From 6dd86b9f43a332e0390c45b5aecc2b3b06a4f558 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 28 Nov 2025 14:38:47 +0100 Subject: [PATCH] temperature can be list, average in such case --- src/lerobot/robots/unitree_g1/run_g1_server.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/lerobot/robots/unitree_g1/run_g1_server.py b/src/lerobot/robots/unitree_g1/run_g1_server.py index 3932c3669..ee3505ea4 100644 --- a/src/lerobot/robots/unitree_g1/run_g1_server.py +++ b/src/lerobot/robots/unitree_g1/run_g1_server.py @@ -52,12 +52,14 @@ def lowstate_to_dict(msg: hg_LowState) -> dict[str, Any]: """Convert LowState SDK message to a JSON-serializable dictionary.""" motor_states = [] for i in range(NUM_MOTORS): + temp = msg.motor_state[i].temperature + avg_temp = float(sum(temp) / len(temp)) if isinstance(temp, list) else float(temp) motor_states.append( { "q": float(msg.motor_state[i].q), "dq": float(msg.motor_state[i].dq), "tau_est": float(msg.motor_state[i].tau_est), - "temperature": float(msg.motor_state[i].temperature), + "temperature": avg_temp, } )