From 2889f3a06adf10161f69b687fb0e2486fe87a37f Mon Sep 17 00:00:00 2001 From: Sarunas Kalade Date: Tue, 10 Jun 2025 04:42:54 -0600 Subject: [PATCH] update KochFollower.get_observation() so it returns same observation structure as SO101 (#1248) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- lerobot/common/robots/koch_follower/koch_follower.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/lerobot/common/robots/koch_follower/koch_follower.py b/lerobot/common/robots/koch_follower/koch_follower.py index 9ba506b4b..64ece25f2 100644 --- a/lerobot/common/robots/koch_follower/koch_follower.py +++ b/lerobot/common/robots/koch_follower/koch_follower.py @@ -20,7 +20,6 @@ from functools import cached_property from typing import Any from lerobot.common.cameras.utils import make_cameras_from_configs -from lerobot.common.constants import OBS_STATE from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode from lerobot.common.motors.dynamixel import ( @@ -175,11 +174,9 @@ class KochFollower(Robot): if not self.is_connected: raise DeviceNotConnectedError(f"{self} is not connected.") - obs_dict = {} - # Read arm position start = time.perf_counter() - obs_dict[OBS_STATE] = self.bus.sync_read("Present_Position") + obs_dict = self.bus.sync_read("Present_Position") obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()} dt_ms = (time.perf_counter() - start) * 1e3 logger.debug(f"{self} read state: {dt_ms:.1f}ms")