position: accept struct array with qpos#6
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Pull request overview
Updates position input handling to support PyArrow StructArray payloads carrying joint positions in a qpos field, aligning it with the existing handling for position_right / position_left.
Changes:
- Accept
pa.StructArrayforpositioninputs and extractqposbefore converting to NumPy. - Normalize the conversion path by introducing an intermediate
valuevariable forposition.
| value = value.field("qpos") | ||
| last_pos = value.to_numpy(zero_copy_only=False) | ||
| last_right_pos = last_pos[:8] | ||
| last_left_pos = last_pos[9:] |
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