chore: move constants to utils (#2016)

examples/training/train_with_streaming.py

@@ -20,13 +20,13 @@ from pathlib import Path
 import torch
 
 from lerobot.configs.types import FeatureType
-from lerobot.constants import ACTION
 from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.constants import ACTION
 
 
 def main():

src/lerobot/configs/policies.py

@@ -27,9 +27,9 @@ from huggingface_hub.constants import CONFIG_NAME
 from huggingface_hub.errors import HfHubHTTPError
 
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.optim.optimizers import OptimizerConfig
 from lerobot.optim.schedulers import LRSchedulerConfig
+from lerobot.utils.constants import ACTION, OBS_STATE
 from lerobot.utils.hub import HubMixin
 from lerobot.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
 

src/lerobot/datasets/lerobot_dataset.py

@@ -31,7 +31,6 @@ import torch.utils
 from huggingface_hub import HfApi, snapshot_download
 from huggingface_hub.errors import RevisionNotFoundError
 
-from lerobot.constants import HF_LEROBOT_HOME
 from lerobot.datasets.compute_stats import aggregate_stats, compute_episode_stats
 from lerobot.datasets.image_writer import AsyncImageWriter, write_image
 from lerobot.datasets.utils import (
@@ -79,6 +78,7 @@ from lerobot.datasets.video_utils import (
     get_video_duration_in_s,
     get_video_info,
 )
+from lerobot.utils.constants import HF_LEROBOT_HOME
 
 CODEBASE_VERSION = "v3.0"
 

src/lerobot/datasets/pipeline_features.py

@@ -17,9 +17,9 @@ from collections.abc import Sequence
 from typing import Any
 
 from lerobot.configs.types import PipelineFeatureType
-from lerobot.constants import ACTION, OBS_IMAGES, OBS_STATE
 from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.processor import DataProcessorPipeline
+from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
 
 
 def create_initial_features(

src/lerobot/datasets/streaming_dataset.py

@@ -21,7 +21,6 @@ import numpy as np
 import torch
 from datasets import load_dataset
 
-from lerobot.constants import HF_LEROBOT_HOME, LOOKAHEAD_BACKTRACKTABLE, LOOKBACK_BACKTRACKTABLE
 from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata
 from lerobot.datasets.utils import (
     Backtrackable,
@@ -38,6 +37,7 @@ from lerobot.datasets.video_utils import (
     VideoDecoderCache,
     decode_video_frames_torchcodec,
 )
+from lerobot.utils.constants import HF_LEROBOT_HOME, LOOKAHEAD_BACKTRACKTABLE, LOOKBACK_BACKTRACKTABLE
 
 
 class StreamingLeRobotDataset(torch.utils.data.IterableDataset):

src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py

@@ -46,7 +46,6 @@ from datasets import Dataset, Features, Image
 from huggingface_hub import HfApi, snapshot_download
 from requests import HTTPError
 
-from lerobot.constants import HF_LEROBOT_HOME
 from lerobot.datasets.compute_stats import aggregate_stats
 from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
 from lerobot.datasets.utils import (
@@ -71,6 +70,7 @@ from lerobot.datasets.utils import (
     write_tasks,
 )
 from lerobot.datasets.video_utils import concatenate_video_files, get_video_duration_in_s
+from lerobot.utils.constants import HF_LEROBOT_HOME
 
 V21 = "v2.1"
 

src/lerobot/envs/configs.py

@@ -19,9 +19,9 @@ from typing import Any
 import draccus
 
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from lerobot.robots import RobotConfig
 from lerobot.teleoperators.config import TeleoperatorConfig
+from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 
 @dataclass

src/lerobot/optim/optimizers.py

@@ -22,11 +22,11 @@ import draccus
 import torch
 from safetensors.torch import load_file, save_file
 
-from lerobot.constants import (
+from lerobot.datasets.utils import flatten_dict, unflatten_dict, write_json
+from lerobot.utils.constants import (
     OPTIMIZER_PARAM_GROUPS,
     OPTIMIZER_STATE,
 )
-from lerobot.datasets.utils import flatten_dict, unflatten_dict, write_json
 from lerobot.utils.io_utils import deserialize_json_into_object
 
 

src/lerobot/optim/schedulers.py

@@ -22,8 +22,8 @@ import draccus
 from torch.optim import Optimizer
 from torch.optim.lr_scheduler import LambdaLR, LRScheduler
 
-from lerobot.constants import SCHEDULER_STATE
 from lerobot.datasets.utils import write_json
+from lerobot.utils.constants import SCHEDULER_STATE
 from lerobot.utils.io_utils import deserialize_json_into_object
 
 

src/lerobot/policies/act/modeling_act.py

@@ -33,9 +33,9 @@ from torch import Tensor, nn
 from torchvision.models._utils import IntermediateLayerGetter
 from torchvision.ops.misc import FrozenBatchNorm2d
 
