also have pipeline for feedback_features and action_features

src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py

@@ -106,7 +106,7 @@ class BiOpenArmFollower(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/bi_so_follower/bi_so_follower.py

@@ -90,7 +90,7 @@ class BiSOFollower(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py

@@ -184,7 +184,7 @@ class EarthRoverMiniPlus(Robot):
         }
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         """Define the action space.
 
         Returns:

src/lerobot/robots/hope_jr/hope_jr_arm.py

@@ -75,7 +75,7 @@ class HopeJrArm(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/hope_jr/hope_jr_hand.py

@@ -111,7 +111,7 @@ class HopeJrHand(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/koch_follower/koch_follower.py

@@ -77,7 +77,7 @@ class KochFollower(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/lekiwi/lekiwi.py

@@ -102,7 +102,7 @@ class LeKiwi(Robot):
         return {**self._state_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._state_ft
 
     @property

src/lerobot/robots/lekiwi/lekiwi_client.py

@@ -102,7 +102,7 @@ class LeKiwiClient(Robot):
         return {**self._state_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._state_ft
 
     @property

src/lerobot/robots/omx_follower/omx_follower.py

@@ -77,7 +77,7 @@ class OmxFollower(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/openarm_follower/openarm_follower.py

@@ -110,7 +110,7 @@ class OpenArmFollower(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         """Action features."""
         return self._motors_ft
 

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -99,7 +99,7 @@ class Reachy2Robot(Robot):
         return {**self.motors_features, **self.camera_features}
 
     @property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self.motors_features
 
     @property

src/lerobot/robots/robot.py

@@ -168,23 +168,40 @@ class Robot(abc.ABC):
 
     @property
     @abc.abstractmethod
-    def action_features(self) -> dict:
+    def raw_action_features(self) -> dict:
         """
-        A dictionary describing the structure and types of the actions expected by the robot.
-        Its structure (keys) should match the structure of what is passed to
-        :pymeth:`send_action`. Values for the dict should be the type of the value if it's
-        a simple value, e.g. ``float`` for single proprioceptive value
-        (a joint's goal position/velocity).
+        Hardware-level action features (before any pipeline transformation).
 
-        For simple robots (no input pipeline), this returns motor-level features.
-        For robots with an IK pipeline, override this to return the pipeline's input spec
-        (e.g., EE features) so that compatibility checks work correctly.
+        A dictionary describing the structure and types of the actions accepted directly
+        by the robot hardware (i.e. what :pymeth:`_send_action` receives). Its structure
+        (keys) should match the structure of what is expected by :pymeth:`_send_action`.
+        Values should be the type of the value if it's a simple value, e.g. ``float`` for
+        single proprioceptive value (a joint's goal position/velocity).
 
         Note: this property should be able to be called regardless of whether the robot
         is connected or not.
         """
         pass
 
+    @property
+    def action_features(self) -> dict:
+        """
+        Pipeline-transformed action features.
+
+        Applies input_pipeline().transform_features() to raw_action_features so the
+        returned dict reflects what the input pipeline outputs to hardware.
+
+        Use raw_action_features to inspect hardware-level action feature shapes.
+
+        Note: this property should be able to be called regardless of whether the robot
+        is connected or not.
+        """
+        from lerobot.datasets.pipeline_features import create_initial_features  # lazy import
+
+        initial = create_initial_features(action=self.raw_action_features)
+        transformed = self.input_pipeline().transform_features(initial)
+        return transformed.get(PipelineFeatureType.ACTION, {})
+
     @property
     @abc.abstractmethod
     def is_connected(self) -> bool:

src/lerobot/robots/so_follower/so_follower.py

@@ -78,7 +78,7 @@ class SOFollower(Robot):
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return self._motors_ft
 
     @property

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -170,7 +170,7 @@ class UnitreeG1(Robot):
             time.sleep(sleep_time)
 
