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fix(rl): update gripper position key and handle action absence during reset

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This commit is contained in:
Khalil Meftah
2026-04-30 14:56:40 +02:00
parent 6ed80f5a59
commit d4a568ee6c
1 changed files with 6 additions and 2 deletions
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src/lerobot/processor/hil_processor.py
+6 -2
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@@ -389,11 +389,15 @@ class GripperPenaltyProcessorStep(ProcessorStep):
if raw_joint_positions is None: if raw_joint_positions is None:
return new_transition return new_transition
current_gripper_pos = raw_joint_positions.get(GRIPPER_KEY, None) current_gripper_pos = raw_joint_positions.get(f"{GRIPPER_KEY}.pos", None)
if current_gripper_pos is None: if current_gripper_pos is None:
return new_transition return new_transition
# Gripper action is a PolicyAction at this stage # During reset, the transition may not carry any action yet.
if action is None:
return new_transition
# Gripper action is expected as the last action dimension.
gripper_action = action[-1].item() gripper_action = action[-1].item()
gripper_action_normalized = gripper_action / self.max_gripper_pos gripper_action_normalized = gripper_action / self.max_gripper_pos