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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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src/lerobot/processor/policy_robot_bridge.py
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@@ -5,6 +5,7 @@ import torch
from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from lerobot.processor import ActionProcessorStep, PolicyAction, ProcessorStepRegistry, RobotAction
from lerobot.utils.constants import ACTION
@dataclass
@@ -23,7 +24,7 @@ class RobotActionToPolicyActionProcessorStep(ActionProcessorStep):
return asdict(self)
def transform_features(self, features):
features[PipelineFeatureType.ACTION]["action"] = PolicyFeature(
features[PipelineFeatureType.ACTION][ACTION] = PolicyFeature(
type=FeatureType.ACTION, shape=(len(self.motor_names),)
)
return features