From cc0d485d3dc8bdbab2ab1f5f026ad2ba3c972fe6 Mon Sep 17 00:00:00 2001 From: shantanuparab-tr Date: Fri, 13 Feb 2026 13:40:55 -0600 Subject: [PATCH] remove odometry data from mobile --- lerobot/common/robot_devices/robots/trossen_ai_mobile.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/lerobot/common/robot_devices/robots/trossen_ai_mobile.py b/lerobot/common/robot_devices/robots/trossen_ai_mobile.py index 8f017f3c762..d30bc7c86fc 100644 --- a/lerobot/common/robot_devices/robots/trossen_ai_mobile.py +++ b/lerobot/common/robot_devices/robots/trossen_ai_mobile.py @@ -52,7 +52,7 @@ def camera_features(self) -> dict: @property def motor_features(self) -> dict: action_names = ["linear_vel", "angular_vel"] + self.get_motor_names(self.leader_arms) - state_names = ["odom_x", "odom_y", "odom_theta", "linear_vel", "angular_vel"] + self.get_motor_names( + state_names = ["linear_vel", "angular_vel"] + self.get_motor_names( self.leader_arms ) return { @@ -193,9 +193,6 @@ def get_base_state(self) -> dict: ) self.base.read(self.slate_base_data) return { - "odom_x": self.slate_base_data.odom_x, - "odom_y": self.slate_base_data.odom_y, - "odom_theta": self.slate_base_data.odom_z, "linear_vel": self.slate_base_data.vel_x, "angular_vel": self.slate_base_data.vel_z, }