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update KochFollower.get_observation() so it returns same observation structure as SO101 (#1248)

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Sarunas Kalade
2025-06-10 04:42:54 -06:00
committed by GitHub
parent f5335fe696
commit 2889f3a06a
1 changed files with 1 additions and 4 deletions
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lerobot/common/robots/koch_follower/koch_follower.py
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@@ -20,7 +20,6 @@ from functools import cached_property
from typing import Any from typing import Any
from lerobot.common.cameras.utils import make_cameras_from_configs 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.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
@@ -175,11 +174,9 @@ class KochFollower(Robot):
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.") raise DeviceNotConnectedError(f"{self} is not connected.")
obs_dict = {}
# Read arm position # Read arm position
start = time.perf_counter() 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()} obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
dt_ms = (time.perf_counter() - start) * 1e3 dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read state: {dt_ms:.1f}ms") logger.debug(f"{self} read state: {dt_ms:.1f}ms")