| Name | dexsensor JSON |
| Version |
0.1.14
JSON |
| download |
| home_page | None |
| Summary | A Python library for processing sensor data on Dexmate Robots |
| upload_time | 2025-07-13 22:09:26 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | <3.14,>=3.10 |
| license | None |
| keywords |
robot
robotics
sensors
camera
imu
python
|
| VCS |
|
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
# 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.
```bash
# Install DexSensor package
pip install dexsensor
# Verify installation
dexsensor --help
```
## Quick Start
### Automatic Robot Detection
Set your robot model and launch sensors:
```bash
# Launch sensors with automatic detection
dexsensor launch
```
### Manual Robot Selection
```bash
# 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
```bash
# 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
```bash
# 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
```yaml
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](./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 licenses provide:
- Right to use in closed-source applications
- No source code disclosure requirements
- Priority support options
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"description": "# Dexsensor\n\nA 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.\n\n\n\n\n## Features\n\n- **Automatic Robot Detection**: Detects robot model and loads appropriate sensor configuration\n- **Multiple Robot Variants**: Support for different robot models with optimized sensor configurations \n- **Unified Sensor Management**: Consistent interface for cameras, IMU, LiDAR, and other sensors\n- **Real-time Communication**: High-performance sensor data streaming\n- **Flexible Configuration**: Easy configuration management with YAML files\n- **Command Line Interface**: Simple CLI for sensor control and configuration\n\n## Installation\n\nDexSensor is distributed as a pre-built package for Dexmate robot systems.\n\n```bash\n# Install DexSensor package\npip install dexsensor\n\n# Verify installation\ndexsensor --help\n```\n\n## Quick Start\n\n### Automatic Robot Detection\n\nSet your robot model and launch sensors:\n\n```bash\n# Launch sensors with automatic detection\ndexsensor launch\n```\n\n### Manual Robot Selection\n\n```bash\n# Launch specific sensors only\ndexsensor launch --sensor head_camera base_front_camera\n\n# Override configuration values\ndexsensor launch --set head_camera.fps=60 lidar.enable=true\n```\n\n\n## Command Line Interface\n\n### Launch Sensors\n\n```bash\n# Basic usage\ndexsensor launch\n\n\n# Launch specific sensors\ndexsensor launch --sensor head_camera lidar\n\n# Launch all sensors (enables all sensors regardless of default config)\ndexsensor launch --sensor all\n\n# Launch all base cameras (base_left, base_right, base_front, base_back)\ndexsensor launch --sensor base_camera\n\n# Override configuration\ndexsensor launch --set head_camera.fps=60 lidar.enable=true\n\n# Use custom configuration file\ndexsensor launch --config /path/to/config.yaml\n\n# Combine options\ndexsensor launch --set head_camera.fps=30 --sensor head_camera\n```\n\n### Configuration Management\n\n```bash\n# Generate configuration template\ndexsensor gen-cfg\n\n\n# Save to custom location\ndexsensor gen-cfg --output /path/to/config.yaml\n```\n\n### Command Options\n\n| Option | Description | Example |\n|--------|-------------|---------|\n| `--robot` | Specify robot variant | `--robot vega-1` |\n| `--sensor` | Launch specific sensors, \"all\", or \"base_camera\" | `--sensor head_camera lidar`, `--sensor all`, or `--sensor base_camera` |\n| `--config` | Use custom config file | `--config config.yaml` |\n| `--set` | Override config values | `--set head_camera.fps=60` |\n| `--zenoh` | Custom Zenoh config | `--zenoh zenoh.json5` |\n\n## Configuration\n\n### Configuration Files\n\nDexSensor uses YAML configuration files with the following precedence:\n\n1. **Command line overrides** (`--set key=value`)\n2. **Custom configuration files** (`--config file.yaml`)\n3. **Default configuration file** (`~/.dexmate/sensors/default_config.yaml`)\n4. **Robot variant defaults** (based on detected/specified robot model)\n\n### Configuration Example\n\n```yaml\nhead_camera:\n enable: true\n fps: 30\n resolution: HD1080\n depth_mode: NEURAL\n\nbase_front_camera:\n enable: true\n width: 640\n height: 480\n fps: 30\n format: MJPG\n\nlidar:\n enable: false\n ip_address: \"192.168.50.41\"\n udp_port: 8089\n\nbase_imu:\n enable: true\n\nhead_imu:\n enable: true\n```\n\n\n## Licensing\n\nThis project is dual-licensed:\n\n### Open Source License\nThis software is available under the GNU Affero General Public License v3.0 (AGPL-3.0).\nSee the [LICENSE](./LICENSE) file for details.\n\n### Commercial License\nFor 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\n\nCommercial licenses provide:\n- Right to use in closed-source applications\n- No source code disclosure requirements\n- Priority support options\n",
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