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feat(robots/so_follower): emit + populate depth keys when use_depth

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CarolinePascal
2026-05-20 16:09:53 +02:00
parent 085f574301
commit d6f97ae17f
1 changed files with 12 additions and 3 deletions
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src/lerobot/robots/so_follower/so_follower.py
+12 -3
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@@ -68,9 +68,12 @@ class SOFollower(Robot):
@property @property
def _cameras_ft(self) -> dict[str, tuple]: def _cameras_ft(self) -> dict[str, tuple]:
return { features: dict[str, tuple] = {}
cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras for cam in self.cameras:
} features[cam] = (self.cameras[cam].height, self.cameras[cam].width, 3)
if getattr(self.cameras[cam], "use_depth", False):
features[f"{cam}_depth"] = (self.cameras[cam].height, self.cameras[cam].width,1)
return features
@cached_property @cached_property
def observation_features(self) -> dict[str, type | tuple]: def observation_features(self) -> dict[str, type | tuple]:
@@ -190,6 +193,12 @@ class SOFollower(Robot):
dt_ms = (time.perf_counter() - start) * 1e3 dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms") logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
if getattr(cam, "use_depth", False):
start = time.perf_counter()
obs_dict[f"{cam_key}_depth"] = cam.read_latest_depth()
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read {cam_key} depth: {dt_ms:.1f}ms")
return obs_dict return obs_dict
@check_if_not_connected @check_if_not_connected