Left/Right sides + other fixes

lerobot/common/robots/hope_jr/config_hope_jr.py

@@ -25,11 +25,17 @@ from ..config import RobotConfig
 @dataclass
 class HopeJrHandConfig(RobotConfig):
     port: str  # Port to connect to the hand
+    side: str  # "left" / "right"
 
     disable_torque_on_disconnect: bool = True
 
     cameras: dict[str, CameraConfig] = field(default_factory=dict)
 
+    def __post_init__(self):
+        super().__post_init__()
+        if self.side not in ["right", "left"]:
+            raise ValueError(self.side)
+
 
 @RobotConfig.register_subclass("hope_jr_arm")
 @dataclass

lerobot/common/robots/hope_jr/hope_jr_hand.py

@@ -32,6 +32,31 @@ from .config_hope_jr import HopeJrHandConfig
 
 logger = logging.getLogger(__name__)
 
+RIGHT_HAND_INVERSIONS = [
+    "thumb_mcp",
+    "thumb_dip",
+    "index_ulnar_flexor",
+    "middle_ulnar_flexor",
+    "ring_ulnar_flexor",
+    "ring_pip_dip",
+    "pinky_ulnar_flexor",
+    "pinky_pip_dip",
+]
+
+LEFT_HAND_INVERSIONS = [
+    "thumb_cmc",
+    "thumb_mcp",
+    "thumb_dip",
+    "index_radial_flexor",
+    "index_pip_dip",
+    "middle_radial_flexor",
+    "middle_pip_dip",
+    "ring_radial_flexor",
+    "ring_pip_dip",
+    "pinky_radial_flexor",
+    "pinky_pip_dip",
+]
+
 
 class HopeJrHand(Robot):
     config_class = HopeJrHandConfig
@@ -69,17 +94,7 @@ class HopeJrHand(Robot):
             protocol_version=1,
         )
         self.cameras = make_cameras_from_configs(config.cameras)
-
+        self.inverted_motors = RIGHT_HAND_INVERSIONS if config.side == "right" else LEFT_HAND_INVERSIONS
-        self.inverted_motors = [
-            "thumb_mcp",
-            "thumb_dip",
-            "index_ulnar_flexor",
-            "middle_ulnar_flexor",
-            "ring_ulnar_flexor",
-            "ring_pip_dip",
-            "pinky_ulnar_flexor",
-            "pinky_pip_dip",
-        ]
 
     @property
     def _motors_ft(self) -> dict[str, type]:

lerobot/common/robots/hope_jr/joints_translation.py

@@ -1,16 +1,18 @@
-INDEX_SPLAY = 0.2
+INDEX_SPLAY = 0.3
-MIDDLE_SPLAY = 0.1
+MIDDLE_SPLAY = 0.3
-RING_SPLAY = 0.1
+RING_SPLAY = 0.3
-PINKY_SPLAY = -0.1
+PINKY_SPLAY = 0.5
 
 
 def get_ulnar_flexion(flexion: float, abduction: float, splay: float):
-    ulnar_component = max(-abduction, 0)
+    # ulnar_component = max(-abduction, 0)
+    ulnar_component = -abduction
     return ulnar_component * splay + flexion * (1 - splay)
 
 
 def get_radial_flexion(flexion: float, abduction: float, splay: float):
-    radial_component = max(abduction, 0)
+    radial_component = abduction
+    # radial_component = max(abduction, 0)
     return radial_component * splay + flexion * (1 - splay)
 
 

lerobot/common/teleoperators/homonculus/config_homonculus.py

@@ -23,8 +23,13 @@ from ..config import TeleoperatorConfig
 @dataclass
 class HomonculusGloveConfig(TeleoperatorConfig):
     port: str  # Port to connect to the glove
+    side: str  # "left" / "right"
     baud_rate: int = 115_200
 
+    def __post_init__(self):
+        if self.side not in ["right", "left"]:
+            raise ValueError(self.side)
+
 
 @TeleoperatorConfig.register_subclass("homonculus_arm")
 @dataclass

lerobot/common/teleoperators/homonculus/homonculus_arm.py

@@ -234,7 +234,7 @@ class HomonculusArm(Teleoperator):
                         "wrist_pitch": int(raw_values[0]),
                     }
 
-                    with self._lock:
+                    with self.lock:
                         self._state = joint_angles
                     self.new_state_event.set()
 

lerobot/common/teleoperators/homonculus/homonculus_glove.py

@@ -30,6 +30,28 @@ from .config_homonculus import HomonculusGloveConfig
 
 logger = logging.getLogger(__name__)
 
+LEFT_HAND_INVERSIONS = [
+    "thumb_cmc",
+    "index_dip",
+    "middle_mcp_abduction",
+    "middle_dip",
+    "pinky_mcp_abduction",
+    "pinky_dip",
+]
+
+RIGHT_HAND_INVERSIONS = [
+    "thumb_mcp",
+    "thumb_cmc",
+    "index_mcp_abduction",
+    "index_dip",
+    "middle_mcp_abduction",
+    "middle_dip",
+    "ring_mcp_abduction",
+    "ring_mcp_flexion",
+    "ring_dip",
+    "pinky_mcp_abduction",
+]
+
 
 class HomonculusGlove(Teleoperator):
     """
@@ -62,14 +84,7 @@ class HomonculusGlove(Teleoperator):
             "pinky_mcp_flexion": MotorNormMode.RANGE_0_100,
             "pinky_dip": MotorNormMode.RANGE_0_100,
         }
-        self.inverted_joints = [
+        self.inverted_joints = RIGHT_HAND_INVERSIONS if config.side == "right" else LEFT_HAND_INVERSIONS
-            "thumb_cmc",
-            "index_dip",
-            "middle_mcp_abduction",
-            "middle_dip",
-            "pinky_mcp_abduction",
-            "pinky_dip",
-        ]
 
         self._state: dict[str, float] | None = None
         self.new_state_event = threading.Event()
@@ -158,6 +173,8 @@ class HomonculusGlove(Teleoperator):
         elif not isinstance(joints, list):
             raise TypeError(joints)
 
+        display_len = max(len(key) for key in joints)
+
         start_positions = self._read(joints, normalize=False)
         mins = start_positions.copy()
         maxes = start_positions.copy()
@@ -168,9 +185,11 @@ class HomonculusGlove(Teleoperator):
 
             if display_values:
                 print("\n-------------------------------------------")
-                print(f"{'NAME':<15} | {'MIN':>6} | {'POS':>6} | {'MAX':>6}")
+                print(f"{'NAME':<{display_len}} | {'MIN':>6} | {'POS':>6} | {'MAX':>6}")
                 for joint in joints:
-                    print(f"{joint:<15} | {mins[joint]:>6} | {positions[joint]:>6} | {maxes[joint]:>6}")
+                    print(
+                        f"{joint:<{display_len}} | {mins[joint]:>6} | {positions[joint]:>6} | {maxes[joint]:>6}"
+                    )
 
             if enter_pressed():
                 break