From be286fc853a2b2312fa0491c132beadf3e0552e2 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Mon, 27 Jul 2026 14:02:08 +0200 Subject: [PATCH] fix(processor): add gripper_vel in MapDeltaActionToRobotActionStep --- src/lerobot/processor/delta_action_processor.py | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/lerobot/processor/delta_action_processor.py b/src/lerobot/processor/delta_action_processor.py index a75432d50..57d353c5c 100644 --- a/src/lerobot/processor/delta_action_processor.py +++ b/src/lerobot/processor/delta_action_processor.py @@ -136,7 +136,16 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep): features[PipelineFeatureType.ACTION].pop(f"delta_{axis}", None) features[PipelineFeatureType.ACTION].pop("gripper", None) - for feat in ["enabled", "target_x", "target_y", "target_z", "target_wx", "target_wy", "target_wz"]: + for feat in [ + "enabled", + "target_x", + "target_y", + "target_z", + "target_wx", + "target_wy", + "target_wz", + "gripper_vel", + ]: features[PipelineFeatureType.ACTION][f"{feat}"] = PolicyFeature( type=FeatureType.ACTION, shape=(1,) )