From 60cbde1a7828f437282eb10bc90124f7197d044d Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 16 May 2025 13:59:17 +0200 Subject: [PATCH] undo previous commit --- examples/robots/lekiwi_client_app.py | 2 +- lerobot/common/robots/lekiwi/lekiwi_client.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/robots/lekiwi_client_app.py b/examples/robots/lekiwi_client_app.py index b35628f91..b1bccd9c9 100755 --- a/examples/robots/lekiwi_client_app.py +++ b/examples/robots/lekiwi_client_app.py @@ -41,7 +41,7 @@ def main(): # The observations that we get are expected to be in body frame (x,y,theta) obs_dict = {f"{OBS_STATE}." + key: value for key, value in robot.state_feature.items()} # The actions that we send are expected to be in wheel frame (motor encoders) - act_dict = {"action." + key: value for key, value in robot.action_features.items()} + act_dict = {"action." + key: value for key, value in robot.action_feature.items()} features_dict = { **act_dict, diff --git a/lerobot/common/robots/lekiwi/lekiwi_client.py b/lerobot/common/robots/lekiwi/lekiwi_client.py index b9ac28f1c..a4e791000 100644 --- a/lerobot/common/robots/lekiwi/lekiwi_client.py +++ b/lerobot/common/robots/lekiwi/lekiwi_client.py @@ -84,7 +84,7 @@ class LeKiwiClient(Robot): return state_ft @property - def action_features(self) -> dict: + def action_feature(self) -> dict: action_ft = { "arm_shoulder_pan": {"shape": (1,), "info": None, "dtype": "float32"}, "arm_shoulder_lift": {"shape": (1,), "info": None, "dtype": "float32"}, @@ -466,7 +466,7 @@ class LeKiwiClient(Robot): common_keys = [ key for key in action - if key in (motor.replace("arm_", "") for motor, _ in self.action_features.items()) + if key in (motor.replace("arm_", "") for motor, _ in self.action_feature.items()) ] arm_actions = {"arm_" + arm_motor: action[arm_motor] for arm_motor in common_keys}