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fix(processor): add gripper_vel in MapDeltaActionToRobotActionStep

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Steven Palma
2026-07-27 14:02:08 +02:00
parent 78b12fb77c
commit be286fc853
1 changed files with 10 additions and 1 deletions
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src/lerobot/processor/delta_action_processor.py
+10 -1
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@@ -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,)
)