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

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Merged
aliberts merged 3 commits into from
Jun 10, 2025
Merged

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

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af814f6
update koch_follower get_observation() so it works with latest record
skalade Jun 10, 2025
e1ddf0f
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jun 10, 2025
fba6fe5
Merge branch 'main' into 0609_koch_record_fix
skalade Jun 10, 2025
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5 changes: 1 addition & 4 deletions lerobot/common/robots/koch_follower/koch_follower.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
from typing import Any

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.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.common.motors.dynamixel import (
Expand Down Expand Up @@ -175,11 +174,9 @@ def get_observation(self) -> dict[str, Any]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")

obs_dict = {}

# Read arm position
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()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read state: {dt_ms:.1f}ms")
Expand Down
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