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nit in delta action

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This commit is contained in:
Michel Aractingi
2025-08-11 19:02:33 +02:00
parent e8b8d57191
commit 62f716dbc9
1 changed files with 4 additions and 2 deletions
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src/lerobot/processor/delta_action_processor.py
+4 -2
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@@ -36,12 +36,14 @@ class MapTensorToDeltaActionDict(ActionProcessor):
action = action.squeeze(0) action = action.squeeze(0)
# TODO (maractingi): add rotation # TODO (maractingi): add rotation
return { delta_action = {
"action.delta_x": action[0], "action.delta_x": action[0],
"action.delta_y": action[1], "action.delta_y": action[1],
"action.delta_z": action[2], "action.delta_z": action[2],
"action.gripper": action[3],
} }
if action.shape[0] > 3:
delta_action["action.gripper"] = action[3]
return delta_action
@ProcessorStepRegistry.register("map_delta_action_to_robot_action") @ProcessorStepRegistry.register("map_delta_action_to_robot_action")