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fix(robots): fix send_action in lekiwi client part 2

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Steven Palma 2025-04-04 18:15:12 +02:00
parent b919e68e05
commit 5c2566a4a9
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1 changed files with 4 additions and 1 deletions
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lerobot/common/robots/lekiwi/lekiwi_client.py
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@ -287,6 +287,7 @@ class LeKiwiClient(Robot):
# TODO(Steven): This is flaky, for example, if we received a state but failed decoding the image, we will not update any value # TODO(Steven): This is flaky, for example, if we received a state but failed decoding the image, we will not update any value
# TODO(Steven): All this function needs to be refactored # TODO(Steven): All this function needs to be refactored
# TODO(Steven): Fix this next
def _get_data(self): def _get_data(self):
# Copied from robot_lekiwi.py # Copied from robot_lekiwi.py
"""Polls the video socket for up to 15 ms. If data arrives, decode only """Polls the video socket for up to 15 ms. If data arrives, decode only
@ -470,7 +471,9 @@ class LeKiwiClient(Robot):
motors_name = self.state_feature.get("names").get("motors") motors_name = self.state_feature.get("names").get("motors")
common_keys = [key for key in action if any(key in motor for motor in motors_name)] common_keys = [
key for key in action if key in (motor.replace("arm_", "") for motor in motors_name)
]
if len(common_keys) < 6: if len(common_keys) < 6:
logging.error("Action should include at least the states of the leader arm") logging.error("Action should include at least the states of the leader arm")