Reorganize files

lerobot/common/cameras/intelrealsense.py

@@ -17,8 +17,8 @@ from threading import Thread
 import numpy as np
 from PIL import Image
 
-from lerobot.common.robot_devices.cameras.configs import IntelRealSenseCameraConfig
-from lerobot.common.robot_devices.utils import (
+from lerobot.common.cameras.configs import IntelRealSenseCameraConfig
+from lerobot.common.utils.robot_utils import (
     RobotDeviceAlreadyConnectedError,
     RobotDeviceNotConnectedError,
     busy_wait,

lerobot/common/cameras/opencv.py

@@ -15,8 +15,8 @@ from threading import Thread
 import numpy as np
 from PIL import Image
 
-from lerobot.common.robot_devices.cameras.configs import OpenCVCameraConfig
-from lerobot.common.robot_devices.utils import (
+from lerobot.common.cameras.configs import OpenCVCameraConfig
+from lerobot.common.utils.robot_utils import (
     RobotDeviceAlreadyConnectedError,
     RobotDeviceNotConnectedError,
     busy_wait,

lerobot/common/cameras/utils.py

@@ -2,7 +2,7 @@ from typing import Protocol
 
 import numpy as np
 
-from lerobot.common.robot_devices.cameras.configs import (
+from lerobot.common.cameras.configs import (
     CameraConfig,
     IntelRealSenseCameraConfig,
     OpenCVCameraConfig,
@@ -22,12 +22,12 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[C
 
     for key, cfg in camera_configs.items():
         if cfg.type == "opencv":
-            from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
+            from lerobot.common.cameras.opencv import OpenCVCamera
 
             cameras[key] = OpenCVCamera(cfg)
 
         elif cfg.type == "intelrealsense":
-            from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
+            from lerobot.common.cameras.intelrealsense import IntelRealSenseCamera
 
             cameras[key] = IntelRealSenseCamera(cfg)
         else:
@@ -38,13 +38,13 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[C
 
 def make_camera(camera_type, **kwargs) -> Camera:
     if camera_type == "opencv":
-        from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
+        from lerobot.common.cameras.opencv import OpenCVCamera
 
         config = OpenCVCameraConfig(**kwargs)
         return OpenCVCamera(config)
 
     elif camera_type == "intelrealsense":
-        from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
+        from lerobot.common.cameras.intelrealsense import IntelRealSenseCamera
 
         config = IntelRealSenseCameraConfig(**kwargs)
         return IntelRealSenseCamera(config)

lerobot/common/datasets/lerobot_dataset.py

@@ -69,7 +69,7 @@ from lerobot.common.datasets.video_utils import (
     encode_video_frames,
     get_video_info,
 )
-from lerobot.common.robot_devices.robots.utils import Robot
+from lerobot.common.robots.utils import Robot
 
 CODEBASE_VERSION = "v2.1"
 

lerobot/common/datasets/utils.py

@@ -39,7 +39,7 @@ from lerobot.common.datasets.backward_compatibility import (
     BackwardCompatibilityError,
     ForwardCompatibilityError,
 )
-from lerobot.common.robot_devices.robots.utils import Robot
+from lerobot.common.robots.utils import Robot
 from lerobot.common.utils.utils import is_valid_numpy_dtype_string
 from lerobot.configs.types import DictLike, FeatureType, PolicyFeature
 

lerobot/common/datasets/v2/batch_convert_dataset_v1_to_v2.py

@@ -27,7 +27,7 @@ from textwrap import dedent
 
 from lerobot import available_datasets
 from lerobot.common.datasets.v2.convert_dataset_v1_to_v2 import convert_dataset
-from lerobot.common.robot_devices.robots.configs import AlohaRobotConfig
+from lerobot.common.robots.configs import AlohaRobotConfig
 
 LOCAL_DIR = Path("data/")
 

lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py

@@ -141,8 +141,8 @@ from lerobot.common.datasets.video_utils import (
     get_image_pixel_channels,
     get_video_info,
 )
-from lerobot.common.robot_devices.robots.configs import RobotConfig
-from lerobot.common.robot_devices.robots.utils import make_robot_config
+from lerobot.common.robots.configs import RobotConfig
+from lerobot.common.robots.utils import make_robot_config
 
