Adjust LinkerHand vr hand pose speed

Author: BotRunner64

scripts/dev/test_linkerhand_l6.py

@@ -27,6 +27,7 @@
     LinkerHandConfig,
     LinkerHandRuntime,
     SomeHandPoseRuntime,
+    VR_HAND_POSE_SPEED,
 )
 
 
@@ -103,6 +104,7 @@ def parse_args() -> argparse.Namespace:
         type=uint8,
         nargs=6,
         default=DEFAULT_SPEED,
+        help="L6 speed for open_close and gripper modes. vr_hand_pose always uses max speed.",
         metavar=("THUMB_PITCH", "THUMB_YAW", "INDEX", "MIDDLE", "RING", "LITTLE"),
     )
     parser.add_argument(
@@ -137,6 +139,7 @@ def parse_args() -> argparse.Namespace:
 
 
 def make_config(args: argparse.Namespace, *, mode: str) -> LinkerHandConfig:
+    speed = VR_HAND_POSE_SPEED if mode == "vr_hand_pose" else args.speed
     return LinkerHandConfig(
         mode=mode,
         enabled=True,
@@ -150,7 +153,7 @@ def make_config(args: argparse.Namespace, *, mode: str) -> LinkerHandConfig:
         trigger_deadzone=args.trigger_deadzone,
         deadman_threshold=args.deadman_threshold,
         thumb_yaw_center=args.thumb_yaw_center,
-        speed=tuple(args.speed),
+        speed=tuple(speed),
         open_pose=tuple(args.open_pose),
         close_pose=tuple(args.close_pose),
         print_input=args.print_input,

tests/test_dexterous_hand.py

@@ -12,6 +12,7 @@
     L6RetargetPoseMapper,
     LinkerHandRuntime,
     SomeHandPoseRuntime,
+    VR_HAND_POSE_SPEED,
     parse_linkerhand_config,
     trigger_to_pose,
 )
@@ -168,6 +169,10 @@ def test_parse_config_sets_vr_hand_pose_speed_to_max() -> None:
     assert cfg.speed == (255, 255, 255, 255, 255, 255)
 
 
+def test_vr_hand_pose_speed_constant_is_max() -> None:
+    assert tuple(VR_HAND_POSE_SPEED) == (255, 255, 255, 255, 255, 255)
+
+
 def test_runtime_opens_when_deadman_released() -> None:
     provider = SnapshotProvider()
     runtime = _runtime(provider)