fix(calibrate): fix calibrate arms option type. should be str not int

[jackvial]

What this does

Fixes calibrate arms option type. should be str not int.

Was getting the following error when pass --arms option to calibrate

(venv) jack@jackml:~/code/rl/lerobot (jv/fix-control-robot-ams-type)$ python lerobot/scripts/control_robot.py calibrate --robot-path lerobot/configs/robot/koch_jack.yaml --robot-overrides '~cameras' --arms main_follower main_leader
usage: control_robot.py calibrate [-h] [--robot-path ROBOT_PATH] [--robot-overrides [ROBOT_OVERRIDES ...]]
                                  [--arms [ARMS ...]]
control_robot.py calibrate: error: argument --arms: invalid int value: 'main_follower'

How it was tested

Ran calibrate and confirmed I was no longer getting the error and that calibration succeeded. Further confirmed that teleoperation was working as expected after calibration.

Here's the calibrate output after fixing --arms type

(venv) jack@jackml:~/code/rl/lerobot (jv/fix-control-robot-ams-type)$ python lerobot/scripts/control_robot.py calibrate --robot-path lerobot/configs/robot/koch_jack.yaml --robot-overrides '~cameras' --arms main_follower main_leader
Removing '.cache/calibration/koch/main_follower.json'
Removing '.cache/calibration/koch/main_leader.json'
Connecting main follower arm.
Connecting main leader arm.
Missing calibration file '.cache/calibration/koch/main_follower.json'

Running calibration of koch main follower...

Move arm to zero position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/koch/follower_zero.webp
Press Enter to continue...

Move arm to rotated target position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/koch/follower_rotated.webp
Press Enter to continue...

Move arm to rest position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/koch/follower_rest.webp
Press Enter to continue...

Calibration is done! Saving calibration file '.cache/calibration/koch/main_follower.json'
Missing calibration file '.cache/calibration/koch/main_leader.json'

Running calibration of koch main leader...

Move arm to zero position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/koch/leader_zero.webp
Press Enter to continue...

Move arm to rotated target position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/koch/leader_rotated.webp
Press Enter to continue...

Move arm to rest position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/koch/leader_rest.webp
Press Enter to continue...

Calibration is done! Saving calibration file '.cache/calibration/koch/main_leader.json'
Activating torque on main follower arm.
Calibration is done! You can now teleoperate and record datasets!

How to checkout & try? (for the reviewer)

python lerobot/scripts/control_robot.py calibrate --robot-path lerobot/configs/robot/koch.yaml --robot-overrides '~cameras' --arms main_follower main_leader

[Cadene]

Very helpful thanks!
We are in the process of adding more unit tests.

[jackvial]

Very helpful thanks! We are in the process of adding more unit tests.

Happy yo help! I see there are some tests for this in control robot test, but test with the requires_robot decorator are skipped. Curious if you plan to mock hardware components or have the tests run against real hardware?

[Cadene]

Yes! @jackvial
#398