: Dict[str, Optional[np.ndarray]] = {}
-        for key in keys_to_fetch:
-            sub = self._subscribers.get(key)
-            data = sub.get_latest_data() if sub else None
-            is_tuple_or_list = isinstance(data, (tuple, list))
-            if include_timestamp:
-                if not is_tuple_or_list and data is not None:
-                    logger.warning(f"Timestamp is not available yet for {key} stream.")
-                out[key] = data
-            else:
-                out[key] = data[0] if is_tuple_or_list else data
-        return out
-
-    def get_rgb(self) -> Optional[np.ndarray]:
-        # Backward-compat: return left_rgb if available else right_rgb
-        for key in ("left_rgb", "right_rgb"):
-            sub = self._subscribers.get(key)
-            if sub:
-                data = sub.get_latest_data()
-                return data[0] if isinstance(data, (tuple, list)) else data
-        return None
-
-    def get_depth(self) -> Optional[np.ndarray]:
-        sub = self._subscribers.get("depth")
-        if not sub:
-            return None
-        data = sub.get_latest_data()
-        return data[0] if isinstance(data, (tuple, list)) else data
-
-    # Properties
-    @property
-    def fps(self) -> Dict[str, float]:
-        return {name: sub.fps for name, sub in self._subscribers.items() if sub is not None}
-
-    @property
-    def name(self) -> str:
-        return self._name
-
-    @property
-    def available_streams(self) -> list:
-        return [name for name, sub in self._subscribers.items() if sub is not None]
-
-    @property
-    def active_streams(self) -> list:
-        return [name for name, sub in self._subscribers.items() if sub and sub.is_active()]
-

dexcontrol/utils/rate_limiter.py

@@ -1,172 +0,0 @@
-# Copyright (C) 2025 Dexmate Inc.
-#
-# This software is dual-licensed:
-#
-# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
-#    See LICENSE-AGPL for details
-#
-# 2. Commercial License
-#    For commercial licensing terms, contact: contact@dexmate.ai
-
-"""Rate limiter utility for maintaining consistent execution rates."""
-
-import sys
-import time
-from typing import Final
-
-from loguru import logger
-
-
-class RateLimiter:
-    """Class for limiting execution rate to a target frequency.
-
-    This class provides rate limiting functionality by sleeping between iterations to
-    maintain a desired execution frequency. It also tracks statistics about the achieved
-    rate and missed deadlines.
-
-    Attributes:
-        period_sec: Time period between iterations in seconds.
-        target_rate_hz: Desired execution rate in Hz.
-        window_size: Size of moving average window for rate calculations.
-        last_time_sec: Timestamp of the last iteration.
-        next_time_sec: Scheduled timestamp for the next iteration.
-        start_time_sec: Timestamp when the rate limiter was initialized or reset.
-        duration_buffer: List of recent iteration durations for rate calculation.
-        missed_deadlines: Counter for iterations that missed their scheduled time.
-        iterations: Total number of iterations since initialization or reset.
-    """
-
-    def __init__(self, rate_hz: float, window_size: int = 50) -> None:
-        """Initializes rate limiter.
-
-        Args:
-            rate_hz: Desired rate in Hz.
-            window_size: Size of moving average window for rate calculations.
-
-        Raises:
-            ValueError: If rate_hz is not positive.
-        """
-        if rate_hz <= 0:
-            raise ValueError("Rate must be positive")
-
-        self.period_sec: Final[float] = 1.0 / rate_hz
-        self.target_rate_hz: Final[float] = rate_hz
-        self.window_size: Final[int] = max(1, window_size)
-
-        # Initialize timing variables
-        now_sec = time.monotonic()
-        self.last_time_sec: float = now_sec
-        self.next_time_sec: float = now_sec + self.period_sec
-        self.start_time_sec: float = now_sec
-
-        # Initialize statistics
-        self.duration_buffer: list[float] = []
