refactor(processors): several additions (#1926)

* chore(processor): remove merge_transitions functions (#1925)

* refactor(processors): move processors out of configs (#1927)

* chore(processor): streamline combine_features_dict (#1928)

* chore(policies): use new constants (#1929)

* fix(deps): right version transformers (#1930)

* fix(tests): add none + disable async tests for now (#1931)

src/lerobot/processor/__init__.py

@@ -18,13 +18,17 @@ from .batch_processor import AddBatchDimensionProcessorStep
 from .converters import (
     batch_to_transition,
     create_transition,
-    merge_transitions,
     transition_to_batch,
-    transition_to_dataset_frame,
 )
 from .core import EnvAction, EnvTransition, PolicyAction, RobotAction, TransitionKey
 from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep
 from .device_processor import DeviceProcessorStep
+from .factory import (
+    make_default_processors,
+    make_default_robot_action_processor,
+    make_default_robot_observation_processor,
+    make_default_teleop_action_processor,
+)
 from .gym_action_processor import Numpy2TorchActionProcessorStep, Torch2NumpyActionProcessorStep
 from .hil_processor import (
     AddTeleopActionAsComplimentaryDataStep,
@@ -77,9 +81,12 @@ __all__ = [
     "InfoProcessorStep",
     "InterventionActionProcessorStep",
     "JointVelocityProcessorStep",
+    "make_default_processors",
+    "make_default_teleop_action_processor",
+    "make_default_robot_action_processor",
+    "make_default_robot_observation_processor",
     "MapDeltaActionToRobotActionStep",
     "MapTensorToDeltaActionDictStep",
-    "merge_transitions",
     "MotorCurrentProcessorStep",
     "NormalizerProcessorStep",
     "Numpy2TorchActionProcessorStep",
@@ -102,7 +109,6 @@ __all__ = [
     "TokenizerProcessorStep",
     "Torch2NumpyActionProcessorStep",
     "transition_to_batch",
-    "transition_to_dataset_frame",
     "TransitionKey",
     "TruncatedProcessorStep",
     "UnnormalizerProcessorStep",