Hope Jr

# Linux: Add user to dialout group
sudo usermod -a -G dialout $USER
# Log out and back in

pip install lerobot

from lerobot.robots.hope_jr import HopeJrArmConfig
from lerobot.cameras.opencv import OpenCVCameraConfig

arm_config = HopeJrArmConfig(
    robot_type="hope_jr_arm",
    id="hope_arm_1",
    port="/dev/ttyUSB0",
    disable_torque_on_disconnect=True,
    max_relative_target=10.0,
    cameras={
        "wrist": OpenCVCameraConfig(
            index_or_path=0,
            fps=30,
            width=640,
            height=480
        )
    }
)

from lerobot.robots.hope_jr import HopeJrHandConfig

# Right hand
right_hand_config = HopeJrHandConfig(
    robot_type="hope_jr_hand",
    id="hope_hand_right",
    port="/dev/ttyUSB1",
    side="right",  # Must be "left" or "right"
    disable_torque_on_disconnect=True
)

# Left hand
left_hand_config = HopeJrHandConfig(
    robot_type="hope_jr_hand",
    id="hope_hand_left",
    port="/dev/ttyUSB2",
    side="left",
    disable_torque_on_disconnect=True
)

from lerobot.robots.hope_jr import HopeJrArm, HopeJrArmConfig

config = HopeJrArmConfig(
    robot_type="hope_jr_arm",
    id="hope_arm_1",
    port="/dev/ttyUSB0"
)

with HopeJrArm(config) as arm:
    # Get current state
    obs = arm.get_observation()
    print(f"Arm positions: {obs}")
    
    # Send action
    action = {
        # Arm-specific joint positions
        # Structure depends on arm DOF configuration
    }
    arm.send_action(action)

from lerobot.robots.hope_jr import HopeJrHand, HopeJrHandConfig

config = HopeJrHandConfig(
    robot_type="hope_jr_hand",
    id="hope_hand_right",
    port="/dev/ttyUSB1",
    side="right"
)

with HopeJrHand(config) as hand:
    # Get current hand state
    obs = hand.get_observation()
    print(f"Hand positions: {obs}")
    
    # Send hand action
    action = {
        # Finger joint positions
        # Structure depends on hand configuration
    }
    hand.send_action(action)

from lerobot.robots.hope_jr import (
    HopeJrArm, HopeJrArmConfig,
    HopeJrHand, HopeJrHandConfig
)

arm_config = HopeJrArmConfig(
    robot_type="hope_jr_arm",
    id="hope_arm_1",
    port="/dev/ttyUSB0"
)

hand_config = HopeJrHandConfig(
    robot_type="hope_jr_hand",
    id="hope_hand_right",
    port="/dev/ttyUSB1",
    side="right"
)

with HopeJrArm(arm_config) as arm, \
     HopeJrHand(hand_config) as hand:
    
    # Get observations from both
    arm_obs = arm.get_observation()
    hand_obs = hand.get_observation()
    
    # Combine observations
    full_obs = {**arm_obs, **hand_obs}
    
    # Send coordinated actions
    arm.send_action(arm_action)
    hand.send_action(hand_action)

arm = HopeJrArm(arm_config)
arm.connect(calibrate=True)

# Follow the calibration prompts for the arm
# Calibration saved to: ~/.cache/lerobot/calibration/robots/hope_jr_arm/{id}.json

hand = HopeJrHand(hand_config)
hand.connect(calibrate=True)

# Follow the calibration prompts for the hand
# Calibration saved separately per side and ID
# ~/.cache/lerobot/calibration/robots/hope_jr_hand/{id}.json

arm_config = HopeJrArmConfig(
    port="/dev/ttyUSB0",
    max_relative_target=15.0  # Limit movement per action
)

# Or per-motor limits
arm_config = HopeJrArmConfig(
    port="/dev/ttyUSB0",
    max_relative_target={
        "joint_1": 10.0,
        "joint_2": 15.0,
        # ... other joints
    }
)

# This will raise ValueError
invalid_config = HopeJrHandConfig(
    port="/dev/ttyUSB1",
    side="middle"  # Invalid! Must be "left" or "right"
)

# Fine control of individual fingers
hand_action = {
    "finger_1.pos": 45.0,
    "finger_2.pos": 50.0,
    "finger_3.pos": 55.0,
    "thumb.pos": 60.0,
    # ... other finger joints
}

hand.send_action(hand_action)

import time

def pick_and_place(arm, hand, target_pos, grasp_config):
    # 1. Open hand
    hand.send_action(open_hand_config)
    time.sleep(0.5)
    
    # 2. Move arm to target
    arm.send_action(target_pos)
    time.sleep(1.0)
    
    # 3. Close hand around object
    hand.send_action(grasp_config)
    time.sleep(0.5)
    
    # 4. Lift
    arm.send_action(lift_pos)

from lerobot.robots.hope_jr import HopeJrHand, HopeJrHandConfig

# Leader hand (human controls)
leader_config = HopeJrHandConfig(
    robot_type="hope_jr_hand",
    id="leader_hand",
    port="/dev/ttyUSB0",
    side="right"
)

# Follower hand (mirrors leader)
follower_config = HopeJrHandConfig(
    robot_type="hope_jr_hand",
    id="follower_hand",
    port="/dev/ttyUSB1",
    side="right"
)

with HopeJrHand(leader_config) as leader, \
     HopeJrHand(follower_config) as follower:
    
    while True:
        # Read leader state
        obs = leader.get_observation()
        
        # Mirror to follower
        action = {k: v for k, v in obs.items() if k.endswith(".pos")}
        follower.send_action(action)

# Error: ValueError if side is not "left" or "right"
# Fix: Use correct side value
config = HopeJrHandConfig(
    port="/dev/ttyUSB1",
    side="right"  # Must be exactly "left" or "right"
)

# List all USB serial devices
ls /dev/ttyUSB*

# Identify which port is which device
# You may need to connect them one at a time

arm_config = HopeJrArmConfig(port="/dev/ttyUSB0")  # Arm
hand_config = HopeJrHandConfig(port="/dev/ttyUSB1", side="right")  # Hand
# Don't use the same port for both!