add pid ramp

src/lerobot/robots/openarms/openarms_follower.py

@@ -17,7 +17,7 @@
 import logging
 import time
 from functools import cached_property
-from typing import Any, Dict
+from typing import Any, Dict, Optional
 
 import numpy as np
 import pinocchio as pin
@@ -168,9 +168,9 @@ class OpenArmsFollower(Robot):
         self.bus_left.connect()
         
         # Run calibration if needed
-        if not self.is_calibrated and calibrate:
+        if calibrate:
             logger.info(
-                "No calibration found or calibration mismatch. Running calibration..."
+                "No calibration found or overwriting calibration. Running calibration..."
             )
             self.calibrate()
         
@@ -336,7 +336,12 @@ class OpenArmsFollower(Robot):
         
         return obs_dict
 
-    def send_action(self, action: Dict[str, Any]) -> Dict[str, Any]:
+    def send_action(
+        self, 
+        action: Dict[str, Any], 
+        custom_kp: Optional[Dict[str, float]] = None,
+        custom_kd: Optional[Dict[str, float]] = None
+    ) -> Dict[str, Any]:
         """
         Send action command to robot.
         
@@ -344,6 +349,8 @@ class OpenArmsFollower(Robot):
         
         Args:
             action: Dictionary with motor positions (e.g., "right_joint_1.pos", "left_joint_2.pos")
+            custom_kp: Optional custom kp gains per motor (e.g., {"right_joint_1": 120.0, "left_joint_2": 150.0})
+            custom_kd: Optional custom kd gains per motor (e.g., {"right_joint_1": 1.5, "left_joint_2": 2.0})
             
         Returns:
             The action actually sent (potentially clipped)
@@ -360,7 +367,7 @@ class OpenArmsFollower(Robot):
                 motor_name = key.removesuffix(".pos")
                 if motor_name.startswith("right_"):
                     # Remove "right_" prefix for bus access
-                    goal_pos_right[motor_name.removeprefix("right_")] = val
+                    goal_pos_right[motor_name.removeprefix("right_")] = val # do we also do this read in other robots in send action?
                 elif motor_name.startswith("left_"):
                     # Remove "left_" prefix for bus access
                     goal_pos_left[motor_name.removeprefix("left_")] = val
@@ -410,8 +417,19 @@ class OpenArmsFollower(Robot):
             commands_right = {}
             for motor_name, position_degrees in goal_pos_right.items():
                 idx = motor_index.get(motor_name, 0)
-                kp = self.config.position_kp[idx] if isinstance(self.config.position_kp, list) else self.config.position_kp
-                kd = self.config.position_kd[idx] if isinstance(self.config.position_kd, list) else self.config.position_kd
+                
+                # Use custom gains if provided, otherwise use config defaults
+                full_motor_name = f"right_{motor_name}"
+                if custom_kp is not None and full_motor_name in custom_kp:
+                    kp = custom_kp[full_motor_name]
+                else:
+                    kp = self.config.position_kp[idx] if isinstance(self.config.position_kp, list) else self.config.position_kp
+                
+                if custom_kd is not None and full_motor_name in custom_kd:
+                    kd = custom_kd[full_motor_name]
+                else:
+                    kd = self.config.position_kd[idx] if isinstance(self.config.position_kd, list) else self.config.position_kd
+                
                 commands_right[motor_name] = (kp, kd, position_degrees, 0.0, 0.0)
             self.bus_right._mit_control_batch(commands_right)
         
@@ -420,8 +438,19 @@ class OpenArmsFollower(Robot):
             commands_left = {}
             for motor_name, position_degrees in goal_pos_left.items():
                 idx = motor_index.get(motor_name, 0)
-                kp = self.config.position_kp[idx] if isinstance(self.config.position_kp, list) else self.config.position_kp
-                kd = self.config.position_kd[idx] if isinstance(self.config.position_kd, list) else self.config.position_kd
+                
+                # Use custom gains if provided, otherwise use config defaults
+                full_motor_name = f"left_{motor_name}"
+                if custom_kp is not None and full_motor_name in custom_kp:
+                    kp = custom_kp[full_motor_name]
+                else:
+                    kp = self.config.position_kp[idx] if isinstance(self.config.position_kp, list) else self.config.position_kp
+                
+                if custom_kd is not None and full_motor_name in custom_kd:
+                    kd = custom_kd[full_motor_name]
+                else:
+                    kd = self.config.position_kd[idx] if isinstance(self.config.position_kd, list) else self.config.position_kd
+                
                 commands_left[motor_name] = (kp, kd, position_degrees, 0.0, 0.0)
             self.bus_left._mit_control_batch(commands_left)
         

src/lerobot/scratch.txt

@@ -0,0 +1,33 @@
+# Eun visualizer locally
+
+# login to hf an set your access token
+hf auth login
+# if not installed, install with: pip install huggingface_hub
+git clone https://github.com/huggingface/lerobot-dataset-visualizer.git
+cd lerobot-dataset-visualizer
+python -m lerobot_dataset_viz --repo-id lerobot-data-collection/repo-id-nez --episode-index 0
+git checkout feat/private_repo_viz
+npm install
+npm run dev
+# open http://localhost:3000 in your browser
+
+
+# ======================================================
+
+
+# default merge command; copy your list of datasets ids in repo_ids
+
+python -m lerobot.scripts.lerobot_edit_dataset \
+--repo_id lerobot-data-collection/repo-id-nez \
+--operation.type merge --push_to_hub true \
+--operation.repo_ids "[]"
+
+
+# merge test datasets into one
+
+python -m lerobot.scripts.lerobot_edit_dataset \
+--repo_id lerobot-data-collection/test-2025-11-03-merged \
+--operation.type merge --push_to_hub true \
+--operation.repo_ids "['lerobot-data-collection/test-2025-11-03-13-18', 'lerobot-data-collection/test-2025-11-03-13-19', 'lerobot-data-collection/test-2025-11-03-13-20', 'lerobot-data-collection/test-2025-11-03-13-21', 'lerobot-data-collection/test-2025-11-03-13-23', 'lerobot-data-collection/test-2025-11-03-13-24', 'lerobot-data-collection/test-2025-11-03-13-25', 'lerobot-data-collection/test-2025-11-03-13-26', 'lerobot-data-collection/test-2025-11-03-13-27', 'lerobot-data-collection/test-2025-11-03-13-29', 'lerobot-data-collection/test-2025-11-03-13-30', 'lerobot-data-collection/test-2025-11-03-13-31', 'lerobot-data-collection/test-2025-11-03-13-34', 'lerobot-data-collection/test-2025-11-03-13-41', 'lerobot-data-collection/test-2025-11-03-13-42', 'lerobot-data-collection/test-2025-11-03-13-43', 'lerobot-data-collection/test-2025-11-03-13-44', 'lerobot-data-collection/test-2025-11-03-13-45', 'lerobot-data-collection/test-2025-11-03-13-46', 'lerobot-data-collection/test-2025-11-03-13-47', 'lerobot-data-collection/test-2025-11-03-13-48', 'lerobot-data-collection/test-2025-11-03-13-49']"
+
+# RUN loop_dataset.py to get your repo_ids