统一存储的state和action为相同的度量，小数度量

2025-05-07 20:10:08 +08:00
parent 676ab74521
commit 5bf422ca6f
3 changed files with 9 additions and 12 deletions
--- a/lerobot/common/robot_devices/robots/piper.py
+++ b/lerobot/common/robot_devices/robots/piper.py
@@ -184,8 +184,6 @@ class PiperRobot:

        return obs_dict, action_dict

-
-
    def send_action(self, action: torch.Tensor) -> torch.Tensor:
        """Write the predicted actions from policy to the motors"""
        if not self.is_connected:
@@ -199,8 +197,6 @@ class PiperRobot:

        return action

-
-
    def capture_observation(self) -> dict:
        """capture current images and joint positions"""
        if not self.is_connected: