52 lines
1.7 KiB
Python
52 lines
1.7 KiB
Python
import time
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import traceback
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from lerobot.common.robots.hope_jr import HopeJrHand, HopeJrHandConfig, homonculus_glove_to_hope_jr_hand
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from lerobot.common.teleoperators.homonculus import HomonculusGlove, HomonculusGloveConfig
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from lerobot.common.utils.utils import move_cursor_up
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def make_right_hand() -> tuple[HomonculusGlove, HopeJrHand]:
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right_glove_cfg = HomonculusGloveConfig("/dev/tty.usbmodem2101", id="right", side="right")
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right_glove = HomonculusGlove(right_glove_cfg)
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right_hand_cfg = HopeJrHandConfig("/dev/tty.usbserial-140", id="right", side="right")
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right_hand = HopeJrHand(right_hand_cfg)
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return right_glove, right_hand
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def main():
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right_glove, right_hand = make_right_hand()
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right_glove.connect()
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right_hand.connect()
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display_len = max(len(key) for key in right_hand.action_features)
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try:
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while True:
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start = time.perf_counter()
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right_glove_action = right_glove.get_action()
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right_hand_action = homonculus_glove_to_hope_jr_hand(right_glove_action)
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right_hand.send_action(right_hand_action)
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time.sleep(0.01)
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loop_s = time.perf_counter() - start
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print(f"\n{'NAME':<{display_len}} | {'HAND':>7}")
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for joint, val in right_hand_action.items():
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print(f"{joint:<{display_len}} | {val:>7.2f}")
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print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
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move_cursor_up(len(right_hand_action) + 4)
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except KeyboardInterrupt:
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pass
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except Exception:
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traceback.print_exc()
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finally:
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right_glove.disconnect()
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right_hand.disconnect()
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if __name__ == "__main__":
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main()
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