cheng
50 lines
1.4 KiB
Python
50 lines
1.4 KiB
Python
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()
|
|
|