 V16 = "v1.6"
 V20 = "v2.0"

lerobot/common/motors/dynamixel.py

@@ -8,8 +8,8 @@ from copy import deepcopy
 import numpy as np
 import tqdm
 
-from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig
-from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.motors.configs import DynamixelMotorsBusConfig
+from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 from lerobot.common.utils.utils import capture_timestamp_utc
 
 PROTOCOL_VERSION = 2.0

lerobot/common/motors/dynamixel_calibration.py

@@ -3,12 +3,12 @@
 
 import numpy as np
 
-from lerobot.common.robot_devices.motors.dynamixel import (
+from lerobot.common.motors.dynamixel import (
     CalibrationMode,
     TorqueMode,
     convert_degrees_to_steps,
 )
-from lerobot.common.robot_devices.motors.utils import MotorsBus
+from lerobot.common.motors.utils import MotorsBus
 
 URL_TEMPLATE = (
     "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"

lerobot/common/motors/feetech.py

@@ -8,8 +8,8 @@ from copy import deepcopy
 import numpy as np
 import tqdm
 
-from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig
-from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.motors.configs import FeetechMotorsBusConfig
+from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 from lerobot.common.utils.utils import capture_timestamp_utc
 
 PROTOCOL_VERSION = 0

lerobot/common/motors/feetech_calibration.py

@@ -5,12 +5,12 @@ import time
 
 import numpy as np
 
-from lerobot.common.robot_devices.motors.feetech import (
+from lerobot.common.motors.feetech import (
     CalibrationMode,
     TorqueMode,
     convert_degrees_to_steps,
 )
-from lerobot.common.robot_devices.motors.utils import MotorsBus
+from lerobot.common.motors.utils import MotorsBus
 
 URL_TEMPLATE = (
     "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"

lerobot/common/motors/utils.py

@@ -1,6 +1,6 @@
 from typing import Protocol
 
-from lerobot.common.robot_devices.motors.configs import (
+from lerobot.common.motors.configs import (
     DynamixelMotorsBusConfig,
     FeetechMotorsBusConfig,
     MotorsBusConfig,
@@ -21,12 +21,12 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
 
     for key, cfg in motors_bus_configs.items():
         if cfg.type == "dynamixel":
-            from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+            from lerobot.common.motors.dynamixel import DynamixelMotorsBus
 
             motors_buses[key] = DynamixelMotorsBus(cfg)
 
         elif cfg.type == "feetech":
-            from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
+            from lerobot.common.motors.feetech import FeetechMotorsBus
 
             motors_buses[key] = FeetechMotorsBus(cfg)
 
@@ -38,13 +38,13 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
 
 def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
     if motor_type == "dynamixel":
-        from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+        from lerobot.common.motors.dynamixel import DynamixelMotorsBus
 
         config = DynamixelMotorsBusConfig(**kwargs)
         return DynamixelMotorsBus(config)
 
     elif motor_type == "feetech":
-        from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
+        from lerobot.common.motors.feetech import FeetechMotorsBus
 
         config = FeetechMotorsBusConfig(**kwargs)
         return FeetechMotorsBus(config)

lerobot/common/robots/configs.py

@@ -4,12 +4,12 @@ from typing import Sequence
 
 import draccus
 
-from lerobot.common.robot_devices.cameras.configs import (
+from lerobot.common.cameras.configs import (
     CameraConfig,
     IntelRealSenseCameraConfig,
     OpenCVCameraConfig,
 )
-from lerobot.common.robot_devices.motors.configs import (
+from lerobot.common.motors.configs import (
     DynamixelMotorsBusConfig,
     FeetechMotorsBusConfig,
     MotorsBusConfig,

lerobot/common/robots/lekiwi/lekiwi_remote.py

@@ -7,7 +7,7 @@ from pathlib import Path
 import cv2
 import zmq
 
-from lerobot.common.robot_devices.robots.mobile_manipulator import LeKiwi
+from lerobot.common.robots.mobile_manipulator import LeKiwi
 
