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- """Module for teleoperating a physical robot.
-
- This module provides functionality for controlling a physical robot through
- teleoperation, allowing real-time control of robot movements and actions.
- """
-
- from dynamixel import Dynamixel
- from robot import Robot
-
- leader_dynamixel = Dynamixel.Config(
- baudrate=1_000_000, device_name="/dev/ttyDXL_master_right",
- ).instantiate()
- follower_dynamixel = Dynamixel.Config(
- baudrate=1_000_000, device_name="/dev/ttyDXL_puppet_right",
- ).instantiate()
- follower = Robot(follower_dynamixel, servo_ids=[1, 2, 3, 4, 5, 6, 7, 8])
- leader = Robot(leader_dynamixel, servo_ids=[1, 2, 3, 4, 5, 6, 7, 8])
- # leader.set_trigger_torque()
-
- import time
-
- times_rec = []
- times_send = []
-
- while True:
- now = time.time()
- pos = leader.read_position()
- # print(f"Time to rec pos: {(time.time() - now) * 1000}")
- follower.set_goal_pos(pos)
- print(f"Time to send pos: {(time.time() - now) * 1000}")
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