dbg(robots): check sent action wheels lekiwi

examples/robots/lekiwi_client_app.py

@@ -85,9 +85,7 @@ def main():
     keyboard = KeyboardTeleop(keyboard_config)
 
     logging.info("Configuring LeKiwi Client")
-    robot_config = LeKiwiClientConfig(
-        id="daemonlekiwi", calibration_dir=".cache/calibration/lekiwi", robot_mode=RobotMode.TELEOP
-    )
+    robot_config = LeKiwiClientConfig(id="lekiwi", robot_mode=RobotMode.TELEOP)
     robot = LeKiwiClient(robot_config)
 
     logging.info("Creating LeRobot Dataset")

lerobot/common/robots/lekiwi/lekiwi.py

@@ -186,7 +186,9 @@ class LeKiwi(Robot):
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 
-        obs_dict = {}
+        # TODO(Steven): remove hard-coded cam name
+        # This is needed at init for when there's no comms
+        obs_dict = {OBS_IMAGES: {}}
 
         # Read actuators position for arm and vel for base
         start = time.perf_counter()

lerobot/common/robots/lekiwi/lekiwi_client.py

@@ -246,6 +246,7 @@ class LeKiwiClient(Robot):
         # Convert each wheel’s angular speed (deg/s) to a raw integer.
         wheel_raw = [LeKiwiClient._degps_to_raw(deg) for deg in wheel_degps]
 
+        # TODO(Steven): remove hard-coded names
         return {"left_wheel": wheel_raw[0], "back_wheel": wheel_raw[1], "right_wheel": wheel_raw[2]}
 
     # Copied from robot_lekiwi MobileManipulator class
@@ -396,7 +397,6 @@ class LeKiwiClient(Robot):
                 frame = np.zeros((480, 640, 3), dtype=np.uint8)
             obs_dict[OBS_IMAGES][cam_name] = torch.from_numpy(frame)
 
-        print("obs_dict", obs_dict)
         return obs_dict
 
     def _from_keyboard_to_wheel_action(self, pressed_keys: np.ndarray):

lerobot/common/robots/lekiwi/lekiwi_host.py

@@ -71,7 +71,9 @@ def main():
             try:
                 msg = remote_agent.zmq_cmd_socket.recv_string(zmq.NOBLOCK)
                 data = dict(json.loads(msg))
+                print("Received command:", data)
                 _action_sent = robot.send_action(data)
+                print("Sent action:", _action_sent)
                 last_cmd_time = time.time()
             except zmq.Again:
                 logging.warning("No command available")