# HopeJR ## Prerequisites - [Hardware Setup](https://github.com/TheRobotStudio/HOPEJr) ## Install LeRobot Follow the [installation instructions](https://github.com/huggingface/lerobot#installation) to install LeRobot. Install LeRobot with HopeJR dependencies: ```bash pip install -e ".[hopejr]" ``` ## Device Configuration Before starting calibration and operation, you need to identify the USB ports for each HopeJR component. Run this script to find the USB ports for the arm, hand, glove, and exoskeleton: ```bash lerobot-find-port ``` This will display the available USB ports and their associated devices. Make note of the port paths (e.g., `/dev/tty.usbmodem58760433331`, `/dev/tty.usbmodem11301`) as you'll need to specify them in the `--robot.port` and `--teleop.port` parameters when recording data, replaying episodes, or running teleoperation scripts. ## Step 1: Calibration Before performing teleoperation, HopeJR's limbs need to be calibrated. Calibration files will be saved in `~/.cache/huggingface/lerobot/calibration` ### 1.1 Calibrate Robot Hand ```bash lerobot-calibrate \ --robot.type=hope_jr_hand \ --robot.port=/dev/tty.usbmodem58760432281 \ --robot.id=blue \ --robot.side=right ``` When running the calibration script, a calibration GUI will pop up. Finger joints are named as follows: **Thumb**: - **CMC**: base joint connecting thumb to hand - **MCP**: knuckle joint - **PIP**: first finger joint - **DIP** : fingertip joint **Index, Middle, Ring, and Pinky fingers**: - **Radial flexor**: Moves base of finger towards the thumb - **Ulnar flexor**: Moves base of finger towards the pinky - **PIP/DIP**: Flexes the distal and proximal phalanx of the finger Each one of these will need to be calibrated individually via the GUI. Note that ulnar and radial flexors should have ranges of the same size (but with different offsets) in order to get symmetric movement.

Setting boundaries in the hand calibration GUI

Use the calibration interface to set the range boundaries for each joint as shown above.

Saving calibration values

Once you have set the appropriate boundaries for all joints, click "Save" to save the calibration values to the motors. ### 1.2 Calibrate Teleoperator Glove ```bash lerobot-calibrate \ --teleop.type=homunculus_glove \ --teleop.port=/dev/tty.usbmodem11201 \ --teleop.id=red \ --teleop.side=right ``` Move each finger through its full range of motion, starting from the thumb. ``` Move thumb through its entire range of motion. Recording positions. Press ENTER to stop... ------------------------------------------- NAME | MIN | POS | MAX thumb_cmc | 1790 | 1831 | 1853 thumb_mcp | 1497 | 1514 | 1528 thumb_pip | 1466 | 1496 | 1515 thumb_dip | 1463 | 1484 | 1514 ``` Continue with each finger: ``` Move middle through its entire range of motion. Recording positions. Press ENTER to stop... ------------------------------------------- NAME | MIN | POS | MAX middle_mcp_abduction | 1598 | 1718 | 1820 middle_mcp_flexion | 1512 | 1658 | 2136 middle_dip | 1484 | 1500 | 1547 ``` Once calibration is complete, the system will save the calibration to `/Users/your_username/.cache/huggingface/lerobot/calibration/teleoperators/homunculus_glove/red.json` ### 1.3 Calibrate Robot Arm ```bash lerobot-calibrate \ --robot.type=hope_jr_arm \ --robot.port=/dev/tty.usbserial-1110 \ --robot.id=white ``` This will open a calibration GUI where you can set the range limits for each motor. The arm motions are organized as follows: - **Shoulder**: pitch, yaw, and roll - **Elbow**: flex - **Wrist**: pitch, yaw, and roll

