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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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4
examples/lekiwi/record.py
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@@ -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}