Overview

import videosdk_teleop as teleop
from videosdk_teleop import Follower, SafetyConfig, single_group_descriptor

JOINTS = ("shoulder", "elbow", "wrist", "gripper")


class MyArm(Follower):
    def __init__(self, **kw):
        self.position = {j: 0.0 for j in JOINTS}
        super().__init__(**kw)              # LAST

    def descriptor(self):
        return single_group_descriptor("my-arm", "my-arm", JOINTS,
                                       control_hz=30)

    def limits(self):
        return {j: (-90.0, 90.0) for j in JOINTS}

    def read_joints(self):
        return dict(self.position)         # replace with your driver

    def write_joints(self, joints):
        self.position.update(joints)       # replace with your driver


follower = MyArm(safety=SafetyConfig(slew=2.0), control_hz=30)

@follower.on_applied
def _(action):
    print("applied", action.command_id, action.action)

follower.run(hz=30)

from videosdk_teleop import Leader, single_group_descriptor

JOINTS = ("shoulder", "elbow", "wrist", "gripper")


class MyController(Leader):
    def __init__(self, **kw):
        self.target = {j: 0.0 for j in JOINTS}
        super().__init__(**kw)             # LAST

    def descriptor(self):
        return single_group_descriptor("my-controller", "my-arm", JOINTS,
                                       control_hz=30)

    def read_joints(self):
        return dict(self.target)           # replace with your input device


leader = MyController(sync_buffer_ms=120.0)

leader.start()
if not leader.claim_control(timeout_s=10):
    raise SystemExit("no control: denied, or the follower never answered")

leader.hold_deadman(True)

for i in leader.ticks(hz=30):
    obs = leader.observation()             # joints and camera, one instant
    leader.target["elbow"] = 20.0          # your input device goes here