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

* 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

examples/backward_compatibility/replay.py

@@ -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()
 

examples/lekiwi/evaluate.py

@@ -21,7 +21,7 @@ from lerobot.policies.factory import make_pre_post_processors
 from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.utils.constants import OBS_STR
+from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
@@ -42,7 +42,7 @@ robot = LeKiwiClient(robot_config)
 policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
 
 # Configure the dataset features
-action_features = hw_to_dataset_features(robot.action_features, "action")
+action_features = hw_to_dataset_features(robot.action_features, ACTION)
 obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
 dataset_features = {**action_features, **obs_features}
 

examples/lekiwi/record.py

@@ -22,7 +22,7 @@ from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
-from lerobot.utils.constants import OBS_STR
+from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
@@ -48,7 +48,7 @@ keyboard = KeyboardTeleop(keyboard_config)
 teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
 
 # Configure the dataset features
-action_features = hw_to_dataset_features(robot.action_features, "action")
+action_features = hw_to_dataset_features(robot.action_features, ACTION)
 obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
 dataset_features = {**action_features, **obs_features}
 

examples/lekiwi/replay.py

@@ -19,6 +19,7 @@ import time
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
 from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
+from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import busy_wait
 from lerobot.utils.utils import log_say
 
@@ -34,7 +35,7 @@ robot = LeKiwiClient(robot_config)
 dataset = LeRobotDataset("<hf_username>/<dataset_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()
@@ -49,7 +50,7 @@ for idx in range(len(episode_frames)):
 
     # Get recorded action from dataset
     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"])
     }
 
     # Send action to robot

examples/phone_to_so100/replay.py

@@ -28,6 +28,7 @@ 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
 
@@ -66,7 +67,7 @@ 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()
@@ -81,7 +82,7 @@ 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

examples/so100_to_so100_EE/replay.py

@@ -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