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haixuanTao/read_data.py

Created November 5, 2024 06:08
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read piper data
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read_data.py
from piper_sdk import *
piper_left = C_PiperInterface("can_left")
piper_left.ConnectPort()
piper_right = C_PiperInterface("can_right")
piper_right.ConnectPort()
joint_left = piper_left.GetArmJointMsgs()
joint_right = piper_right.GetArmJointMsgs()
factor = 57324.840764 #1000*180/3.14
joint_left_value = []
joint_left_value += [joint_left.joint_state.joint_0 / factor]
joint_left_value += [joint_left.joint_state.joint_1 / factor]
joint_left_value += [joint_left.joint_state.joint_2 / factor]
joint_left_value += [joint_left.joint_state.joint_3 / factor]
joint_left_value += [joint_left.joint_state.joint_4 / factor]
joint_left_value += [joint_left.joint_state.joint_5 / factor]
joint_left_value += [joint_left.joint_state.joint_6 / factor]
joint_right_value = []
joint_right_value += [joint_right.joint_state.joint_0 / factor]
joint_right_value += [joint_right.joint_state.joint_1 / factor]
joint_right_value += [joint_right.joint_state.joint_2 / factor]
joint_right_value += [joint_right.joint_state.joint_3 / factor]
joint_right_value += [joint_right.joint_state.joint_4 / factor]
joint_right_value += [joint_right.joint_state.joint_5 / factor]
joint_right_value += [joint_right.joint_state.joint_6 / factor]
print(joint_left_value)
print(joint_right_value)
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