feat(lerobot-robot-livekit): add action_features config field#33
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pham-tuan-binh wants to merge 1 commit into
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feat(lerobot-robot-livekit): add action_features config field#33pham-tuan-binh wants to merge 1 commit into
pham-tuan-binh wants to merge 1 commit into
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Lets callers declare an explicit action schema on LiveKitRobotConfig when the action keys differ from observation keys and can't be derived from config.motors. Ignored when a local Teleoperator is passed.
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Summary
action_features: dict | None = NonetoLiveKitRobotConfig_resolve_schemaas the explicit action schema when no localTeleoperatoris passed — higher priority thanconfig.motors, lower than a live teleop instanceobservation_features: standalone (state mirrors action) or alongside it (disjoint obs/action schemas)Test plan
action_featuresonly: action keys match provided dict; state keys mirror actionobservation_features+action_features: state keys from obs, action keys from action_featuresobservation_featuresonly (noaction_features, nomotors): state and action keys both come from obs (existing behavior unchanged)action_features: teleop wins,action_featuresis ignored