add simple lerobot calibration and teleoperation script

.gitignore

@@ -8,6 +8,7 @@ data_traces/*
 # C extensions
 *.so
 *.hdf5
+*.pkl
 
 # Distribution / packaging
 .Python

examples/lerobot_calibrate_teleoperate.py

@@ -0,0 +1,48 @@
+
+import argparse
+from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+from lerobot.common.robot_devices.robots.koch import KochRobot
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--leader-port", type=str, default="/dev/ttyACM1", help="Port for the leader motors")
+    parser.add_argument("--follower-port", type=str, default="/dev/ttyACM0", help="Port for the follower motors")
+    parser.add_argument("--calibration-path", type=str, default="koch.pkl", help="Path to the robots calibration file")
+    args = parser.parse_args()
+
+    leader = DynamixelMotorsBus(
+                port=args.leader_port,
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": (1, "xl330-m077"),
+                    "shoulder_lift": (2, "xl330-m077"),
+                    "elbow_flex": (3, "xl330-m077"),
+                    "wrist_flex": (4, "xl330-m077"),
+                    "wrist_roll": (5, "xl330-m077"),
+                    "gripper": (6, "xl330-m077"),
+                },
+            )
+
+    follower = DynamixelMotorsBus(
+                port=args.follower_port,
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": (1, "xl430-w250"),
+                    "shoulder_lift": (2, "xl430-w250"),
+                    "elbow_flex": (3, "xl330-m288"),
+                    "wrist_flex": (4, "xl330-m288"),
+                    "wrist_roll": (5, "xl330-m288"),
+                    "gripper": (6, "xl330-m288"),
+                },
+            )
+
+    robot = KochRobot(leader_arms={"main": leader}, 
+                    follower_arms={"main": follower},
+                    calibration_path=args.calibration_path)
+
+    robot.connect()
+
+    while True:
+        robot.teleop_step()