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fix mismatched array sizes during concatenation after gr00t update. #72

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Merged
EverNorif merged 2 commits into from
Nov 24, 2025
Merged

fix mismatched array sizes during concatenation after gr00t update. #72

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19a7554
fix mismatched array sizes during concatenation
gene-su Nov 24, 2025
d248440
add specific version.
EverNorif Nov 24, 2025
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2 changes: 1 addition & 1 deletion docs/docs/resources/available_policy.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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4 changes: 2 additions & 2 deletions source/leisaac/leisaac/policy/service_policy_clients.py
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Expand Up @@ -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__(
Expand Down Expand Up @@ -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)
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