Add control scripts

examples/hope_jr/teleop/left_hand_teleop.py

@@ -0,0 +1,51 @@
+import time
+import traceback
+
+from lerobot.common.robots.hope_jr import HopeJrHand, HopeJrHandConfig, homonculus_glove_to_hope_jr_hand
+from lerobot.common.teleoperators.homonculus import HomonculusGlove, HomonculusGloveConfig
+from lerobot.common.utils.utils import move_cursor_up
+
+
+def make_left_hand() -> tuple[HomonculusGlove, HopeJrHand]:
+    left_glove_cfg = HomonculusGloveConfig("/dev/tty.usbmodem1101", id="left", side="left")
+    left_glove = HomonculusGlove(left_glove_cfg)
+    left_hand_cfg = HopeJrHandConfig("/dev/tty.usbmodem58760433641", id="left", side="left")
+    left_hand = HopeJrHand(left_hand_cfg)
+    return left_glove, left_hand
+
+
+def main():
+    left_glove, left_hand = make_left_hand()
+    left_glove.connect()
+    left_hand.connect()
+    display_len = max(len(key) for key in left_hand.action_features)
+
+    try:
+        while True:
+            start = time.perf_counter()
+
+            left_glove_action = left_glove.get_action()
+            left_hand_action = homonculus_glove_to_hope_jr_hand(left_glove_action)
+            left_hand.send_action(left_hand_action)
+
+            time.sleep(0.01)
+            loop_s = time.perf_counter() - start
+
+            print(f"\n{'NAME':<{display_len}} | {'HAND':>7}")
+            for joint, val in left_hand_action.items():
+                print(f"{joint:<{display_len}} | {val:>7.2f}")
+
+            print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
+            move_cursor_up(len(left_hand_action) + 4)
+
+    except KeyboardInterrupt:
+        pass
+    except Exception:
+        traceback.print_exc()
+    finally:
+        left_glove.disconnect()
+        left_hand.disconnect()
+
+
+if __name__ == "__main__":
+    main()