refactor(processors): unify import statements by consolidating pipeline imports into the main processor module (#1845)

tests/processor/test_act_processor.py

@@ -30,9 +30,9 @@ from lerobot.processor import (
     RenameProcessor,
     RobotProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_batch_conversion.py

@@ -1,7 +1,7 @@
 import torch
 
+from lerobot.processor import RobotProcessor, TransitionKey
 from lerobot.processor.converters import batch_to_transition, transition_to_batch
-from lerobot.processor.pipeline import RobotProcessor, TransitionKey
 
 
 def _dummy_batch():

tests/processor/test_batch_processor.py

@@ -22,9 +22,7 @@ import pytest
 import torch
 
 from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
-from lerobot.processor import ProcessorStepRegistry, RobotProcessor
-from lerobot.processor.batch_processor import ToBatchProcessor
-from lerobot.processor.pipeline import TransitionKey
+from lerobot.processor import ProcessorStepRegistry, RobotProcessor, ToBatchProcessor, TransitionKey
 
 
 def create_transition(

tests/processor/test_classifier_processor.py

@@ -24,8 +24,13 @@ 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 DeviceProcessor, IdentityProcessor, NormalizerProcessor, RobotProcessor
-from lerobot.processor.pipeline import TransitionKey
+from lerobot.processor import (
+    DeviceProcessor,
+    IdentityProcessor,
+    NormalizerProcessor,
+    RobotProcessor,
+    TransitionKey,
+)
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_converters.py

@@ -2,6 +2,7 @@ import numpy as np
 import pytest
 import torch
 
+from lerobot.processor import TransitionKey
 from lerobot.processor.converters import (
     batch_to_transition,
     to_output_robot_action,
@@ -11,7 +12,6 @@ from lerobot.processor.converters import (
     transition_to_batch,
     transition_to_dataset_frame,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def test_to_transition_teleop_action_prefix_and_tensor_conversion():

tests/processor/test_device_processor.py

@@ -19,8 +19,7 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.processor import DeviceProcessor, RobotProcessor
-from lerobot.processor.pipeline import TransitionKey
+from lerobot.processor import DeviceProcessor, RobotProcessor, TransitionKey
 
 
 def create_transition(
@@ -358,7 +357,7 @@ def test_save_and_load_pretrained():
 
 def test_registry_functionality():
     """Test that DeviceProcessor is properly registered."""
-    from lerobot.processor.pipeline import ProcessorStepRegistry
+    from lerobot.processor import ProcessorStepRegistry
 
     # Check that DeviceProcessor is registered
     registered_class = ProcessorStepRegistry.get("device_processor")

tests/processor/test_diffusion_processor.py

@@ -30,9 +30,9 @@ from lerobot.processor import (
     RenameProcessor,
     RobotProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_normalize_processor.py

@@ -20,13 +20,15 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.processor.converters import to_tensor
-from lerobot.processor.normalize_processor import (
+from lerobot.processor import (
+    IdentityProcessor,
     NormalizerProcessor,
+    RobotProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
     hotswap_stats,
 )
-from lerobot.processor.pipeline import IdentityProcessor, RobotProcessor, TransitionKey
+from lerobot.processor.converters import to_tensor
 
 
 def create_transition(

tests/processor/test_observation_processor.py

@@ -20,8 +20,7 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
-from lerobot.processor import VanillaObservationProcessor
-from lerobot.processor.pipeline import TransitionKey
+from lerobot.processor import TransitionKey, VanillaObservationProcessor
 from tests.conftest import assert_contract_is_typed
 
 

tests/processor/test_pi0_processor.py

@@ -29,9 +29,9 @@ from lerobot.processor import (
     NormalizerProcessor,
     RenameProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_pipeline.py

@@ -27,8 +27,7 @@ import torch.nn as nn
 
 from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
-from lerobot.processor import EnvTransition, ProcessorStepRegistry, RobotProcessor
-from lerobot.processor.pipeline import TransitionKey
+from lerobot.processor import EnvTransition, ProcessorStepRegistry, RobotProcessor, TransitionKey
 from tests.conftest import assert_contract_is_typed
 
 

tests/processor/test_rename_processor.py

@@ -20,7 +20,12 @@ import numpy as np
 import torch
 
 from lerobot.configs.types import FeatureType
-from lerobot.processor import ProcessorStepRegistry, RenameProcessor, RobotProcessor, TransitionKey
+from lerobot.processor import (
+    ProcessorStepRegistry,
+    RenameProcessor,
+    RobotProcessor,
+    TransitionKey,
+)
 from lerobot.processor.rename_processor import rename_stats
 from tests.conftest import assert_contract_is_typed
 

tests/processor/test_sac_processor.py

@@ -30,9 +30,9 @@ from lerobot.processor import (
     RenameProcessor,
     RobotProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_smolvla_processor.py

@@ -32,9 +32,9 @@ from lerobot.processor import (
     NormalizerProcessor,
     RenameProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_tdmpc_processor.py

@@ -30,9 +30,9 @@ from lerobot.processor import (
     RenameProcessor,
     RobotProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):

tests/processor/test_tokenizer_processor.py

@@ -10,8 +10,7 @@ import torch
 
 from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.constants import OBS_LANGUAGE
-from lerobot.processor.pipeline import RobotProcessor, TransitionKey
-from lerobot.processor.tokenizer_processor import TokenizerProcessor
+from lerobot.processor import RobotProcessor, TokenizerProcessor, TransitionKey
 from tests.utils import require_package
 
 
@@ -488,7 +487,7 @@ def test_save_and_load_pretrained_with_tokenizer_object():
 @require_package("transformers")
 def test_registry_functionality():
     """Test that the processor is properly registered."""
-    from lerobot.processor.pipeline import ProcessorStepRegistry
+    from lerobot.processor import ProcessorStepRegistry
 
     # Check that the processor is registered
     assert "tokenizer_processor" in ProcessorStepRegistry.list()

tests/processor/test_vqbet_processor.py

@@ -30,9 +30,9 @@ from lerobot.processor import (
     RenameProcessor,
     RobotProcessor,
     ToBatchProcessor,
+    TransitionKey,
     UnnormalizerProcessor,
 )
-from lerobot.processor.pipeline import TransitionKey
 
 
 def create_transition(observation=None, action=None, **kwargs):