Setting boundaries in the arm calibration GUI

Use the calibration interface to set the range boundaries for each joint. Move each joint through its full range of motion and adjust the minimum and maximum values accordingly. Once you have set the appropriate boundaries for all joints, save the calibration. ### 1.4 Calibrate Teleoperator Exoskeleton ```bash lerobot-calibrate \ --teleop.type=homunculus_arm \ --teleop.port=/dev/tty.usbmodem11201 \ --teleop.id=black ``` The exoskeleton allows one to control the robot arm. During calibration, you'll be prompted to move all joints through their full range of motion: ``` Move all joints through their entire range of motion. Recording positions. Press ENTER to stop... ------------------------------------------- ------------------------------------------- NAME | MIN | POS | MAX shoulder_pitch | 586 | 736 | 895 shoulder_yaw | 1257 | 1374 | 1390 shoulder_roll | 449 | 1034 | 2564 elbow_flex | 3023 | 3117 | 3134 wrist_roll | 3073 | 3096 | 3147 wrist_yaw | 2143 | 2171 | 2185 wrist_pitch | 1975 | 1993 | 2074 Calibration saved to /Users/your_username/.cache/huggingface/lerobot/calibration/teleoperators/homunculus_arm/black.json ``` ## Step 2: Teleoperation Due to global variable conflicts in the Feetech middleware, teleoperation for arm and hand must run in separate shell sessions: ### Hand ```bash lerobot-teleoperate \ --robot.type=hope_jr_hand \ --robot.port=/dev/tty.usbmodem58760432281 \ --robot.id=blue \ --robot.side=right \ --teleop.type=homunculus_glove \ --teleop.port=/dev/tty.usbmodem11201 \ --teleop.id=red \ --teleop.side=right \ --display_data=true \ --fps=30 ``` ### Arm ```bash lerobot-teleoperate \ --robot.type=hope_jr_arm \ --robot.port=/dev/tty.usbserial-1110 \ --robot.id=white \ --teleop.type=homunculus_arm \ --teleop.port=/dev/tty.usbmodem11201 \ --teleop.id=black \ --display_data=true \ --fps=30 ``` ## Step 3: Record, Replay, Train Record, Replay and Train with Hope-JR is still experimental. ### Record This step records the dataset, which can be seen as an example [here](https://huggingface.co/datasets/nepyope/hand_record_test_with_video_data/settings). ```bash lerobot-record \ --robot.type=hope_jr_hand \ --robot.port=/dev/tty.usbmodem58760432281 \ --robot.id=right \ --robot.side=right \ --robot.cameras='{"main": {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30}}' \ --teleop.type=homunculus_glove \ --teleop.port=/dev/tty.usbmodem1201 \ --teleop.id=right \ --teleop.side=right \ --dataset.repo_id=nepyope/hand_record_test_with_video_data \ --dataset.single_task="Hand recording test with video data" \ --dataset.num_episodes=1 \ --dataset.episode_time_s=5 \ --dataset.push_to_hub=true \ --dataset.private=true \ --display_data=true ``` ### Replay ```bash lerobot-replay \ --robot.type=hope_jr_hand \ --robot.port=/dev/tty.usbmodem58760432281 \ --robot.id=right \ --robot.side=right \ --dataset.repo_id=nepyope/hand_record_test_with_camera \ --dataset.episode=0 ``` ### Train ```bash lerobot-train \ --dataset.repo_id=nepyope/hand_record_test_with_video_data \ --policy.type=act \ --output_dir=outputs/train/hopejr_hand \ --job_name=hopejr \ --policy.device=mps \ --wandb.enable=true \ --policy.repo_id=nepyope/hand_test_policy ``` ### Evaluate This training run can be viewed as an example [here](https://wandb.ai/tino/lerobot/runs/rp0k8zvw?nw=nwusertino). ```bash lerobot-record \ --robot.type=hope_jr_hand \ --robot.port=/dev/tty.usbmodem58760432281 \ --robot.id=right \ --robot.side=right \ --robot.cameras='{"main": {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30}}' \ --display_data=false \ --dataset.repo_id=nepyope/eval_hopejr \ --dataset.single_task="Evaluate hopejr hand policy" \ --dataset.num_episodes=10 \ --policy.path=outputs/train/hopejr_hand/checkpoints/last/pretrained_model ```