mirror of
https://github.com/huggingface/lerobot.git
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Martino Russi
33 lines
1017 B
Python
33 lines
1017 B
Python
# snifflonger.py
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import csv, time, sys
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from sniff import LowCmdSniffer # uses latest() -> ok, q, dq, kp, kd, tau
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IFACE = sys.argv[1] if len(sys.argv) > 1 else "en7"
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DT = float(sys.argv[2]) if len(sys.argv) > 2 else 0.01 # seconds
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N = 35
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def header(prefix):
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return [f"{prefix}{i}" for i in range(N)]
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def main():
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sniffer = LowCmdSniffer(iface=IFACE)
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with open("lowcmd_log.csv", "w", newline="") as f:
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w = csv.writer(f)
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w.writerow(["t"] + header("kp") + header("kd") + header("q") + header("dq") + header("tau"))
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try:
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while True:
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ok, q, dq, kp, kd, tau = sniffer.latest()
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if ok:
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t = time.time()
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# ensure lists (in case numpy arrays)
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w.writerow([t, *kp.tolist(), *kd.tolist(), *q.tolist(), *dq.tolist(), *tau.tolist()])
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f.flush()
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time.sleep(DT)
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except KeyboardInterrupt:
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pass
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if __name__ == "__main__":
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main()
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