-from lerobot.constants import ACTION, OBS_IMAGES
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.utils.constants import ACTION, OBS_IMAGES
 
 
 class ACTPolicy(PreTrainedPolicy):

src/lerobot/policies/act/processor_act.py

@@ -17,7 +17,6 @@ from typing import Any
 
 import torch
 
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -29,6 +28,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_act_pre_post_processors(

src/lerobot/policies/diffusion/modeling_diffusion.py

@@ -33,7 +33,6 @@ from diffusers.schedulers.scheduling_ddim import DDIMScheduler
 from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
 from torch import Tensor, nn
 
-from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.utils import (
@@ -42,6 +41,7 @@ from lerobot.policies.utils import (
     get_output_shape,
     populate_queues,
 )
+from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
 
 
 class DiffusionPolicy(PreTrainedPolicy):

src/lerobot/policies/diffusion/processor_diffusion.py

@@ -18,7 +18,6 @@ from typing import Any
 
 import torch
 
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -30,6 +29,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_diffusion_pre_post_processors(

src/lerobot/policies/factory.py

@@ -24,7 +24,6 @@ from typing_extensions import Unpack
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.envs.configs import EnvConfig
@@ -46,6 +45,7 @@ from lerobot.processor.converters import (
     transition_to_batch,
     transition_to_policy_action,
 )
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def get_policy_class(name: str) -> type[PreTrainedPolicy]:

src/lerobot/policies/pi0/modeling_pi0.py

@@ -57,13 +57,13 @@ import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
 
-from lerobot.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pi0.paligemma_with_expert import (
     PaliGemmaWithExpertConfig,
     PaliGemmaWithExpertModel,
 )
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
 from lerobot.utils.utils import get_safe_dtype
 
 

src/lerobot/policies/pi0/processor_pi0.py

@@ -19,7 +19,6 @@ from typing import Any
 import torch
 
 from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -35,6 +34,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 @ProcessorStepRegistry.register(name="pi0_new_line_processor")

src/lerobot/policies/pi0fast/modeling_pi0fast.py

@@ -57,9 +57,9 @@ from transformers import AutoProcessor, AutoTokenizer, PaliGemmaForConditionalGe
 from transformers.cache_utils import HybridCache, StaticCache
 from transformers.models.auto import CONFIG_MAPPING
 
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.utils.constants import ACTION, OBS_STATE
 
 PRECISION = {
     "float16": torch.float16,

src/lerobot/policies/pi0fast/processor_pi0fast.py

@@ -18,7 +18,6 @@ from typing import Any
 
 import torch
 
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -30,6 +29,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_pi0fast_pre_post_processors(

src/lerobot/policies/sac/configuration_sac.py

@@ -19,8 +19,8 @@ from dataclasses import dataclass, field
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import NormalizationMode
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.optim.optimizers import MultiAdamConfig
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def is_image_feature(key: str) -> bool:

src/lerobot/policies/sac/processor_sac.py

@@ -19,7 +19,6 @@ from typing import Any
 
 import torch
 
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -31,6 +30,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_sac_pre_post_processors(

src/lerobot/policies/sac/reward_model/modeling_classifier.py

@@ -19,9 +19,9 @@ import logging
 import torch
 from torch import Tensor, nn
 
-from lerobot.constants import OBS_IMAGE, REWARD
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
+from lerobot.utils.constants import OBS_IMAGE, REWARD
 
 
 class ClassifierOutput:

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -59,13 +59,13 @@ import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
 
-from lerobot.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel
 from lerobot.policies.utils import (
     populate_queues,
 )
+from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
 from lerobot.utils.utils import get_safe_dtype
 
 

src/lerobot/policies/smolvla/processor_smolvla.py

@@ -19,7 +19,6 @@ from typing import Any
 import torch
 
 from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_smolvla_pre_post_processors(

src/lerobot/policies/tdmpc/modeling_tdmpc.py

@@ -35,10 +35,10 @@ import torch.nn as nn
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor
 
-from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_STATE, REWARD
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.utils import get_device_from_parameters, get_output_shape, populate_queues
+from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_STATE, REWARD
 
 
 class TDMPCPolicy(PreTrainedPolicy):

src/lerobot/policies/tdmpc/processor_tdmpc.py

@@ -18,7 +18,6 @@ from typing import Any
 
 import torch
 
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -30,6 +29,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_tdmpc_pre_post_processors(

src/lerobot/policies/vqbet/modeling_vqbet.py

@@ -27,11 +27,11 @@ import torch.nn.functional as F  # noqa: N812
 import torchvision
 from torch import Tensor, nn
 
-from lerobot.constants import ACTION, OBS_IMAGES, OBS_STATE
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.utils import get_device_from_parameters, get_output_shape, populate_queues
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.policies.vqbet.vqbet_utils import GPT, ResidualVQ
+from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
 
