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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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6
src/lerobot/datasets/utils.py
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@@ -43,7 +43,7 @@ from lerobot.datasets.backward_compatibility import (
BackwardCompatibilityError,
ForwardCompatibilityError,
)
from lerobot.utils.constants import OBS_ENV_STATE, OBS_STR
from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_STR
from lerobot.utils.utils import is_valid_numpy_dtype_string
DEFAULT_CHUNK_SIZE = 1000 # Max number of files per chunk
@@ -646,7 +646,7 @@ def hw_to_dataset_features(
}
cam_fts = {key: shape for key, shape in hw_features.items() if isinstance(shape, tuple)}
if joint_fts and prefix == "action":
if joint_fts and prefix == ACTION:
features[prefix] = {
"dtype": "float32",
"shape": (len(joint_fts),),
@@ -733,7 +733,7 @@ def dataset_to_policy_features(features: dict[str, dict]) -> dict[str, PolicyFea
type = FeatureType.ENV
elif key.startswith(OBS_STR):
type = FeatureType.STATE
elif key.startswith("action"):
elif key.startswith(ACTION):
type = FeatureType.ACTION
else:
continue