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chore: move constants to utils (#2016)

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This commit is contained in:
Steven Palma
2025-09-24 11:11:53 +02:00
committed by GitHub
parent c9787bd98a
commit 7cf04a5ec3
60 changed files with 74 additions and 74 deletions
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2
tests/datasets/test_datasets.py
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@@ -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

2
tests/fixtures/constants.py vendored
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@@ -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"

8
tests/optim/test_optimizers.py
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@@ -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(

2
tests/optim/test_schedulers.py
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@@ -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):

2
tests/policies/test_policies.py
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@@ -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

2
tests/processor/test_act_processor.py
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@@ -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():

2
tests/processor/test_batch_processor.py
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@@ -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():

2
tests/processor/test_classifier_processor.py
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@@ -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():

4
tests/processor/test_device_processor.py
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@@ -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 = {

2
tests/processor/test_diffusion_processor.py
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@@ -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():

2
tests/processor/test_observation_processor.py
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@@ -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

2
tests/processor/test_pi0_processor.py
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@@ -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):

2
tests/processor/test_sac_processor.py
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@@ -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():

2
tests/processor/test_smolvla_processor.py
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@@ -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):

2
tests/processor/test_tdmpc_processor.py
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@@ -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():

2
tests/processor/test_tokenizer_processor.py
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@@ -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

2
tests/processor/test_vqbet_processor.py
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@@ -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():

2
tests/utils/test_train_utils.py
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@@ -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,