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Pepijn
2025-05-16 13:59:17 +02:00
committed by Steven Palma
parent 95ebc27d32
commit 60cbde1a78
2 changed files with 3 additions and 3 deletions
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2
examples/robots/lekiwi_client_app.py
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@@ -41,7 +41,7 @@ def main():
# The observations that we get are expected to be in body frame (x,y,theta) # 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()} 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) # 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 = { features_dict = {
**act_dict, **act_dict,

4
lerobot/common/robots/lekiwi/lekiwi_client.py
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@@ -84,7 +84,7 @@ class LeKiwiClient(Robot):
return state_ft return state_ft
@property @property
def action_features(self) -> dict: def action_feature(self) -> dict:
action_ft = { action_ft = {
"arm_shoulder_pan": {"shape": (1,), "info": None, "dtype": "float32"}, "arm_shoulder_pan": {"shape": (1,), "info": None, "dtype": "float32"},
"arm_shoulder_lift": {"shape": (1,), "info": None, "dtype": "float32"}, "arm_shoulder_lift": {"shape": (1,), "info": None, "dtype": "float32"},
@@ -466,7 +466,7 @@ class LeKiwiClient(Robot):
common_keys = [ common_keys = [
key key
for key in action 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} arm_actions = {"arm_" + arm_motor: action[arm_motor] for arm_motor in common_keys}