+ =RjRt^RIt^RIt^RIt^RIt^RIt^RIt^RIt^RIH t H t ^RI H t H t ^.json) AND currently responding on the bus — so a partially-connected/partially-calibrated arm just works, with a note on what's live vs missing. Torque is disabled so you can move the joints by hand and watch the sim follow. Read-only: it never commands the servos. Usage: python live_mirror.py --config arm [--port /dev/tty...] [--rate 40] [--model PATH] N)Bus ticks_to_rad)CONFIGS calib_pathc \ \P!4pVPRRR7VPRRR7VPR\RR7VPRRR R 7VP 4p\ VP ,pVP;'g VR ,p\VP 4p\P!\V44pX'g\P!V R24\P P#V4p\P$!V4p.p.p \'VP)4RR7Fwr\P*!V\P,P.V R,4p V ^8dV P1WR,34K^VP1\3V 4\3VP4V ,4\3V R,4V R,34K V'g8\P!R\6P8P;V4 R24VP<'d\?VP<4M \?4p ..rVF4pV PAV^,4'dTMTP1V4K6 \CVPD4Uu.uFnp\3VPFV,4\PHPJ8XgK>\PL!V\P,P.V4NKp ppVUu0uF pV^,kK ppVUu.uFpVV9gK VNK pp\OR\6P8P;V4 24\OR\QV4 R24VFwp ppp\ORV R RV RVR R24K! V'd9\OR\QV4 R24VFwp pp\ORV R RV 24K V'd\OR V 24V 'd\OR!V 24V'g'V PS4\P!R"4VFwp pV PUV R#4K R$VPV, p^p\PXP[Wg4;_uu_4p\OR%4VP]4'Ed;\^P`!4pVF8wp pppV PcV 4pVfK\eVV4VPfV&K: \Ph!Wg4VPk4V\3\m^VPV44,^8XdHVFAwp ppV PoV 4pVfKV\p8gK,\OR&V R'V R(V R)24KC V^, p\^P`!4V, p V V8gEK1\^Pr!VV , 4EKQRRR4V PS4R# \d\P!R T R 24ELi;iuupiuupiuupi +'giL];i T PS4i;i)*z--configgripper)defaultz--portNz--rategD@)typerz--modelz'Override the config's MuJoCo model path)rhelpmodelzNo calibration at z. Run calibrate_servo.py first.z( is empty. Run calibrate_servo.py first.c&\V^,4#))int)kvs&live_mirror.pymain..2s s2a5z)keyjointsignz'None of the calibrated joints exist in .zModel: zLIVE + calibrated (u) — driven by hand:z servo z>2z -> z (sign z+d)z MISSING (u2) — calibrated but not responding, held at rest:u!NOT CALIBRATED — held at rest: u'IN CALIB BUT NOT IN MODEL — ignored: u:No calibrated servos are responding — nothing to mirror.Fg?uS Move a live joint by hand — the sim follows. Close the viewer or Ctrl-C to stop.z warning: servo z (z) = C):argparseArgumentParser add_argumentfloat parse_argsrconfigr rjsonloadopenFileNotFoundErrorsysexitmujocoMjModel from_xml_pathMjDatasorteditems mj_name2idmjtObj mjOBJ_JOINTappendr jnt_qposadrospathbasenameportrpingrangenjntjnt_typemjtJoint mjJNT_HINGE mj_id2nameprintlenclosetorquerateviewerlaunch_passive is_runningtime perf_counterread_posrqpos mj_forwardsyncmax read_temp TEMP_WARN_Csleep)!apacfg model_pathr2calibr dataentries not_in_modelsidcjidbuslivemissingei all_hingescoveredj uncalibrated_sgnjnperiodframerAt0adrpostmpdts! rmainrlsJ  "BOOJ O2OOHdO+OOH5$O7OOIt2[O\ A !(( C((CLJ ahh DM $t*%  D6ABC NN ( ( 4E == DGL,ABv}}'@'@!G*M 7   j 1 2 C#e&7&7&<"=s1V9~qQXzZ[ C  :277;K;KJ;W:XXYZ[#aff+SUC' !A$W44Q7!,g,aENN14E0F&//JeJe0eI&##E6==+D+DaH,g$%WqttWG%)>z!Qg-=AAzL> GBGG$$Z01 23 D {*? @AQR 3r($rd(3r(!<=  #g,'YZ[$MCAr Js2hd2$/ 0% 1,@A 7 ~FG   MN Q1 3166\F E ]] ) )% 6 6& h i##%%&&((,$Cc1,,s+C{ %1#s%;DIIcN )- !!%. 3s1aff~..!3)- Q2!mmC0?sk/A!$5cU"RDSE"KL*. &&(2-;JJv{+#&7* U M %dV+JKLM4g%>07 6* snY ;Y7 4Y7Y< Z,Z,'Z"Z6CZ;ZAZ Z1Z %Y43Y4 Z ZZ+__main__)__doc__rr r1r$rDr& mujoco.viewer feetech_busrrconfigsrrrLrl__name__rrrtsG  )' Wt zFr