     @cached_property
-    def action_features(self) -> dict[str, type]:
+    def raw_action_features(self) -> dict[str, type]:
         return {f"{G1_29_JointIndex(motor).name}.q": float for motor in G1_29_JointIndex}
 
     def calibrate(self) -> None:  # robot is already calibrated

src/lerobot/teleoperators/bi_openarm_leader/bi_openarm_leader.py

@@ -82,7 +82,7 @@ class BiOpenArmLeader(Teleoperator):
         }
 
     @cached_property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py

@@ -65,7 +65,7 @@ class BiSOLeader(Teleoperator):
         }
 
     @cached_property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/gamepad/teleop_gamepad.py

@@ -72,7 +72,7 @@ class GamepadTeleop(Teleoperator):
             }
 
     @property
-    def feedback_features(self) -> dict:
+    def raw_feedback_features(self) -> dict:
         return {}
 
     def connect(self) -> None:

src/lerobot/teleoperators/homunculus/homunculus_arm.py

@@ -85,7 +85,7 @@ class HomunculusArm(Teleoperator):
         return {f"{joint}.pos": float for joint in self.joints}
 
     @property
-    def feedback_features(self) -> dict:
+    def raw_feedback_features(self) -> dict:
         return {}
 
     @property

src/lerobot/teleoperators/homunculus/homunculus_glove.py

@@ -111,7 +111,7 @@ class HomunculusGlove(Teleoperator):
         return {f"{joint}.pos": float for joint in self.joints}
 
     @property
-    def feedback_features(self) -> dict:
+    def raw_feedback_features(self) -> dict:
         return {}
 
     @property

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -75,7 +75,7 @@ class KeyboardTeleop(Teleoperator):
         }
 
     @property
-    def feedback_features(self) -> dict:
+    def raw_feedback_features(self) -> dict:
         return {}
 
     @property

src/lerobot/teleoperators/koch_leader/koch_leader.py

@@ -62,7 +62,7 @@ class KochLeader(Teleoperator):
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/omx_leader/omx_leader.py

@@ -61,7 +61,7 @@ class OmxLeader(Teleoperator):
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/openarm_leader/openarm_leader.py

@@ -75,7 +75,7 @@ class OpenArmLeader(Teleoperator):
         return features
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         """Feedback features (not implemented for OpenArms)."""
         return {}
 

src/lerobot/teleoperators/openarm_mini/openarm_mini.py

@@ -131,7 +131,7 @@ class OpenArmMini(Teleoperator):
         return features
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/phone/teleop_phone.py

@@ -56,9 +56,9 @@ class BasePhone:
         }
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         # No haptic or other feedback implemented yet
-        pass
+        return {}
 
     def configure(self) -> None:
         # No additional configuration required for phone teleop
@@ -399,8 +399,8 @@ class Phone(Teleoperator):
         return self._phone_impl.raw_action_features
 
     @property
-    def feedback_features(self) -> dict[str, type]:
-        return self._phone_impl.feedback_features
+    def raw_feedback_features(self) -> dict[str, type]:
+        return self._phone_impl.raw_feedback_features
 
     def configure(self) -> None:
         return self._phone_impl.configure()

src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py

@@ -120,7 +120,7 @@ class Reachy2Teleoperator(Teleoperator):
             return dict.fromkeys(self.joints_dict.keys(), float)
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/so_leader/so_leader.py

@@ -59,7 +59,7 @@ class SOLeader(Teleoperator):
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

src/lerobot/teleoperators/teleoperator.py

@@ -168,18 +168,42 @@ class Teleoperator(abc.ABC):
 
     @property
     @abc.abstractmethod
-    def feedback_features(self) -> dict:
+    def raw_feedback_features(self) -> dict:
         """
-        A dictionary describing the structure and types of the feedback actions expected
-        by the teleoperator. Its structure (keys) should match the structure of what is
-        passed to :pymeth:`send_feedback`. Values should be the type of the value if it's
-        a simple value, e.g. ``float`` for single proprioceptive value.
+        Hardware-level feedback features (before any pipeline transformation).
+
+        A dictionary describing the structure and types of the feedback accepted directly
+        by the teleoperator hardware (i.e. what :pymeth:`_send_feedback` receives). Its
+        structure (keys) should match the structure of what is expected by
+        :pymeth:`_send_feedback`. Values should be the type of the value if it's a simple
+        value, e.g. ``float`` for single proprioceptive value.
+
+        Return an empty dict if this teleoperator does not support feedback.
 
