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Update Koch imports

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This commit is contained in:
Simon Alibert
2025-03-25 12:31:51 +01:00
parent dcbbeab80b
commit bb774e7acd
2 changed files with 6 additions and 3 deletions
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6
lerobot/common/robots/koch/robot_koch.py
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@@ -22,10 +22,11 @@ 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_IMAGES, OBS_STATE from lerobot.common.constants import OBS_IMAGES, OBS_STATE
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import CalibrationMode, Motor, TorqueMode from lerobot.common.motors import CalibrationMode, Motor
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
OperatingMode, OperatingMode,
TorqueMode,
run_arm_calibration, run_arm_calibration,
) )
@@ -124,7 +125,8 @@ class KochRobot(Robot):
@property @property
def is_connected(self) -> bool: def is_connected(self) -> bool:
return self.arm.is_connected # TODO(aliberts): add cam.is_connected for cam in self.cameras # TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.arm.is_connected
def connect(self) -> None: def connect(self) -> None:
if self.is_connected: if self.is_connected:

3
lerobot/common/teleoperators/koch/teleop_koch.py
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@@ -21,10 +21,11 @@ import time
import numpy as np import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import CalibrationMode, Motor, TorqueMode from lerobot.common.motors import CalibrationMode, Motor
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
OperatingMode, OperatingMode,
TorqueMode,
run_arm_calibration, run_arm_calibration,
) )