
    *i                     2    d Z ddlmZ  G d de          ZdS )z9Leader-follower teleoperation using YAM teaching handles.    )TeleopInterfacec                       e Zd ZdZedefd            Zedefd            ZddZ	ddZ
ddZdefd	Zedefd
            ZdS )YAMInterfacez.Follower arms mirror leader arms in real time.returnc                     dS )Nleader selfs    0/home/robot-lab/raiden_cmu/raiden/control/yam.pynamezYAMInterface.name	   s    x    c                     dS )NTr	   r
   s    r   uses_leaderszYAMInterface.uses_leaders   s    tr   Nc                     d S Nr	   r   robot_controllers     r   setupzYAMInterface.setup   s    r   c                 .    |                                  d S r   )start_teleoperationr   s     r   startzYAMInterface.start   s    ,,.....r   c                 .    |                                  d S r   )stop_teleoperationr   s     r   stopzYAMInterface.stop   s    ++-----r   c                 .    |                                 d uS r   )check_button_pressr   s     r   pollzYAMInterface.poll   s    2244D@@r   c                     	 dS )Na[  
============================================================
  BIMANUAL TELEOPERATION ACTIVE
============================================================

  Press the button on any leader arm to return ALL arms to home
  Press Ctrl+C for EMERGENCY STOP (stops all motion immediately)

============================================================
r	   r
   s    r   bannerzYAMInterface.banner"   s    	
 	
r   )r   N)__name__
__module____qualname____doc__propertystrr   boolr   r   r   r   r   r    r	   r   r   r   r      s        88c    X d    X   / / / /. . . .A A A A A 
 
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 X
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r   r   N)r$   raiden.control.baser   r   r	   r   r   <module>r)      sQ    ? ? / / / / / /%
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r   