dexbot-utils 0.4.0

Common robot utility classes and functions for Dexmate robots

Robot Configuration and URDF 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"

# Component access
joints = robot.get_component_joints("left_arm")
dof = robot.get_component_dof("left_arm")

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

Environment Variables

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

robot = RobotInfo()  # auto-loads from env

CLI

# List available configurations
dexbot cfg list

# Show configuration details
dexbot cfg show vega_1

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.

---

🤝 Ready to build amazing robots?

📧 Contact Us •