Add Hope Jr robot and homonculus teleoperator support

examples/hope_jr/vis/arm.py

@@ -0,0 +1,36 @@
+import time
+import traceback
+
+from lerobot.common.robots.hope_jr import HopeJrArm, HopeJrArmConfig
+from lerobot.common.utils.utils import move_cursor_up
+
+# cfg = HopeJrArmConfig("/dev/tty.usbserial-140", id="right")
+cfg = HopeJrArmConfig("/dev/tty.usbserial-1140", id="left", side="left")
+arm = HopeJrArm(cfg)
+display_len = max(len(key) for key in arm.action_features)
+
+arm.connect()
+# arm.calibrate()
+arm.bus.disable_torque()
+try:
+    while True:
+        start = time.perf_counter()
+        raw_obs = arm.bus.sync_read("Present_Position", normalize=False)
+        norm_obs = {arm.bus.motors[name].id: val for name, val in raw_obs.items()}
+        norm_obs = arm.bus._normalize(norm_obs)
+        norm_obs = {arm.bus._id_to_name(id_): val for id_, val in norm_obs.items()}
+        loop_s = time.perf_counter() - start
+
+        print("\n----------------------------------")
+        print(f"{'NAME':<15} | {'RAW':>7} | {'NORM':>7}")
+        for motor in arm.bus.motors:
+            print(f"{motor:<15} | {raw_obs[motor]:>7} | {norm_obs[motor]:>7.2f}")
+        print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
+        move_cursor_up(len(arm.bus.motors) + 5)
+
+except KeyboardInterrupt:
+    pass
+except Exception as e:
+    traceback.print_exc(e)
+finally:
+    arm.disconnect()

examples/hope_jr/vis/exo.py

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+import time
+import traceback
+
+from lerobot.common.teleoperators.homonculus import HomonculusArm, HomonculusArmConfig
+from lerobot.common.utils.utils import move_cursor_up
+
+# cfg = HomonculusArmConfig("/dev/tty.usbmodem2101", id="left")
+cfg = HomonculusArmConfig("/dev/tty.usbmodem11401", id="left")
+arm = HomonculusArm(cfg)
+display_len = max(len(key) for key in arm.action_features)
+
+arm.connect()
+arm.calibrate()
+try:
+    while True:
+        start = time.perf_counter()
+        raw_action = arm._read(normalize=False)
+        norm_action = arm._normalize(raw_action)
+        loop_s = time.perf_counter() - start
+
+        print("\n" + "-" * (display_len + 10))
+        print(f"{'NAME':<{display_len}} | {'RAW':>7} | {'NORM':>7}")
+        for joint in arm.joints:
+            print(f"{joint:<{display_len}} | {raw_action[joint]:>7} | {norm_action[joint]:>7.2f}")
+        print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
+        move_cursor_up(len(norm_action) + 5)
+
+except KeyboardInterrupt:
+    pass
+except Exception:
+    traceback.print_exc()
+finally:
+    arm.disconnect()

examples/hope_jr/vis/glove.py

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+import time
+import traceback
+
+from lerobot.common.teleoperators.homonculus import HomonculusGlove, HomonculusGloveConfig
+from lerobot.common.utils.utils import move_cursor_up
+
+config = HomonculusGloveConfig("/dev/tty.usbmodem11401", side="left", id="left")
+glove = HomonculusGlove(config)
+glove.connect()
+
+display_len = max(len(key) for key in glove.action_features)
+glove.calibrate()
+try:
+    while True:
+        start = time.perf_counter()
+        raw_action = glove._read(normalize=False)
+        norm_action = glove._normalize(raw_action)
+        loop_s = time.perf_counter() - start
+
+        print("\n" + "-" * (display_len + 10))
+        print(f"{'NAME':<{display_len}} | {'RAW':>7} | {'NORM':>7}")
+        for joint in glove.joints:
+            print(f"{joint:<{display_len}} | {raw_action[joint]:>7} | {norm_action[joint]:>7.2f}")
+        print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
+        move_cursor_up(len(norm_action) + 5)
+
+except KeyboardInterrupt:
+    pass
+except Exception:
+    traceback.print_exc()
+finally:
+    glove.disconnect()

examples/hope_jr/vis/hand.py

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+from lerobot.common.robots.hope_jr import HopeJrHand, HopeJrHandConfig
+
+cfg = HopeJrHandConfig("/dev/cu.usbmodem58760432281", id="left", side="left")
+hand = HopeJrHand(cfg)
+
+hand.connect()
+hand.calibrate()
+hand.disconnect()