 # ruff: noqa: N806
 

src/lerobot/policies/vqbet/processor_vqbet.py

@@ -19,7 +19,6 @@ from typing import Any
 
 import torch
 
-from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -31,6 +30,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
 def make_vqbet_pre_post_processors(

src/lerobot/processor/batch_processor.py

@@ -25,7 +25,7 @@ from dataclasses import dataclass, field
 from torch import Tensor
 
 from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
+from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 from .core import EnvTransition, PolicyAction
 from .pipeline import (

src/lerobot/processor/joint_observations_processor.py

@@ -20,12 +20,12 @@ from typing import Any
 import torch
 
 from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_STATE
 from lerobot.processor.pipeline import (
     ObservationProcessorStep,
     ProcessorStepRegistry,
 )
 from lerobot.robots import Robot
+from lerobot.utils.constants import OBS_STATE
 
 
 @dataclass

src/lerobot/processor/observation_processor.py

@@ -21,7 +21,7 @@ import torch
 from torch import Tensor
 
 from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
+from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
 

src/lerobot/processor/pipeline.py

@@ -422,7 +422,7 @@ class DataProcessorPipeline(HubMixin, Generic[TInput, TOutput]):
         """
         if save_directory is None:
             # Use default directory in HF_LEROBOT_HOME
-            from lerobot.constants import HF_LEROBOT_HOME
+            from lerobot.utils.constants import HF_LEROBOT_HOME
 
             sanitized_name = re.sub(r"[^a-zA-Z0-9_]", "_", self.name.lower())
             save_directory = HF_LEROBOT_HOME / "processors" / sanitized_name

src/lerobot/processor/tokenizer_processor.py

@@ -29,7 +29,7 @@ from typing import TYPE_CHECKING, Any
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
+from lerobot.utils.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
 from lerobot.utils.import_utils import _transformers_available
 
 from .core import EnvTransition, TransitionKey

src/lerobot/rl/learner.py

@@ -62,12 +62,6 @@ from torch.optim.optimizer import Optimizer
 from lerobot.cameras import opencv  # noqa: F401
 from lerobot.configs import parser
 from lerobot.configs.train import TrainRLServerPipelineConfig
-from lerobot.constants import (
-    CHECKPOINTS_DIR,
-    LAST_CHECKPOINT_LINK,
-    PRETRAINED_MODEL_DIR,
-    TRAINING_STATE_DIR,
-)
 from lerobot.datasets.factory import make_dataset
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.factory import make_policy
@@ -83,6 +77,12 @@ from lerobot.transport.utils import (
     state_to_bytes,
 )
 from lerobot.utils.buffer import ReplayBuffer, concatenate_batch_transitions
+from lerobot.utils.constants import (
+    CHECKPOINTS_DIR,
+    LAST_CHECKPOINT_LINK,
+    PRETRAINED_MODEL_DIR,
+    TRAINING_STATE_DIR,
+)
 from lerobot.utils.process import ProcessSignalHandler
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.train_utils import (

src/lerobot/robots/robot.py

@@ -19,8 +19,8 @@ from typing import Any
 
 import draccus
 
-from lerobot.constants import HF_LEROBOT_CALIBRATION, ROBOTS
 from lerobot.motors import MotorCalibration
+from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, ROBOTS
 
 from .config import RobotConfig
 

src/lerobot/robots/stretch3/robot_stretch3.py

@@ -22,8 +22,8 @@ from stretch_body.robot import Robot as StretchAPI
 from stretch_body.robot_params import RobotParams
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.constants import OBS_IMAGES, OBS_STATE
 from lerobot.datasets.utils import get_nested_item
+from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
 
 from ..robot import Robot
 from .configuration_stretch3 import Stretch3RobotConfig

src/lerobot/robots/viperx/viperx.py

@@ -18,13 +18,13 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.constants import OBS_STATE
 from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DynamixelMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.constants import OBS_STATE
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/scripts/server/helpers.py

@@ -22,12 +22,12 @@ from pathlib import Path
 import torch
 
 from lerobot.configs.types import PolicyFeature
-from lerobot.constants import OBS_IMAGES, OBS_STATE
 from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
 
 # NOTE: Configs need to be loaded for the client to be able to instantiate the policy config
 from lerobot.policies import ACTConfig, DiffusionConfig, PI0Config, SmolVLAConfig, VQBeTConfig  # noqa: F401
 from lerobot.robots.robot import Robot
+from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
 from lerobot.utils.utils import init_logging
 
