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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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5
examples/so100_to_so100_EE/replay.py
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@@ -29,6 +29,7 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import log_say
@@ -67,7 +68,7 @@ robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotOb
dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
actions = episode_frames.select_columns("action")
actions = episode_frames.select_columns(ACTION)
# Connect to the robot
robot.connect()
@@ -82,7 +83,7 @@ for idx in range(len(episode_frames)):
# Get recorded action from dataset
ee_action = {
name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
}
# Get robot observation