init

gripper_control/main.py

@@ -0,0 +1,49 @@
+import multiprocessing as mp
+
+from .calibration import ForceConverter
+from .config import ControlConfig
+from .controller import TimedCycleGripperController
+from .feedback import TactileFeedbackProcessor
+from .force_reader import TwoSensorForceReader
+from .hardware import GripperClient
+from .paths import ensure_project_paths
+
+
+def build_controller(argv=None):
+    ensure_project_paths()
+    config = ControlConfig.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,
+    )
+    gripper = GripperClient(config)
+    feedback = TactileFeedbackProcessor(config, normal_converter, shear_converter)
+    return TimedCycleGripperController(config, reader, gripper, feedback)
+
+
+def main(argv=None):
+    controller = build_controller(argv)
+    controller.run()
+
+
+if __name__ == "__main__":
+    mp.freeze_support()
+    main()
+