-        self.missed_deadlines: int = 0
-        self.iterations: int = 0
-        self._MAX_ITERATIONS: Final[int] = sys.maxsize - 1000  # Leave some buffer
-
-    def sleep(self) -> None:
-        """Sleeps to maintain desired rate.
-
-        Sleeps for the appropriate duration to maintain the target rate. If the next
-        scheduled time has already passed, increments the missed deadlines counter.
-        Uses monotonic time for reliable timing regardless of system clock changes.
-        """
-        current_time_sec = time.monotonic()
-        sleep_time_sec = self.next_time_sec - current_time_sec
-
-        if sleep_time_sec > 0:
-            time.sleep(sleep_time_sec)
-        else:
-            self.missed_deadlines += 1
-
-        # Update timing and statistics
-        now_sec = time.monotonic()
-
-        # Reset iterations if approaching max value
-        if self.iterations >= self._MAX_ITERATIONS:
-            logger.warning(
-                "Iteration counter approaching max value, resetting statistics"
-            )
-            self.reset()
-            return
-
-        self.iterations += 1
-
-        if self.iterations > 1:  # Skip first iteration
-            duration_sec = now_sec - self.last_time_sec
-            if len(self.duration_buffer) >= self.window_size:
-                self.duration_buffer.pop(0)
-            self.duration_buffer.append(duration_sec)
-
-        self.last_time_sec = now_sec
-
-        # More efficient way to advance next_time_sec when multiple periods behind
-        periods_behind = max(
-            0, int((now_sec - self.next_time_sec) / self.period_sec) + 1
-        )
-        self.next_time_sec += periods_behind * self.period_sec
-
-    def get_actual_rate(self) -> float:
-        """Calculates actual achieved rate in Hz using moving average.
-
-        Returns:
-            Current execution rate based on recent iterations.
-        """
-        if not self.duration_buffer:
-            return 0.0
-        avg_duration_sec = sum(self.duration_buffer) / len(self.duration_buffer)
-        return 0.0 if avg_duration_sec <= 0 else 1.0 / avg_duration_sec
-
-    def get_average_rate(self) -> float:
-        """Calculates average rate over entire run.
-
-        Returns:
-            Average execution rate since start or last reset.
-        """
-        if self.iterations < 2:
-            return 0.0
-        total_time_sec = time.monotonic() - self.start_time_sec
-        return 0.0 if total_time_sec <= 0 else self.iterations / total_time_sec
-
-    def reset(self) -> None:
-        """Resets the rate limiter state and statistics."""
-        now_sec = time.monotonic()
-        self.last_time_sec = now_sec
-        self.next_time_sec = now_sec + self.period_sec
-        self.start_time_sec = now_sec
-        self.duration_buffer.clear()
-        self.missed_deadlines = 0
-        self.iterations = 0
-
-    def get_stats(self) -> dict[str, float | int]:
-        """Gets runtime statistics.
-
-        Returns:
-            Dictionary containing execution statistics including actual rate,
-            average rate, target rate, missed deadlines and iteration count.
-        """
-        return {
-            "actual_rate": self.get_actual_rate(),
-            "average_rate": self.get_average_rate(),
-            "target_rate": self.target_rate_hz,
-            "missed_deadlines": self.missed_deadlines,
-            "iterations": self.iterations,
-        }
-
-
-if __name__ == "__main__":
-    rate_limiter = RateLimiter(100.0)  # 100Hz
-
-    try:
-        while True:
-            rate_limiter.sleep()
-            actual_rate = rate_limiter.get_actual_rate()
-            logger.info(f"Rate: {actual_rate:.2f} Hz")
-
-    except KeyboardInterrupt:
-        stats = rate_limiter.get_stats()
-        logger.info("\nFinal stats:")
-        logger.info(f"Average rate: {stats['average_rate']:.2f} Hz")
-        logger.info(f"Final rate: {stats['actual_rate']:.2f} Hz")
-        logger.info(f"Missed deadlines: {stats['missed_deadlines']}")

