mirror of
https://github.com/huggingface/lerobot.git
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Martino Russi
72 lines
2.0 KiB
Python
72 lines
2.0 KiB
Python
#!/usr/bin/env python3
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"""
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Simple example using the Enhanced LocoClient with cleanup.
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This demonstrates the enhanced SDK with proper resource management.
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"""
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import sys
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import time
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sys.path.append('/Users/nepyope/Documents/unitree/unitree_IL_lerobot/unitree_sdk2_python')
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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.g1.loco.g1_loco_client_enhanced import LocoClient
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def main():
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network_interface = "en7" if len(sys.argv) < 2 else sys.argv[1]
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print("=" * 70)
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print("G1 Enhanced SDK Example: Damp (1s) → Zero Torque (1s)")
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print("=" * 70)
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print(f"Network: {network_interface}\n")
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try:
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# Initialize DDS
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print("[1/4] Initializing DDS...")
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ChannelFactoryInitialize(0, network_interface)
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time.sleep(3)
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print(" ✓ DDS ready\n")
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# Use context manager for automatic cleanup
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print("[2/4] Connecting to robot...")
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with LocoClient(auto_damp_on_close=True) as client:
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client.SetTimeout(5.0)
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print(" ✓ Connected\n")
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# Commands
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print("[3/4] Executing commands...")
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print(" → DAMP mode...")
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client.Damp()
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time.sleep(1)
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print(" ✓ Damp complete")
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print(" → ZERO TORQUE mode...")
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client.ZeroTorque()
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time.sleep(1)
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print(" ✓ Zero torque complete\n")
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print("[4/4] Disconnecting...")
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# Context manager will auto-cleanup and damp here
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print(" ✓ Disconnected safely\n")
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print("=" * 70)
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print("SUCCESS: All operations completed")
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print("=" * 70)
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except KeyboardInterrupt:
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print("\n⚠ Interrupted by user")
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return 1
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except Exception as e:
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print(f"\n❌ Error: {e}")
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return 1
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return 0
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if __name__ == "__main__":
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exit(main())
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