chore(processor): add Step suffix to all processors (#1854)

* refactor(processor): rename MapDeltaActionToRobotAction and MapTensorToDeltaActionDict for consistency

* refactor(processor): rename DeviceProcessor to DeviceProcessorStep for consistency across modules

* refactor(processor): rename Torch2NumpyActionProcessor to Torch2NumpyActionProcessorStep for consistency

* refactor(processor): rename Numpy2TorchActionProcessor to Numpy2TorchActionProcessorStep for consistency

* refactor(processor): rename AddTeleopActionAsComplimentaryData to AddTeleopActionAsComplimentaryDataStep for consistency

* refactor(processor): rename ImageCropResizeProcessor and AddTeleopEventsAsInfo for consistency

* refactor(processor): rename TimeLimitProcessor to TimeLimitProcessorStep for consistency

* refactor(processor): rename GripperPenaltyProcessor to GripperPenaltyProcessorStep for consistency

* refactor(processor): rename InterventionActionProcessor to InterventionActionProcessorStep for consistency

* refactor(processor): rename RewardClassifierProcessor to RewardClassifierProcessorStep for consistency

* refactor(processor): rename JointVelocityProcessor to JointVelocityProcessorStep for consistency

* refactor(processor): rename MotorCurrentProcessor to MotorCurrentProcessorStep for consistency

* refactor(processor): rename NormalizerProcessor and UnnormalizerProcessor to NormalizerProcessorStep and UnnormalizerProcessorStep for consistency

* refactor(processor): rename VanillaObservationProcessor to VanillaObservationProcessorStep for consistency

* refactor(processor): rename RenameProcessor to RenameProcessorStep for consistency

* refactor(processor): rename TokenizerProcessor to TokenizerProcessorStep for consistency

* refactor(processor): rename ToBatchProcessor to AddBatchDimensionProcessorStep for consistency

* refactor(processor): update config file name in test for RenameProcessorStep consistency

tests/processor/test_pi0_processor.py

@@ -25,12 +25,12 @@ 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 (
-    DeviceProcessor,
-    NormalizerProcessor,
-    RenameProcessor,
-    ToBatchProcessor,
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    RenameProcessorStep,
     TransitionKey,
-    UnnormalizerProcessor,
+    UnnormalizerProcessorStep,
 )
 
 
@@ -83,7 +83,7 @@ def test_make_pi0_processor_basic():
     config = create_default_config()
     stats = create_default_stats()
 
-    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor"):
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessorStep"):
         preprocessor, postprocessor = make_pi0_pre_post_processors(
             config,
             stats,
@@ -97,17 +97,17 @@ def test_make_pi0_processor_basic():
 
     # Check steps in preprocessor
     assert len(preprocessor.steps) == 6
-    assert isinstance(preprocessor.steps[0], RenameProcessor)
-    assert isinstance(preprocessor.steps[1], NormalizerProcessor)
-    assert isinstance(preprocessor.steps[2], ToBatchProcessor)
+    assert isinstance(preprocessor.steps[0], RenameProcessorStep)
+    assert isinstance(preprocessor.steps[1], NormalizerProcessorStep)
+    assert isinstance(preprocessor.steps[2], AddBatchDimensionProcessorStep)
     assert isinstance(preprocessor.steps[3], Pi0NewLineProcessor)
-    # Step 4 would be TokenizerProcessor but it's mocked
-    assert isinstance(preprocessor.steps[5], DeviceProcessor)
+    # Step 4 would be TokenizerProcessorStep but it's mocked
+    assert isinstance(preprocessor.steps[5], DeviceProcessorStep)
 
     # Check steps in postprocessor
     assert len(postprocessor.steps) == 2
-    assert isinstance(postprocessor.steps[0], DeviceProcessor)
-    assert isinstance(postprocessor.steps[1], UnnormalizerProcessor)
+    assert isinstance(postprocessor.steps[0], DeviceProcessorStep)
+    assert isinstance(postprocessor.steps[1], UnnormalizerProcessorStep)
 
 
 def test_pi0_newline_processor_single_task():
@@ -165,7 +165,7 @@ def test_pi0_processor_cuda():
     stats = create_default_stats()
 
     # Mock the tokenizer processor to act as pass-through
-    class MockTokenizerProcessor:
+    class MockTokenizerProcessorStep:
         def __init__(self, *args, **kwargs):
             pass
 
@@ -187,7 +187,7 @@ def test_pi0_processor_cuda():
         def transform_features(self, features):
             return features
 
-    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor", MockTokenizerProcessor):
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessorStep", MockTokenizerProcessorStep):
         preprocessor, postprocessor = make_pi0_pre_post_processors(
             config,
             stats,
@@ -220,7 +220,7 @@ def test_pi0_processor_accelerate_scenario():
     stats = create_default_stats()
 
     # Mock the tokenizer processor to act as pass-through
-    class MockTokenizerProcessor:
+    class MockTokenizerProcessorStep:
         def __init__(self, *args, **kwargs):
             pass
 
@@ -242,7 +242,7 @@ def test_pi0_processor_accelerate_scenario():
         def transform_features(self, features):
             return features
 
-    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor", MockTokenizerProcessor):
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessorStep", MockTokenizerProcessorStep):
         preprocessor, postprocessor = make_pi0_pre_post_processors(
             config,
             stats,
@@ -276,7 +276,7 @@ def test_pi0_processor_multi_gpu():
     stats = create_default_stats()
 
     # Mock the tokenizer processor to act as pass-through
-    class MockTokenizerProcessor:
+    class MockTokenizerProcessorStep:
         def __init__(self, *args, **kwargs):
             pass
 
@@ -298,7 +298,7 @@ def test_pi0_processor_multi_gpu():
         def transform_features(self, features):
             return features
 
-    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor", MockTokenizerProcessor):
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessorStep", MockTokenizerProcessorStep):
         preprocessor, postprocessor = make_pi0_pre_post_processors(
             config,
             stats,
@@ -329,7 +329,7 @@ def test_pi0_processor_without_stats():
     config = create_default_config()
 
     # Mock the tokenizer processor
-    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor"):
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessorStep"):
         preprocessor, postprocessor = make_pi0_pre_post_processors(
             config,
             dataset_stats=None,