dexcontrol/utils/rtc_utils.py

@@ -1,144 +0,0 @@
-# Copyright (C) 2025 Dexmate Inc.
-#
-# This software is dual-licensed:
-#
-# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
-#    See LICENSE-AGPL for details
-#
-# 2. Commercial License
-#    For commercial licensing terms, contact: contact@dexmate.ai
-
-"""RTC utilities for dexcontrol.
-
-This module provides utility functions for creating RTC subscribers
-that first query Zenoh for connection information.
-"""
-
-import zenoh
-from loguru import logger
-
-from dexcontrol.utils.subscribers.rtc import RTCSubscriber
-from dexcontrol.utils.zenoh_utils import query_zenoh_json
-
-
-def query_rtc_info(
-    zenoh_session: zenoh.Session,
-    info_topic: str,
-    timeout: float = 2.0,
-    max_retries: int = 1,
-    retry_delay: float = 0.5,
-) -> dict | None:
-    """Query Zenoh for RTC connection information.
-
-    Args:
-        zenoh_session: Active Zenoh session for communication.
-        info_topic: Zenoh topic to query for RTC info.
-        timeout: Maximum time to wait for a response in seconds.
-        max_retries: Maximum number of retry attempts.
-        retry_delay: Initial delay between retries (doubles each retry).
-
-    Returns:
-        Dictionary containing host and port information if successful, None otherwise.
-    """
-
-    # Use the general Zenoh query function
-    info = query_zenoh_json(
-        zenoh_session=zenoh_session,
-        topic=info_topic,
-        timeout=timeout,
-        max_retries=max_retries,
-        retry_delay=retry_delay,
-    )
-
-    return info
-
-
-def create_rtc_subscriber_from_zenoh(
-    zenoh_session: zenoh.Session,
-    info_topic: str,
-    name: str = "rtc_subscriber",
-    enable_fps_tracking: bool = True,
-    fps_log_interval: int = 100,
-    query_timeout: float = 2.0,
-    max_retries: int = 1,
-) -> RTCSubscriber | None:
-    """Create a RTC subscriber by first querying Zenoh for connection info.
-
-    Args:
-        zenoh_session: Active Zenoh session for communication.
-        info_topic: Zenoh topic to query for RTC connection info.
-        name: Name for logging purposes.
-        enable_fps_tracking: Whether to track and log FPS metrics.
-        fps_log_interval: Number of frames between FPS calculations.
-        query_timeout: Maximum time to wait for Zenoh query response.
-        max_retries: Maximum number of retry attempts for Zenoh query.
-
-    Returns:
-        RTCSubscriber instance if successful, None otherwise.
-    """
-    # Query Zenoh for RTC connection information
-    rtc_info = query_rtc_info(zenoh_session, info_topic, query_timeout, max_retries)
-
-    if rtc_info is None:
-        logger.error("Failed to get RTC connection info from Zenoh")
-        return None
-
-    url = rtc_info.get("signaling_url")
-
-    if not url:
-        logger.error(f"Invalid RTC info: url={url}")
-        return None
-
-    # Construct WebSocket URL
-    ws_url = url
-    logger.info(f"Creating RTC subscriber with URL: {ws_url}")
-
-    try:
-        # Create and return the RTC subscriber
-        subscriber = RTCSubscriber(
-            url=ws_url,
-            name=name,
-            enable_fps_tracking=enable_fps_tracking,
-            fps_log_interval=fps_log_interval,
-        )
-        return subscriber
-    except Exception as e:
-        logger.error(f"Failed to create RTC subscriber: {e}")
-        return None
-
-
-def create_rtc_subscriber_with_config(
-    zenoh_session: zenoh.Session,
-    config,
-    name: str = "rtc_subscriber",
-    enable_fps_tracking: bool = True,
-    fps_log_interval: int = 100,
-) -> RTCSubscriber | None:
-    """Create a RTC subscriber using configuration object.
-
-    Args:
-        zenoh_session: Active Zenoh session for communication.
-        config: Configuration object containing info_key.
-        name: Name for logging purposes.
-        enable_fps_tracking: Whether to track and log FPS metrics.
-        fps_log_interval: Number of frames between FPS calculations.
-    Returns:
-        RTCSubscriber instance if successful, None otherwise.
-    """
-    if "info_key" not in config:
-        logger.error("Config subscriber_config missing info_key")
-        return None
-
-    if not config["enable"]:
-        logger.info(f"Skipping {name} because it is disabled")
-        return None
-
-    info_topic = config["info_key"]
-
-    return create_rtc_subscriber_from_zenoh(
-        zenoh_session=zenoh_session,
-        info_topic=info_topic,
-        name=name,
-        enable_fps_tracking=enable_fps_tracking,
-        fps_log_interval=fps_log_interval,
-    )

dexcontrol/utils/subscribers/__init__.py

@@ -1,52 +0,0 @@
-# Copyright (C) 2025 Dexmate Inc.
-#
-# This software is dual-licensed:
-#
-# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
-#    See LICENSE-AGPL for details
-#
-# 2. Commercial License
-#    For commercial licensing terms, contact: contact@dexmate.ai
-
-"""Zenoh subscriber utilities for dexcontrol.
-
-This module provides a collection of subscriber classes and utilities for handling
-Zenoh communication in a flexible and reusable way.
-"""
-
-from .base import BaseZenohSubscriber, CustomDataHandler
-from .camera import DepthCameraSubscriber, RGBCameraSubscriber, RGBDCameraSubscriber
-from .decoders import (
-    DecoderFunction,
-    json_decoder,
-    protobuf_decoder,
-    raw_bytes_decoder,
-    string_decoder,
-)
-from .generic import GenericZenohSubscriber
-from .imu import IMUSubscriber
-from .lidar import LidarSubscriber
-from .protobuf import ProtobufZenohSubscriber
-from .rtc import RTCSubscriber
-
-__all__ = [
-    "BaseZenohSubscriber",
-    "CustomDataHandler",
-    "GenericZenohSubscriber",
-    "ProtobufZenohSubscriber",
-    "DecoderFunction",
-    "protobuf_decoder",
-    "raw_bytes_decoder",
-    "json_decoder",
-    "string_decoder",
-    # Camera subscribers
-    "RGBCameraSubscriber",
-    "DepthCameraSubscriber",
-    "RGBDCameraSubscriber",
-    # Lidar subscriber
-    "LidarSubscriber",
-    # IMU subscriber
-    "IMUSubscriber",
-    # RTC subscriber
-    "RTCSubscriber",
-]