 Action = torch.Tensor

src/lerobot/teleoperators/teleoperator.py

@@ -19,8 +19,8 @@ from typing import Any
 
 import draccus
 
-from lerobot.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
 from lerobot.motors.motors_bus import MotorCalibration
+from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
 
 from .config import TeleoperatorConfig
 

src/lerobot/utils/random_utils.py

@@ -23,8 +23,8 @@ import numpy as np
 import torch
 from safetensors.torch import load_file, save_file
 
-from lerobot.constants import RNG_STATE
 from lerobot.datasets.utils import flatten_dict, unflatten_dict
+from lerobot.utils.constants import RNG_STATE
 
 
 def serialize_python_rng_state() -> dict[str, torch.Tensor]:

src/lerobot/utils/train_utils.py

@@ -21,18 +21,18 @@ from torch.optim import Optimizer
 from torch.optim.lr_scheduler import LRScheduler
 
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.constants import (
+from lerobot.datasets.utils import load_json, write_json
+from lerobot.optim.optimizers import load_optimizer_state, save_optimizer_state
+from lerobot.optim.schedulers import load_scheduler_state, save_scheduler_state
+from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.processor import PolicyProcessorPipeline
+from lerobot.utils.constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,
     PRETRAINED_MODEL_DIR,
     TRAINING_STATE_DIR,
     TRAINING_STEP,
 )
-from lerobot.datasets.utils import load_json, write_json
-from lerobot.optim.optimizers import load_optimizer_state, save_optimizer_state
-from lerobot.optim.schedulers import load_scheduler_state, save_scheduler_state
-from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.processor import PolicyProcessorPipeline
 from lerobot.utils.random_utils import load_rng_state, save_rng_state
 
 

src/lerobot/utils/wandb_utils.py

@@ -23,7 +23,7 @@ from huggingface_hub.constants import SAFETENSORS_SINGLE_FILE
 from termcolor import colored
 
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.constants import PRETRAINED_MODEL_DIR
+from lerobot.utils.constants import PRETRAINED_MODEL_DIR
 
 
 def cfg_to_group(cfg: TrainPipelineConfig, return_list: bool = False) -> list[str] | str:

tests/datasets/test_datasets.py

@@ -112,7 +112,7 @@ def test_dataset_initialization(tmp_path, lerobot_dataset_factory):
 # and test the small resulting function that validates the features
 def test_dataset_feature_with_forward_slash_raises_error():
     # make sure dir does not exist
-    from lerobot.constants import HF_LEROBOT_HOME
+    from lerobot.utils.constants import HF_LEROBOT_HOME
 
     dataset_dir = HF_LEROBOT_HOME / "lerobot/test/with/slash"
     # make sure does not exist

tests/fixtures/constants.py

@@ -11,7 +11,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-from lerobot.constants import HF_LEROBOT_HOME
+from lerobot.utils.constants import HF_LEROBOT_HOME
 
 LEROBOT_TEST_DIR = HF_LEROBOT_HOME / "_testing"
 DUMMY_REPO_ID = "dummy/repo"

tests/optim/test_optimizers.py

@@ -14,10 +14,6 @@
 import pytest
 import torch
 
-from lerobot.constants import (
-    OPTIMIZER_PARAM_GROUPS,
-    OPTIMIZER_STATE,
-)
 from lerobot.optim.optimizers import (
     AdamConfig,
     AdamWConfig,
@@ -26,6 +22,10 @@ from lerobot.optim.optimizers import (
     load_optimizer_state,
     save_optimizer_state,
 )
+from lerobot.utils.constants import (
+    OPTIMIZER_PARAM_GROUPS,
+    OPTIMIZER_STATE,
+)
 
 
 @pytest.mark.parametrize(

tests/optim/test_schedulers.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 from torch.optim.lr_scheduler import LambdaLR
 
-from lerobot.constants import SCHEDULER_STATE
 from lerobot.optim.schedulers import (
     CosineDecayWithWarmupSchedulerConfig,
     DiffuserSchedulerConfig,
@@ -21,6 +20,7 @@ from lerobot.optim.schedulers import (
     load_scheduler_state,
     save_scheduler_state,
 )
+from lerobot.utils.constants import SCHEDULER_STATE
 
 
 def test_diffuser_scheduler(optimizer):

tests/policies/test_policies.py

@@ -27,7 +27,6 @@ from lerobot import available_policies
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.datasets.factory import make_dataset
 from lerobot.datasets.utils import cycle, dataset_to_policy_features
 from lerobot.envs.factory import make_env, make_env_config
@@ -42,6 +41,7 @@ from lerobot.policies.factory import (
     make_pre_post_processors,
 )
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.utils.constants import ACTION, OBS_STATE
 from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
 from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel

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():

tests/utils/test_train_utils.py

@@ -14,7 +14,7 @@
 from pathlib import Path
 from unittest.mock import Mock, patch
 
-from lerobot.constants import (
+from lerobot.utils.constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,
     OPTIMIZER_PARAM_GROUPS,