| from dobot_control.agents.dobot_agent import DobotAgent | |
| from scripts.manipulate_utils import load_ini_data_hands | |
| _, hands_dict = load_ini_data_hands() | |
| print("left hand ids: ", hands_dict["HAND_LEFT"].joint_ids) | |
| print("right hand ids: ", hands_dict["HAND_RIGHT"].joint_ids) | |
| left_agent = DobotAgent(which_hand="HAND_LEFT", dobot_config=hands_dict["HAND_LEFT"]) | |
| right_agent = DobotAgent(which_hand="HAND_RIGHT", dobot_config=hands_dict["HAND_RIGHT"]) | |
| # set torque | |
| right_agent.set_torque(True) | |
| left_agent.set_torque(True) | |
| while 1: | |
| print(left_agent.act({}), right_agent.act({})) # joints | |
| print(left_agent.get_keys(), right_agent.get_keys()) # button status | |