cheng
63 lines
1.7 KiB
Python
63 lines
1.7 KiB
Python
import multiprocessing as mp
|
|
|
|
from gripper_control.calibration import ForceConverter
|
|
from gripper_control.feedback import TactileFeedbackProcessor
|
|
from gripper_control.force_reader import TwoSensorForceReader
|
|
from gripper_control.hardware import GripperClient
|
|
from gripper_control.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()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
mp.freeze_support()
|
|
main()
|