chore: move constants to utils (#2016)

tests/processor/test_act_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.processor_act import make_act_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_batch_processor.py

@@ -21,7 +21,6 @@ import numpy as np
 import pytest
 import torch
 
-from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DataProcessorPipeline,
@@ -29,6 +28,7 @@ from lerobot.processor import (
     TransitionKey,
 )
 from lerobot.processor.converters import create_transition, identity_transition
+from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 
 def test_state_1d_to_2d():

tests/processor/test_classifier_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import OBS_IMAGE, OBS_STATE
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.sac.reward_model.processor_classifier import make_classifier_processor
 from lerobot.processor import (
@@ -32,6 +31,7 @@ from lerobot.processor import (
     TransitionKey,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_device_processor.py

@@ -284,8 +284,8 @@ def test_features():
 
 def test_integration_with_robot_processor():
     """Test integration with RobotProcessor."""
-    from lerobot.constants import OBS_STATE
     from lerobot.processor import AddBatchDimensionProcessorStep
+    from lerobot.utils.constants import OBS_STATE
 
     # Create a pipeline with DeviceProcessorStep
     device_processor = DeviceProcessorStep(device="cpu")
@@ -948,12 +948,12 @@ def test_simulated_accelerate_scenario():
 def test_policy_processor_integration():
     """Test integration with policy processors - input on GPU, output on CPU."""
     from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-    from lerobot.constants import ACTION, OBS_STATE
     from lerobot.processor import (
         AddBatchDimensionProcessorStep,
         NormalizerProcessorStep,
         UnnormalizerProcessorStep,
     )
+    from lerobot.utils.constants import ACTION, OBS_STATE
 
     # Create features and stats
     features = {

tests/processor/test_diffusion_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.processor_diffusion import make_diffusion_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_observation_processor.py

@@ -19,9 +19,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType
-from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from lerobot.processor import TransitionKey, VanillaObservationProcessorStep
 from lerobot.processor.converters import create_transition
+from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from tests.conftest import assert_contract_is_typed
 
 

tests/processor/test_pi0_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pi0.processor_pi0 import Pi0NewLineProcessor, make_pi0_pre_post_processors
 from lerobot.processor import (
@@ -35,6 +34,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 class MockTokenizerProcessorStep(ProcessorStep):

tests/processor/test_sac_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_smolvla_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PipelineFeatureType, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.smolvla.processor_smolvla import (
     SmolVLANewLineProcessor,
@@ -38,6 +37,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 class MockTokenizerProcessorStep(ProcessorStep):

tests/processor/test_tdmpc_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.tdmpc.processor_tdmpc import make_tdmpc_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_tokenizer_processor.py

@@ -9,9 +9,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_LANGUAGE
 from lerobot.processor import DataProcessorPipeline, TokenizerProcessorStep, TransitionKey
 from lerobot.processor.converters import create_transition, identity_transition
+from lerobot.utils.constants import OBS_LANGUAGE
 from tests.utils import require_package
 
 

tests/processor/test_vqbet_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.policies.vqbet.processor_vqbet import make_vqbet_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():