Add Wall-X serving and Turtle2 TCP WebSocket bridge

2026-09-23 21:04:17 +08:00
parent 6764e8f12f
commit d1cc7d96ad
40 changed files with 8591 additions and 40 deletions
@@ -161,6 +161,8 @@ def load_wallx_processors_from_cfg(
    flat = dataclasses.asdict(cfg.model)
    flat["model_type"] = cfg.model_type
    flat["data"] = dict(cfg._raw_data or {})
+    flat["data"]["action_horizon"] = cfg.task.action_horizon
+    flat["data"]["action_horizon_flow"] = cfg.task.action_horizon_flow
    flat["dof_config"] = cfg.task.dof_config
    flat["agent_pos_config"] = cfg.task.agent_pos_config
    if cfg.task.ar_dof_config is not None: