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use float32 instead of int

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Pepijn
2025-03-18 13:59:50 +01:00
committed by Sebastian-Contrari
parent f945641de9
commit 91f549b2ce
1 changed files with 2 additions and 2 deletions
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lerobot/common/robot_devices/robots/manipulator.py
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@@ -504,7 +504,7 @@ class ManipulatorRobot:
# Used when record_data=True # Used when record_data=True
follower_goal_pos[name] = goal_pos 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.follower_arms[name].write("Goal_Position", goal_pos)
self.logs[f"write_follower_{name}_goal_pos_dt_s"] = time.perf_counter() - before_fwrite_t self.logs[f"write_follower_{name}_goal_pos_dt_s"] = time.perf_counter() - before_fwrite_t
@@ -626,7 +626,7 @@ class ManipulatorRobot:
action_sent.append(goal_pos) action_sent.append(goal_pos)
# Send goal position to each follower # 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) self.follower_arms[name].write("Goal_Position", goal_pos)
return torch.cat(action_sent) return torch.cat(action_sent)