         Note: this property should be able to be called regardless of whether the
         teleoperator is connected or not.
         """
         pass
 
+    @property
+    def feedback_features(self) -> dict:
+        """
+        Pipeline-transformed feedback features.
+
+        Applies input_pipeline().transform_features() to raw_feedback_features so the
+        returned dict reflects what the input pipeline outputs to the teleoperator hardware.
+
+        Use raw_feedback_features to inspect hardware-level feedback feature shapes.
+
+        Note: this property should be able to be called regardless of whether the
+        teleoperator is connected or not.
+        """
+        from lerobot.datasets.pipeline_features import create_initial_features  # lazy import
+
+        initial = create_initial_features(observation=self.raw_feedback_features)
+        transformed = self.input_pipeline().transform_features(initial)
+        return transformed.get(PipelineFeatureType.OBSERVATION, {})
+
     @property
     @abc.abstractmethod
     def is_connected(self) -> bool:

src/lerobot/teleoperators/unitree_g1/unitree_g1.py

@@ -76,7 +76,7 @@ class UnitreeG1Teleoperator(Teleoperator):
         return {f"{name}.q": float for name in self._g1_joint_names}
 
     @cached_property
-    def feedback_features(self) -> dict[str, type]:
+    def raw_feedback_features(self) -> dict[str, type]:
         return {}
 
     @property

tests/test_robot_pipeline.py

@@ -100,7 +100,7 @@ class MockRobot(Robot):
         return {**_JOINT_FEATURES, "camera": (480, 640, 3)}
 
     @property
-    def action_features(self) -> dict:
+    def raw_action_features(self) -> dict:
         return _JOINT_FEATURES
 
     @property
@@ -147,7 +147,7 @@ class MockTeleop(Teleoperator):
         return _JOINT_FEATURES
 
     @property
-    def feedback_features(self) -> dict:
+    def raw_feedback_features(self) -> dict:
         return {}
 
     @property
@@ -268,6 +268,24 @@ def test_robot_raw_observation_features_unchanged_after_pipeline():
     assert "camera" in raw
 
 
+def test_robot_action_features_identity_matches_raw():
+    """action_features equals raw_action_features with identity input pipeline."""
+    robot = MockRobot()
+    assert robot.action_features == robot.raw_action_features
+
+
+def test_robot_raw_action_features_unchanged_after_pipeline():
+    """raw_action_features is unaffected by any pipeline."""
+    robot = MockRobot()
+    double_pipeline = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
+        steps=[DoubleActionStep()],
+        to_transition=robot_action_observation_to_transition,
+        to_output=transition_to_robot_action,
+    )
+    robot.set_input_pipeline(double_pipeline)
+    assert robot.raw_action_features == _JOINT_FEATURES
+
+
 def test_robot_set_output_pipeline_replaces_identity():
     """set_output_pipeline replaces the default identity."""
     robot = MockRobot()
@@ -300,6 +318,18 @@ def test_teleop_action_features_identity_matches_raw():
     assert teleop.action_features == teleop.raw_action_features
 
 
+def test_teleop_feedback_features_identity_matches_raw():
+    """feedback_features equals raw_feedback_features with identity input pipeline."""
+    teleop = MockTeleop()
+    assert teleop.feedback_features == teleop.raw_feedback_features
+
+
+def test_teleop_feedback_features_empty_when_raw_empty():
+    """feedback_features returns empty dict when raw_feedback_features is empty."""
+    teleop = MockTeleop()
+    assert teleop.feedback_features == {}
+
+
 def test_teleop_set_output_pipeline():
     teleop = MockTeleop()
     p = _make_identity_teleop_action_pipeline()