hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Use float32 instead of int (#877)

Browse Source
This commit is contained in:
Pepijn
2025-03-18 16:36:37 +01:00
committed by GitHub
parent e8159997c7
commit 952e892fe5
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
lerobot/common/robot_devices/robots/manipulator.py
View File

@@ -474,7 +474,7 @@ class ManipulatorRobot:
# Used when record_data=True
follower_goal_pos[name] = goal_pos
goal_pos = goal_pos.numpy().astype(np.int32)
goal_pos = goal_pos.numpy().astype(np.float32)
self.follower_arms[name].write("Goal_Position", goal_pos)
self.logs[f"write_follower_{name}_goal_pos_dt_s"] = time.perf_counter() - before_fwrite_t
@@ -596,7 +596,7 @@ class ManipulatorRobot:
action_sent.append(goal_pos)
# Send goal position to each follower
goal_pos = goal_pos.numpy().astype(np.int32)
goal_pos = goal_pos.numpy().astype(np.float32)
self.follower_arms[name].write("Goal_Position", goal_pos)
return torch.cat(action_sent)