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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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7
examples/backward_compatibility/replay.py
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@@ -44,6 +44,7 @@ from lerobot.robots import ( # noqa: F401
so100_follower,
so101_follower,
)
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import (
init_logging,
@@ -78,16 +79,16 @@ def replay(cfg: ReplayConfig):
robot = make_robot_from_config(cfg.robot)
dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
actions = dataset.hf_dataset.select_columns("action")
actions = dataset.hf_dataset.select_columns(ACTION)
robot.connect()
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(dataset.num_frames):
start_episode_t = time.perf_counter()
action_array = actions[idx]["action"]
action_array = actions[idx][ACTION]
action = {}
for i, name in enumerate(dataset.features["action"]["names"]):
for i, name in enumerate(dataset.features[ACTION]["names"]):
key = f"{name.removeprefix('main_')}.pos"
action[key] = action_array[i].item()