Add control scripts

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-140", id="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()