feat(robots): add bi manual openarm follower and leader (#2835)

* fix(motors): cleanup imports + fix signatures

* feat(motors): add damiao canbus + multiple fixes

* fix(motors): address comments -> last_state + different gains + sleep

* refactor(motors): reduce duplicated code + adressed some comments in the PR

* chore(motors): better timeouts

* tests(motors): damiao test and imports

* chore(deps): fix space

* feat(robot): add openarm leader

Co-authored-by: Pepijn <pepijn@huggingface.co>

* feat(robot): add openarm follower

Co-authored-by: Pepijn <pepijn@huggingface.co>

* refactor(robot): remove mechanical compensations and double arm assumption + rename

* chore(robots): remove left arm references

* refactor(teleop): multiple improvements to leader

* refactor(teleop): multiple improvements to leader

* feat(robots): add open arm to util CLI

* chore(robot): add alias openarm

* Apply suggestions from code review

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

* chore(motors): remove normalization tables damiao

* fix(motors): imports and signatures

* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id

* chore(motors): remove normalize from base motor class and damaio

* tests(motors): remove bad tests (to be replaced)

* chore(motors): updated import check

* fix(robots): open arm mirrored config for joint limits

* chore(motors): update position_kd gain values

* chore(robots): set to 0 if openarm is calibrated at connect time

* chore(robots): remove macos in open arm as can doesn't support it

* chore(robots): update for motor_type_str in Motor class

* chore(robots): no default value for can port in open arms

* feat(robots): add bi manual openarm follower and leader

* use constant for kp and kd range and check responses in mit_control_batch()

* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command

* precommit format

* supress bandit as these are intentional cli commands

* fix setup-can

* add test

* skip test in ci

* nit precommit

* update doc example

* dont import can for tests

* remove comment

* Add openarms docs

* format

* update purchase link

* can to none if nit availabl;e

* add canfd option in bus

* make handshake logic similar to lerobot-can

* type hint

* type check

* add temp teleop test

* remove script

* mock class

* mock class

* ignore linter

* pre-commit

* Add command for bimanual openarm

* fix import

* fix import leader

* fix import draccus

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

docs/source/openarm.mdx

@@ -174,6 +174,24 @@ lerobot-teleoperate \
     --teleop.id=my_leader
 ```
 
+### Bimanual Teleoperation
+
+To teleoperate a bimanual OpenArm setup with two leader and two follower arms:
+
+```bash
+lerobot-teleoperate \
+    --robot.type=bi_openarm_follower \
+    --robot.left_arm_config.port=can0 \
+    --robot.left_arm_config.side=left \
+    --robot.right_arm_config.port=can1 \
+    --robot.right_arm_config.side=right \
+    --robot.id=my_bimanual_follower \
+    --teleop.type=bi_openarm_leader \
+    --teleop.left_arm_config.port=can2 \
+    --teleop.right_arm_config.port=can3 \
+    --teleop.id=my_bimanual_leader
+```
+
 ### Recording Data
 
 To record a dataset during teleoperation: