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87 lines
4.3 KiB
87 lines
4.3 KiB
import os, sys
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this_file = os.path.abspath(__file__)
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project_root = os.path.abspath(os.path.join(os.path.dirname(this_file), '..'))
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if project_root not in sys.path:
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sys.path.insert(0, project_root)
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import time
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from televuer import TeleVuerWrapper
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# image client. if you want to test with real image stream,
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# please copy image_client.py and messaging.py from xr_teleoperate/teleop/image_server to the current directory before running this test script
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# from image_client import ImageClient
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import logging_mp
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logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
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def run_test_tv_wrapper():
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head_binocular = True
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head_img_shape = (480, 1280, 3) # default image shape
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# img_client = ImageClient(host="127.0.0.1") # 127.0.0.1 is localhost, 192.168.123.164 is unitree robot's host ip
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# if not img_client.has_head_cam():
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# logger_mp.error("Head camera is required. Please enable head camera on the image server side.")
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# head_img_shape = img_client.get_head_shape()
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# head_binocular = img_client.is_binocular()
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# xr-mode
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use_hand_track=False
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tv_wrapper = TeleVuerWrapper(binocular=head_binocular, use_hand_tracking=use_hand_track, img_shape=head_img_shape, return_hand_rot_data = True)
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try:
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input("Press Enter to start tv_wrapper test...")
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running = True
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while running:
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start_time = time.time()
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# image client
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# head_img, head_img_fps = img_client.get_head_frame()
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# tv_wrapper.set_display_image(head_img)
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logger_mp.info("---- TV Wrapper TeleData ----")
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teleData = tv_wrapper.get_tele_data()
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logger_mp.info("-------------------=== TeleData Snapshot ===-------------------")
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logger_mp.info(f"[Head Pose]:\n{teleData.head_pose}")
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logger_mp.info(f"[Left Wrist Pose]:\n{teleData.left_wrist_pose}")
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logger_mp.info(f"[Right Wrist Pose]:\n{teleData.right_wrist_pose}")
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if use_hand_track:
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logger_mp.info(f"[Left Hand Positions] shape {teleData.left_hand_pos.shape}:\n{teleData.left_hand_pos}")
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logger_mp.info(f"[Right Hand Positions] shape {teleData.right_hand_pos.shape}:\n{teleData.right_hand_pos}")
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if teleData.left_hand_rot is not None:
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logger_mp.info(f"[Left Hand Rotations] shape {teleData.left_hand_rot.shape}:\n{teleData.left_hand_rot}")
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if teleData.right_hand_rot is not None:
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logger_mp.info(f"[Right Hand Rotations] shape {teleData.right_hand_rot.shape}:\n{teleData.right_hand_rot}")
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logger_mp.info(f"[Left Pinch Value]: {teleData.left_hand_pinchValue:.2f}")
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logger_mp.info(f"[Left Squeeze Value]: {teleData.left_hand_squeezeValue:.2f}")
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logger_mp.info(f"[Right Pinch Value]: {teleData.right_hand_pinchValue:.2f}")
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logger_mp.info(f"[Right Squeeze Value]: {teleData.right_hand_squeezeValue:.2f}")
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else:
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logger_mp.info(f"[Left Trigger Value]: {teleData.left_ctrl_triggerValue:.2f}")
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logger_mp.info(f"[Left Squeeze Value]: {teleData.left_ctrl_squeezeValue:.2f}")
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logger_mp.info(f"[Left Thumbstick Value]: {teleData.left_ctrl_thumbstickValue}")
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logger_mp.info(f"[Left A/B Buttons]: A={teleData.left_ctrl_aButton}, B={teleData.left_ctrl_bButton}")
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logger_mp.info(f"[Right Trigger Value]: {teleData.right_ctrl_triggerValue:.2f}")
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logger_mp.info(f"[Right Squeeze Value]: {teleData.right_ctrl_squeezeValue:.2f}")
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logger_mp.info(f"[Right Thumbstick Value]: {teleData.right_ctrl_thumbstickValue}")
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logger_mp.info(f"[Right A/B Buttons]: A={teleData.right_ctrl_aButton}, B={teleData.right_ctrl_bButton}")
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current_time = time.time()
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time_elapsed = current_time - start_time
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sleep_time = max(0, 0.3 - time_elapsed)
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time.sleep(sleep_time)
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logger_mp.debug(f"main process sleep: {sleep_time}")
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except KeyboardInterrupt:
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running = False
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logger_mp.warning("KeyboardInterrupt, exiting program...")
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finally:
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tv_wrapper.close()
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# img_client.close()
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logger_mp.warning("Finally, exiting program...")
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exit(0)
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if __name__ == '__main__':
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run_test_tv_wrapper()
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