cheng
50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
import multiprocessing as mp
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from gripper_control.calibration import ForceConverter
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from gripper_control.feedback import TactileFeedbackProcessor
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from gripper_control.force_reader import TwoSensorForceReader
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from gripper_control.hardware import GripperClient
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from gripper_control.paths import ensure_project_paths
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from .controller import SideTriggerGripController
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from .settings import Demo02Config
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def build_controller(argv=None):
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ensure_project_paths()
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config = Demo02Config.from_args(argv)
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normal_converter = ForceConverter.from_config(
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config.normal_force_calibration,
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"normal_force_calibration",
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)
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shear_converter = ForceConverter.from_config(
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config.shear_force_calibration,
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"shear_force_calibration",
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)
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reader = TwoSensorForceReader(
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video1=config.video1,
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video2=config.video2,
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config1=config.sensor_config1,
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config2=config.sensor_config2,
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rotation1=config.rotation1,
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rotation2=config.rotation2,
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target_fps=config.sensor_fps,
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cuda=not config.sensor_cpu,
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motion_threshold=config.motion_threshold,
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)
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gripper = GripperClient(config)
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feedback = TactileFeedbackProcessor(config, normal_converter, shear_converter)
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return SideTriggerGripController(config, reader, gripper, feedback)
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def main(argv=None):
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controller = build_controller(argv)
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controller.run()
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if __name__ == "__main__":
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mp.freeze_support()
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main()
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