From a2489ab0dabe0ef9eb71159eeb3179300cf7c140 Mon Sep 17 00:00:00 2001
From: Steven Palma <steven.palma@huggingface.co>
Date: Thu, 11 Sep 2025 12:37:09 +0200
Subject: [PATCH] fix(robots): remove action prefix hard-coded in teleop
 keyboard and gamepad

---
 src/lerobot/teleoperators/gamepad/teleop_gamepad.py   |  6 +++---
 src/lerobot/teleoperators/keyboard/teleop_keyboard.py | 10 +++++-----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/lerobot/teleoperators/gamepad/teleop_gamepad.py b/src/lerobot/teleoperators/gamepad/teleop_gamepad.py
index 6902fd6fe..c7072f4a7 100644
--- a/src/lerobot/teleoperators/gamepad/teleop_gamepad.py
+++ b/src/lerobot/teleoperators/gamepad/teleop_gamepad.py
@@ -94,9 +94,9 @@ class GamepadTeleop(Teleoperator):
         gamepad_action = np.array([delta_x, delta_y, delta_z], dtype=np.float32)
 
         action_dict = {
-            "action.delta_x": gamepad_action[0],
-            "action.delta_y": gamepad_action[1],
-            "action.delta_z": gamepad_action[2],
+            "delta_x": gamepad_action[0],
+            "delta_y": gamepad_action[1],
+            "delta_z": gamepad_action[2],
         }
 
         # Default gripper action is to stay
diff --git a/src/lerobot/teleoperators/keyboard/teleop_keyboard.py b/src/lerobot/teleoperators/keyboard/teleop_keyboard.py
index c4daaa1e2..7f489b25a 100644
--- a/src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+++ b/src/lerobot/teleoperators/keyboard/teleop_keyboard.py
@@ -168,13 +168,13 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
             return {
                 "dtype": "float32",
                 "shape": (4,),
-                "names": {"action.delta_x": 0, "action.delta_y": 1, "action.delta_z": 2, "action.gripper": 3},
+                "names": {"delta_x": 0, "delta_y": 1, "delta_z": 2, "gripper": 3},
             }
         else:
             return {
                 "dtype": "float32",
                 "shape": (3,),
-                "names": {"action.delta_x": 0, "action.delta_y": 1, "action.delta_z": 2},
+                "names": {"delta_x": 0, "delta_y": 1, "delta_z": 2},
             }
 
     def get_action(self) -> dict[str, Any]:
@@ -217,9 +217,9 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
         self.current_pressed.clear()
 
         action_dict = {
-            "action.delta_x": delta_x,
-            "action.delta_y": delta_y,
-            "action.delta_z": delta_z,
+            "delta_x": delta_x,
+            "delta_y": delta_y,
+            "delta_z": delta_z,
         }
 
         if self.config.use_gripper: