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fix(robots): remove action prefix hard-coded in teleop keyboard and gamepad

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Steven Palma
2025-09-11 12:37:09 +02:00
parent 014486999e
commit a2489ab0da
2 changed files with 8 additions and 8 deletions
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src/lerobot/teleoperators/gamepad/teleop_gamepad.py
+3 -3
View File
@@ -94,9 +94,9 @@ class GamepadTeleop(Teleoperator):
gamepad_action = np.array([delta_x, delta_y, delta_z], dtype=np.float32) gamepad_action = np.array([delta_x, delta_y, delta_z], dtype=np.float32)
action_dict = { action_dict = {
"action.delta_x": gamepad_action[0], "delta_x": gamepad_action[0],
"action.delta_y": gamepad_action[1], "delta_y": gamepad_action[1],
"action.delta_z": gamepad_action[2], "delta_z": gamepad_action[2],
} }
# Default gripper action is to stay # Default gripper action is to stay
src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+5 -5
View File
@@ -168,13 +168,13 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
return { return {
"dtype": "float32", "dtype": "float32",
"shape": (4,), "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: else:
return { return {
"dtype": "float32", "dtype": "float32",
"shape": (3,), "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]: def get_action(self) -> dict[str, Any]:
@@ -217,9 +217,9 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
self.current_pressed.clear() self.current_pressed.clear()
action_dict = { action_dict = {
"action.delta_x": delta_x, "delta_x": delta_x,
"action.delta_y": delta_y, "delta_y": delta_y,
"action.delta_z": delta_z, "delta_z": delta_z,
} }
if self.config.use_gripper: if self.config.use_gripper: