From 19a75548f24fcd65e41e5ecd030d76c6eb4ec202 Mon Sep 17 00:00:00 2001 From: gene-su Date: Mon, 24 Nov 2025 17:51:12 +0800 Subject: [PATCH 1/2] fix mismatched array sizes during concatenation --- source/leisaac/leisaac/policy/service_policy_clients.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/leisaac/leisaac/policy/service_policy_clients.py b/source/leisaac/leisaac/policy/service_policy_clients.py index 8705661c..ea494caf 100644 --- a/source/leisaac/leisaac/policy/service_policy_clients.py +++ b/source/leisaac/leisaac/policy/service_policy_clients.py @@ -73,7 +73,7 @@ def get_action(self, observation_dict: dict) -> torch.Tensor: } """ concat_action = np.concatenate( - [action_chunk["action.single_arm"], action_chunk["action.gripper"][:, None]], + [action_chunk["action.single_arm"], action_chunk["action.gripper"]], axis=1, ) concat_action = convert_lerobot_action_to_leisaac(concat_action) From d248440d2026fe49a07c6abf6be8606031e930ca Mon Sep 17 00:00:00 2001 From: EverNorif <1320346985@qq.com> Date: Mon, 24 Nov 2025 18:56:52 +0800 Subject: [PATCH 2/2] add specific version. --- docs/docs/resources/available_policy.md | 2 +- source/leisaac/leisaac/policy/service_policy_clients.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/docs/resources/available_policy.md b/docs/docs/resources/available_policy.md index 9ecc2e74..e90904be 100644 --- a/docs/docs/resources/available_policy.md +++ b/docs/docs/resources/available_policy.md @@ -32,7 +32,7 @@ python scripts/evaluation/policy_inference.py \ ``` :::tip -target commit: https://github.com/NVIDIA/Isaac-GR00T/commit/b211007ed6698e6642d2fd7679dabab1d97e9e6c +target commit: https://github.com/NVIDIA/Isaac-GR00T/commit/4af2b622892f7dcb5aae5a3fb70bcb02dc217b96 ::: ## Lerobot official policy diff --git a/source/leisaac/leisaac/policy/service_policy_clients.py b/source/leisaac/leisaac/policy/service_policy_clients.py index ea494caf..bc745cb2 100644 --- a/source/leisaac/leisaac/policy/service_policy_clients.py +++ b/source/leisaac/leisaac/policy/service_policy_clients.py @@ -17,7 +17,7 @@ class Gr00tServicePolicyClient(ZMQServicePolicy): """ Service policy client for GR00T N1.5: https://github.com/NVIDIA/Isaac-GR00T - Target Commit: https://github.com/NVIDIA/Isaac-GR00T/commit/b211007ed6698e6642d2fd7679dabab1d97e9e6c + Target Commit: https://github.com/NVIDIA/Isaac-GR00T/commit/4af2b622892f7dcb5aae5a3fb70bcb02dc217b96 """ def __init__(