mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 18:20:08 +00:00
Martino Russi
72 lines
2.0 KiB
Python
72 lines
2.0 KiB
Python
#!/usr/bin/env python3
|
|
"""
|
|
Simple example using the Enhanced LocoClient with cleanup.
|
|
|
|
This demonstrates the enhanced SDK with proper resource management.
|
|
"""
|
|
|
|
import sys
|
|
import time
|
|
|
|
sys.path.append('/Users/nepyope/Documents/unitree/unitree_IL_lerobot/unitree_sdk2_python')
|
|
|
|
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
|
|
from unitree_sdk2py.g1.loco.g1_loco_client_enhanced import LocoClient
|
|
|
|
|
|
def main():
|
|
network_interface = "en7" if len(sys.argv) < 2 else sys.argv[1]
|
|
|
|
print("=" * 70)
|
|
print("G1 Enhanced SDK Example: Damp (1s) → Zero Torque (1s)")
|
|
print("=" * 70)
|
|
print(f"Network: {network_interface}\n")
|
|
|
|
try:
|
|
# Initialize DDS
|
|
print("[1/4] Initializing DDS...")
|
|
ChannelFactoryInitialize(0, network_interface)
|
|
time.sleep(3)
|
|
print(" ✓ DDS ready\n")
|
|
|
|
# Use context manager for automatic cleanup
|
|
print("[2/4] Connecting to robot...")
|
|
with LocoClient(auto_damp_on_close=True) as client:
|
|
client.SetTimeout(5.0)
|
|
print(" ✓ Connected\n")
|
|
|
|
# Commands
|
|
print("[3/4] Executing commands...")
|
|
|
|
print(" → DAMP mode...")
|
|
client.Damp()
|
|
time.sleep(1)
|
|
print(" ✓ Damp complete")
|
|
|
|
print(" → ZERO TORQUE mode...")
|
|
client.ZeroTorque()
|
|
time.sleep(1)
|
|
print(" ✓ Zero torque complete\n")
|
|
|
|
print("[4/4] Disconnecting...")
|
|
# Context manager will auto-cleanup and damp here
|
|
|
|
print(" ✓ Disconnected safely\n")
|
|
print("=" * 70)
|
|
print("SUCCESS: All operations completed")
|
|
print("=" * 70)
|
|
|
|
except KeyboardInterrupt:
|
|
print("\n⚠ Interrupted by user")
|
|
return 1
|
|
|
|
except Exception as e:
|
|
print(f"\n❌ Error: {e}")
|
|
return 1
|
|
|
|
return 0
|
|
|
|
|
|
if __name__ == "__main__":
|
|
exit(main())
|