Add control scripts

examples/hope_jr/vis/glove.py

@@ -0,0 +1,32 @@
+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.usbmodem2101", side="right", id="right")
+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()