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chore: use alias & constants (#2785)

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* chore: use alias and constants

* fix(rl): solve circular dependecy

* chore: nit right constant

* chore: pre-commit

* chore(script): conflict tokenizer train

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Steven Palma
2026-01-13 09:49:46 +01:00
committed by GitHub
parent 2cdd9f43f7
commit 15724826dd
51 changed files with 206 additions and 178 deletions
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src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+5 -4
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@@ -21,6 +21,7 @@ import time
from queue import Queue
from typing import Any
from lerobot.processor import RobotAction
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..teleoperator import Teleoperator
@@ -124,7 +125,7 @@ class KeyboardTeleop(Teleoperator):
def configure(self):
pass
def get_action(self) -> dict[str, Any]:
def get_action(self) -> RobotAction:
before_read_t = time.perf_counter()
if not self.is_connected:
@@ -181,7 +182,7 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
"names": {"delta_x": 0, "delta_y": 1, "delta_z": 2},
}
def get_action(self) -> dict[str, Any]:
def get_action(self) -> RobotAction:
if not self.is_connected:
raise DeviceNotConnectedError(
"KeyboardTeleop is not connected. You need to run `connect()` before `get_action()`."
@@ -374,12 +375,12 @@ class KeyboardRoverTeleop(KeyboardTeleop):
# Only remove key if it's being released
self.current_pressed.pop(key_char, None)
def get_action(self) -> dict[str, Any]:
def get_action(self) -> RobotAction:
"""
Get the current action based on pressed keys.
Returns:
dict with 'linear.vel' and 'angular.vel' keys
RobotAction with 'linear.vel' and 'angular.vel' keys
"""
before_read_t = time.perf_counter()