From b643f8de02061369ce3769fb1e347fffe929484f Mon Sep 17 00:00:00 2001 From: Sutou Kouhei Date: Mon, 6 Jul 2026 11:31:13 +0900 Subject: [PATCH] position: accept struct array with qpos --- src/dora_openarm_classifier/main.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/dora_openarm_classifier/main.py b/src/dora_openarm_classifier/main.py index f052c14..3507890 100644 --- a/src/dora_openarm_classifier/main.py +++ b/src/dora_openarm_classifier/main.py @@ -151,7 +151,10 @@ def main(): continue if event["id"] == "position": - last_pos = event["value"].to_numpy(zero_copy_only=False) + value = event["value"] + if isinstance(value, pa.StructArray): + 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:] continue