Update main.py

reachy_mini_hand_tracker_app/main.py

@@ -16,6 +16,7 @@ from scipy.spatial.transform import Rotation as R
 
 from reachy_mini_hand_tracker_app.hand_tracker import HandTracker
 
+gui = False  # Set to True if you want to use the GUI for debugging
 
 class HandTrackerApp(ReachyMiniApp):
     # Proportional gain for the controller
@@ -50,7 +51,9 @@ class HandTrackerApp(ReachyMiniApp):
             hands = hand_tracker.get_hands_positions(img)
             if hands:
                 hand = hands[0]  # Assuming we only track the first detected hand
-                draw_hand(img, hand)
+
+                if gui:
+                    draw_hand(img, hand)
 
                 error = np.array([0, 0]) - hand
                 error = np.clip(
@@ -69,9 +72,10 @@ class HandTrackerApp(ReachyMiniApp):
 
                 reachy_mini.set_target(head=head_pose)
 
-            cv2.imshow("Reachy Mini Hand Tracker App", img)
-            if cv2.waitKey(1) & 0xFF == ord("q"):
-                break
+            if gui:
+                cv2.imshow("Reachy Mini Hand Tracker App", img)
+                if cv2.waitKey(1) & 0xFF == ord("q"):
+                    break
 
 
 def draw_hand(img, hand):