dexbot-utils 0.4.5

Common robot utility classes and functions for Dexmate robots

Dexmate Robot Configuration Utilities

Type-safe dataclass configurations and a unified interface for accessing Dexmate robot information.

Installation

pip install dexbot-utils

Usage

RobotInfo (Recommended)

from dexbot_utils import RobotInfo

# Load by variant name
robot = RobotInfo("vega_1")

# Basic properties
print(robot.robot_model)     # "vega_1"
print(robot.robot_type)      # "vega"
print(robot.robot_version)   # "1"

# Component access
print(robot.has_left_arm)    # True
print(robot.get_component_list())
# ['left_arm', 'right_arm', 'torso', 'chassis', 'head', ...]

# Get component details
joints = robot.get_component_joints("left_arm")
# ['L_arm_j1', 'L_arm_j2', ..., 'L_arm_j7']

dof = robot.get_component_dof("left_arm")  # 7

# Access component config directly
arm_config = robot.get_component_config("left_arm")
print(arm_config.side)       # "left"
print(arm_config.pv_mode)    # False

# URDF queries (if URDF is loaded)
# URDF queries (if URDF is loaded)
if robot.has_urdf:
    joint_limits = robot.get_joint_limits()
    pos_limits = robot.get_joint_pos_limits()
    vel_limits = robot.get_joint_vel_limits()
    link_names = robot.get_link_names()

Environment Variables

Load configuration from environment:

export ROBOT_CONFIG=vega_1
# or derive from robot name
export ROBOT_NAME=dm/vgabcd123456-1  # -> vega_1

robot = RobotInfo()  # auto-loads from env

Direct Config Access

For direct access to configuration dataclasses:

from dexbot_utils.configs import get_robot_config, get_available_variants

# List available variants
variants = get_available_variants()
# ['vega_1', 'vega_1_gripper', ...]

# Get config directly
config = get_robot_config("vega_1")
left_arm = config.components["left_arm"]
print(left_arm.joints)

CLI

# List available configurations
# List available configurations
dexbot cfg list

# Show configuration details
dexbot cfg show vega_1

Advance Usage: Adding New Configs

1. Create Component Configs

Define components in configs/components/your_robot/:

# configs/components/my_robot/arm.py
from dataclasses import dataclass
from ..base import BaseJointComponentConfig

@dataclass
class MyArmConfig(BaseJointComponentConfig):
    side: str = "left"
    pv_mode: bool = False

    @property
    def joints(self) -> list[str]:
        prefix = "L" if self.side == "left" else "R"
        return [f"{prefix}_arm_j{i}" for i in range(1, 8)]

2. Create Robot Config

Define the robot in configs/robots/ with @register_variant:

# configs/robots/my_robot.py
from dataclasses import dataclass, field
from ..registry import register_variant
from ..components.my_robot import MyArmConfig
from .base import BaseRobotConfig, BaseComponentConfig

@register_variant("my_robot")
@dataclass
class MyRobotConfig(BaseRobotConfig):
    robot_model: str = "my_robot"
    abbr: str = "mr"
    urdf_path: str = "robots/my_robot/robot.urdf"

    components: dict[str, BaseComponentConfig] = field(
        default_factory=lambda: {
            "left_arm": MyArmConfig(side="left"),
            "right_arm": MyArmConfig(side="right"),
        }
    )

3. Register

Import in configs/robots/__init__.py:

from .my_robot import MyRobotConfig

Now use it:

robot = RobotInfo("my_robot")

Development

Setup

# Install dev dependencies
pip install -e ".[dev]"

# Setup pre-commit hooks
prek install

Licensing

This project is dual-licensed:

Open Source License

This software is available under the GNU Affero General Public License v3.0 (AGPL-3.0). See the 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.

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