From 32b08a242d81d3c958616f765491211e318d3edd Mon Sep 17 00:00:00 2001
From: glannuzel <gaelle.lannuzel@gmail.com>
Date: Mon, 28 Jul 2025 17:59:14 +0200
Subject: [PATCH] Modify observation_features

---
 src/lerobot/robots/reachy2/robot_reachy2.py | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/lerobot/robots/reachy2/robot_reachy2.py b/src/lerobot/robots/reachy2/robot_reachy2.py
index b86e244c5..75df78595 100644
--- a/src/lerobot/robots/reachy2/robot_reachy2.py
+++ b/src/lerobot/robots/reachy2/robot_reachy2.py
@@ -78,11 +78,15 @@ class Reachy2Robot(Robot):
 
     @property
     def observation_features(self) -> dict:
-        return {
-            "dtype": "float32",
-            "shape": len(REACHY2_MOTORS),
-            "names": {"motors": list(REACHY2_MOTORS)},
-        }
+        return dict.fromkeys(
+            REACHY2_MOTORS.keys(),
+            float,
+        )
+        # return {
+        #     "dtype": "float32",
+        #     "shape": len(REACHY2_MOTORS),
+        #     "names": {"motors": list(REACHY2_MOTORS)},
+        # }
 
     @property
     def action_features(self) -> dict: