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chore: replace hard-coded action values with constants throughout all the source code (#2055)

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* chore: replace hard-coded 'action' values with constants throughout all the source code

* chore(tests): replace hard-coded action values with constants throughout all the test code
This commit is contained in:
Steven Palma
2025-09-26 13:33:18 +02:00
committed by GitHub
parent 9627765ce2
commit d2782cf66b
47 changed files with 269 additions and 255 deletions
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src/lerobot/scripts/lerobot_record.py
+3 -3
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@@ -109,7 +109,7 @@ from lerobot.teleoperators import ( # noqa: F401
so101_leader,
)
from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop
from lerobot.utils.constants import OBS_STR
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.control_utils import (
init_keyboard_listener,
is_headless,
@@ -319,7 +319,7 @@ def record_loop(
robot_type=robot.robot_type,
)
action_names = dataset.features["action"]["names"]
action_names = dataset.features[ACTION]["names"]
act_processed_policy: RobotAction = {
f"{name}": float(action_values[i]) for i, name in enumerate(action_names)
}
@@ -361,7 +361,7 @@ def record_loop(
# Write to dataset
if dataset is not None:
action_frame = build_dataset_frame(dataset.features, action_values, prefix="action")
action_frame = build_dataset_frame(dataset.features, action_values, prefix=ACTION)
frame = {**observation_frame, **action_frame, "task": single_task}
dataset.add_frame(frame)