From 30e1886b6466b8753ec41b3016c09a17dd3e960b Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Sun, 26 Apr 2026 17:12:37 +0200 Subject: [PATCH] fix(rl): merge environment and action-processor info in transition processing --- src/lerobot/rl/gym_manipulator.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/lerobot/rl/gym_manipulator.py b/src/lerobot/rl/gym_manipulator.py index 13370770b..8605e224b 100644 --- a/src/lerobot/rl/gym_manipulator.py +++ b/src/lerobot/rl/gym_manipulator.py @@ -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,