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fix color

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This commit is contained in:
Remi Cadene
2024-07-15 17:35:11 +02:00
parent 61d9d74308
commit 694a5dbca8
2 changed files with 32 additions and 13 deletions
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5
lerobot/common/robot_devices/robots/koch.py
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@@ -477,7 +477,9 @@ class KochRobot:
# Read follower position
follower_pos = {}
for name in self.follower_arms:
now = time.perf_counter()
follower_pos[name] = self.follower_arms[name].read("Present_Position")
self.logs[f"read_follower_{name}_pos_dt_s"] = time.perf_counter() - now
# Create state by concatenating follower current position
state = []
@@ -489,7 +491,10 @@ class KochRobot:
# Capture images from cameras
images = {}
for name in self.cameras:
now = time.perf_counter()
images[name] = self.cameras[name].async_read()
self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - now
# Populate output dictionnaries and format to pytorch
obs_dict = {}