dexsensor 0.1.13

A Python library for processing sensor data on Dexmate Robots

Dexsensor

A unified sensor management system for Dexmate robots. Dexsensor provides automatic robot detection and configuration for cameras, IMU, LiDAR, and other sensors through an easy-to-use command line interface.

Features

• Automatic Robot Detection: Detects robot model and loads appropriate sensor configuration
• Multiple Robot Variants: Support for different robot models with optimized sensor configurations
• Unified Sensor Management: Consistent interface for cameras, IMU, LiDAR, and other sensors
• Real-time Communication: High-performance sensor data streaming
• Flexible Configuration: Easy configuration management with YAML files
• Command Line Interface: Simple CLI for sensor control and configuration

Installation

DexSensor is distributed as a pre-built package for Dexmate robot systems.

# Install DexSensor package
pip install dexsensor

# Verify installation
dexsensor --help

Quick Start

Automatic Robot Detection

Set your robot model and launch sensors:

# Launch sensors with automatic detection
dexsensor launch

Manual Robot Selection

# Launch specific sensors only
dexsensor launch --sensor head_camera base_front_camera

# Override configuration values
dexsensor launch --set head_camera.fps=60 lidar.enable=true

Command Line Interface

Launch Sensors

# Basic usage
dexsensor launch


# Launch specific sensors
dexsensor launch --sensor head_camera lidar

# Launch all sensors (enables all sensors regardless of default config)
dexsensor launch --sensor all

# Launch all base cameras (base_left, base_right, base_front, base_back)
dexsensor launch --sensor base_camera

# Override configuration
dexsensor launch --set head_camera.fps=60 lidar.enable=true

# Use custom configuration file
dexsensor launch --config /path/to/config.yaml

# Combine options
dexsensor launch --set head_camera.fps=30 --sensor head_camera

Configuration Management

# Generate configuration template
dexsensor gen-cfg


# Save to custom location
dexsensor gen-cfg --output /path/to/config.yaml

Command Options

Option	Description	Example
--robot	Specify robot variant	--robot vega-1
--sensor	Launch specific sensors, "all", or "base_camera"	--sensor head_camera lidar, --sensor all, or --sensor base_camera
--config	Use custom config file	--config config.yaml
--set	Override config values	--set head_camera.fps=60
--zenoh	Custom Zenoh config	--zenoh zenoh.json5

Configuration

Configuration Files

DexSensor uses YAML configuration files with the following precedence:

1. Command line overrides (--set key=value)
2. Custom configuration files (--config file.yaml)
3. Default configuration file (~/.dexmate/sensors/default_config.yaml)
4. Robot variant defaults (based on detected/specified robot model)

Configuration Example

head_camera:
  enable: true
  fps: 30
  resolution: HD1080
  depth_mode: NEURAL

base_front_camera:
  enable: true
  width: 640
  height: 480
  fps: 30
  format: MJPG

lidar:
  enable: false
  ip_address: "192.168.50.41"
  udp_port: 8089

base_imu:
  enable: true

head_imu:
  enable: true

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. Contact us for commercial licensing: [e-mail]

Commercial licenses provide:

• Right to use in closed-source applications
• No source code disclosure requirements
• Priority support options