(feature): Add support for koch screwdriver robot and teleoperator

lerobot/common/robots/koch_screwdriver_follower/__init__.py

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+from .config_koch_screwdriver_follower import KochScrewdriverFollowerConfig
+from .koch_screwdriver_follower import KochScrewdriverFollower

lerobot/common/robots/koch_screwdriver_follower/config_koch_screwdriver_follower.py

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+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.common.cameras import CameraConfig
+
+from ..config import RobotConfig
+
+
+@RobotConfig.register_subclass("koch_screwdriver_follower")
+@dataclass
+class KochScrewdriverFollowerConfig(RobotConfig):
+    # Port to connect to the arm
+    port: str
+
+    disable_torque_on_disconnect: bool = True
+
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
+
+    # No need to specify cameras here, this is just for typing.
+    # You can set the cameras in your commands like this:
+    # python -m lerobot.record \
+    # --robot.type=koch_screwdriver_follower \
+    # --robot.port=/dev/servo_5837053138 \
+    # --robot.cameras="{ screwdriver: {type: opencv, index_or_path: /dev/video0, width: 800, height: 600, fps: 30}, side: {type: opencv, index_or_path: /dev/video2, width: 800, height: 600, fps: 30}}"
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+    # Set to `True` for backward compatibility with previous policies/dataset
+    # See the [Hardware API Redesign PR](https://github.com/huggingface/lerobot/pull/777) for more details
+    use_degrees: bool = False
+
+    # Maximum current (raw Dynamixel units) allowed for the screwdriver motor.
+    # Around 300 corresponds to ~0.8 A on an XL-330 which is plenty for M4 screws
+    # yet well below the shutdown threshold.
+    screwdriver_current_limit: int = 300
+
+    # Ratio of the above limit at which the software clutch engages.
+    # When |present_current| >= limit * clutch_ratio the follower will cut the
+    # screwdriver velocity command to 0 and send haptic feedback to the leader.
+    clutch_ratio: float = 0.5
+
+    # Cool-down duration (seconds) during which any velocity command for the
+    # screwdriver is forced to zero after the clutch engages.  This allows the
+    # current to fall and prevents repeated brown-outs.  Adjust based on your
+    # control-loop FPS (e.g. 1.0 s ≈ 30–60 frames).
+    clutch_cooldown_s: float = 1.0

lerobot/common/robots/koch_screwdriver_follower/koch_screwdriver.mdx

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+# Koch Screwdriver
+
+The Koch Screwdriver robot is based on the Koch v1.1, but fitted with a screwdriver instead of a gripper.
+See the [Koch v1.1](https://github.com/lerobot/lerobot/blob/main/common/robots/koch_v1.1/koch_v1.1.mdx) documentation for instructions on building the base robot.
+The calibration procedure is identical to that of the Koch v1.1.
+
+## How It Works
+The screwdriver modification uses the same Dynamixel motor as the Koch v1.1 gripper, but operates it in wheel (also known as velocity) mode.
+The movable part of the gripper has been replaced by a magnetic screwdriver holder, and the static part of the gripper has been removed.
+
+## Screwdriver Hardware
+
+The STL files and bill of materials for the screwdriver hardware can be found in the [Koch robotic arm screwdriver](https://github.com/jackvial/koch_robotic_arm_screwdriver) GitHub repository.