File size: 686 Bytes
d7b60cc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
from trlc_dk1.leader import DK1Leader, DK1LeaderConfig
import time
follower_config = DK1FollowerConfig(
port="/dev/tty.usbmodem00000000050C1",
joint_velocity_scaling=0.2,
)
leader_config = DK1LeaderConfig(
port="/dev/tty.usbmodem5A680096411"
)
leader = DK1Leader(leader_config)
leader.connect()
follower = DK1Follower(follower_config)
follower.connect()
freq = 200 # Hz
try:
while True:
action = leader.get_action()
follower.send_action(action)
time.sleep(1/freq)
except KeyboardInterrupt:
print("\nStopping teleop...")
leader.disconnect()
follower.disconnect()
|