init

gripper/main.py

@@ -1,60 +1,6 @@
 import multiprocessing as mp
 
-from .calibration import ForceConverter
-from .feedback import TactileFeedbackProcessor
-from .force_reader import TwoSensorForceReader
-from .hardware import GripperClient
-from .paths import ensure_project_paths
-
-from .controller import SideTriggerGripController
-from .settings import Demo02Config
-
-
-def build_controller(
-    argv=None,
-    status_callback=None,
-    include_visuals=False,
-    visual_size=320,
-):
-    ensure_project_paths()
-    config = Demo02Config.from_args(argv)
-
-    normal_converter = ForceConverter.from_config(
-        config.normal_force_calibration,
-        "normal_force_calibration",
-    )
-    shear_converter = ForceConverter.from_config(
-        config.shear_force_calibration,
-        "shear_force_calibration",
-    )
-
-    reader = TwoSensorForceReader(
-        video1=config.video1,
-        video2=config.video2,
-        config1=config.sensor_config1,
-        config2=config.sensor_config2,
-        rotation1=config.rotation1,
-        rotation2=config.rotation2,
-        target_fps=config.sensor_fps,
-        cuda=not config.sensor_cpu,
-        motion_threshold=config.motion_threshold,
-        include_visuals=include_visuals,
-        visual_size=visual_size,
-    )
-    gripper = GripperClient(config)
-    feedback = TactileFeedbackProcessor(config, normal_converter, shear_converter)
-    return SideTriggerGripController(
-        config,
-        reader,
-        gripper,
-        feedback,
-        status_callback=status_callback,
-    )
-
-
-def main(argv=None):
-    controller = build_controller(argv)
-    controller.run()
+from .app import build_controller, main
 
 
 if __name__ == "__main__":