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General fixes in code, removed delta action, fixed grasp penalty, added logic to put gripper reward in info

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This commit is contained in:
Michel Aractingi
2025-04-09 17:04:43 +02:00
committed by Adil Zouitine
parent a80a9cf379
commit 9eec7b8bb0
7 changed files with 75 additions and 65 deletions
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lerobot/scripts/control_robot.py
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@@ -363,8 +363,6 @@ def replay(
start_episode_t = time.perf_counter()
action = actions[idx]["action"]
# if replay_delta_actions:
# action = action + current_joint_positions
robot.send_action(action)
dt_s = time.perf_counter() - start_episode_t