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fix(rl): merge environment and action-processor info in transition processing

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This commit is contained in:
Khalil Meftah
2026-04-26 17:12:37 +02:00
parent 9c9064e5be
commit 30e1886b64
1 changed files with 6 additions and 1 deletions
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7
src/lerobot/rl/gym_manipulator.py
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@@ -568,8 +568,13 @@ def step_env_and_process_transition(
if raw_joint_positions is not None:
complementary_data["raw_joint_positions"] = raw_joint_positions
# Merge env and action-processor info: env wins for str keys, action-processor
# wins for `TeleopEvents` enum keys
action_info = processed_action_transition[TransitionKey.INFO]
new_info = info.copy()
new_info.update(processed_action_transition[TransitionKey.INFO])
for key, value in action_info.items():
if isinstance(key, TeleopEvents):
new_info[key] = value
new_transition = create_transition(
observation=obs,