feat(robots): add OpenArm robot & teleoperator (#2795)

* fix(motors): cleanup imports + fix signatures

* feat(motors): add damiao canbus + multiple fixes

* fix(motors): address comments -> last_state + different gains + sleep

* refactor(motors): reduce duplicated code + adressed some comments in the PR

* chore(motors): better timeouts

* tests(motors): damiao test and imports

* chore(deps): fix space

* feat(robot): add openarm leader

Co-authored-by: Pepijn <pepijn@huggingface.co>

* feat(robot): add openarm follower

Co-authored-by: Pepijn <pepijn@huggingface.co>

* refactor(robot): remove mechanical compensations and double arm assumption + rename

* chore(robots): remove left arm references

* refactor(teleop): multiple improvements to leader

* refactor(teleop): multiple improvements to leader

* feat(robots): add open arm to util CLI

* chore(robot): add alias openarm

* Apply suggestions from code review

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

* chore(motors): remove normalization tables damiao

* fix(motors): imports and signatures

* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id

* chore(motors): remove normalize from base motor class and damaio

* tests(motors): remove bad tests (to be replaced)

* chore(motors): updated import check

* fix(robots): open arm mirrored config for joint limits

* chore(motors): update position_kd gain values

* chore(robots): set to 0 if openarm is calibrated at connect time

* chore(robots): remove macos in open arm as can doesn't support it

* chore(robots): update for motor_type_str in Motor class

* chore(robots): no default value for can port in open arms

* use constant for kp and kd range and check responses in mit_control_batch()

* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command

* precommit format

* supress bandit as these are intentional cli commands

* fix setup-can

* add test

* skip test in ci

* nit precommit

* update doc example

* dont import can for tests

* remove comment

* Add openarms docs

* format

* update purchase link

* can to none if nit availabl;e

* add canfd option in bus

* make handshake logic similar to lerobot-can

* type hint

* type check

* add temp teleop test

* remove script

* mock class

* ignore linter

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

src/lerobot/teleoperators/utils.py

@@ -13,12 +13,14 @@
 # limitations under the License.
 
 from enum import Enum
-from typing import cast
+from typing import TYPE_CHECKING, cast
 
 from lerobot.utils.import_utils import make_device_from_device_class
 
 from .config import TeleoperatorConfig
-from .teleoperator import Teleoperator
+
+if TYPE_CHECKING:
+    from .teleoperator import Teleoperator
 
 
 class TeleopEvents(Enum):
@@ -31,7 +33,7 @@ class TeleopEvents(Enum):
     TERMINATE_EPISODE = "terminate_episode"
 
 
-def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
+def make_teleoperator_from_config(config: TeleoperatorConfig) -> "Teleoperator":
     # TODO(Steven): Consider just using the make_device_from_device_class for all types
     if config.type == "keyboard":
         from .keyboard import KeyboardTeleop
@@ -81,8 +83,12 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .reachy2_teleoperator import Reachy2Teleoperator
 
         return Reachy2Teleoperator(config)
+    elif config.type == "openarm_leader":
+        from .openarm_leader import OpenArmLeader
+
+        return OpenArmLeader(config)
     else:
         try:
-            return cast(Teleoperator, make_device_from_device_class(config))
+            return cast("Teleoperator", make_device_from_device_class(config))
         except Exception as e:
             raise ValueError(f"Error creating robot with config {config}: {e}") from e