| 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() | |