Enable control of the follower arm with PS4 joystick

What this does

You can control the follower arm using a PlayStation 4 controller, which can be useful for people who don't have a leader arm or for anybody who wants to try an alternative way of teleoperation.

Control all action of the follower arm with the PS4 joystick
Can be used for dataset collection
Assign fixed positions to any buttons for quick movements
Has vibration and red color indication when motor position limits are reached
Can even control gripper position using controller IMU (don't think this one is useful, just fun)

Limitations: The controller should be connected via USB (Bluetooth can require some extra fixes)

I added a new type of device - controllers. I think it makes sense in the long run to have them as a separate device type.

How it was tested

I tested it on Mac and Ubuntu and only with SO-ARM100 You can see the results here: https://www.youtube.com/shorts/Ini2DATLawU

How to checkout & try? (for the reviewer)

It requires hid to run, I didn't add it to the dependencies because it is not needed for most of the users who don't have PS4. So, if you want to try you will need to install it yourself.

I created a new config so100_ps4, adjust the port of the follower arm, connect PS4 joystick via USB and run:

python lerobot/scripts/control_robot.py teleoperate \
    --robot-path lerobot/configs/robot/so100_ps4.yaml \
    --robot-overrides '~cameras' \
    --display-cameras 0

huggingface / lerobot