 
 def setup_zmq_sockets(config):
@@ -47,7 +47,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
     calib_dir.mkdir(parents=True, exist_ok=True)
     calib_file = calib_dir / "main_follower.json"
     try:
-        from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
+        from lerobot.common.motors.feetech_calibration import run_arm_manual_calibration
     except ImportError:
         print("[WARNING] Calibration function not available. Skipping calibration.")
         return
@@ -79,8 +79,8 @@ def run_lekiwi(robot_config):
       - Processes incoming commands (arm and wheel commands) and sends back sensor and camera data.
     """
     # Import helper functions and classes
-    from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
-    from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus, TorqueMode
+    from lerobot.common.cameras.utils import make_cameras_from_configs
+    from lerobot.common.motors.feetech import FeetechMotorsBus, TorqueMode
 
     # Initialize cameras from the robot configuration.
     cameras = make_cameras_from_configs(robot_config.cameras)

lerobot/common/robots/manipulator.py

@@ -13,11 +13,11 @@ from pathlib import Path
 import numpy as np
 import torch
 
-from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
-from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs
-from lerobot.common.robot_devices.robots.configs import ManipulatorRobotConfig
-from lerobot.common.robot_devices.robots.utils import get_arm_id
-from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.cameras.utils import make_cameras_from_configs
+from lerobot.common.motors.utils import MotorsBus, make_motors_buses_from_configs
+from lerobot.common.robots.configs import ManipulatorRobotConfig
+from lerobot.common.robots.utils import get_arm_id
+from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 
 
 def ensure_safe_goal_position(
@@ -228,9 +228,9 @@ class ManipulatorRobot:
             self.leader_arms[name].connect()
 
         if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
-            from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
+            from lerobot.common.motors.dynamixel import TorqueMode
         elif self.robot_type in ["so100", "moss", "lekiwi"]:
-            from lerobot.common.robot_devices.motors.feetech import TorqueMode
+            from lerobot.common.motors.feetech import TorqueMode
 
         # We assume that at connection time, arms are in a rest position, and torque can
         # be safely disabled to run calibration and/or set robot preset configurations.
@@ -295,12 +295,12 @@ class ManipulatorRobot:
                 print(f"Missing calibration file '{arm_calib_path}'")
 
                 if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
-                    from lerobot.common.robot_devices.robots.dynamixel_calibration import run_arm_calibration
+                    from lerobot.common.motors.dynamixel_calibration import run_arm_calibration
 
                     calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
 
                 elif self.robot_type in ["so100", "moss", "lekiwi"]:
-                    from lerobot.common.robot_devices.robots.feetech_calibration import (
+                    from lerobot.common.motors.feetech_calibration import (
                         run_arm_manual_calibration,
                     )
 
@@ -322,7 +322,7 @@ class ManipulatorRobot:
 
     def set_koch_robot_preset(self):
         def set_operating_mode_(arm):
-            from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
+            from lerobot.common.motors.dynamixel import TorqueMode
 
             if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
                 raise ValueError("To run set robot preset, the torque must be disabled on all motors.")

lerobot/common/robots/mobile_manipulator.py

@@ -9,13 +9,13 @@ import numpy as np
 import torch
 import zmq
 
-from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
-from lerobot.common.robot_devices.motors.feetech import TorqueMode
-from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs
-from lerobot.common.robot_devices.robots.configs import LeKiwiRobotConfig
-from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
-from lerobot.common.robot_devices.robots.utils import get_arm_id
-from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError
+from lerobot.common.cameras.utils import make_cameras_from_configs
+from lerobot.common.motors.feetech import TorqueMode
+from lerobot.common.motors.feetech_calibration import run_arm_manual_calibration
+from lerobot.common.motors.utils import MotorsBus, make_motors_buses_from_configs
+from lerobot.common.robots.configs import LeKiwiRobotConfig
+from lerobot.common.robots.utils import get_arm_id
+from lerobot.common.utils.robot_utils import RobotDeviceNotConnectedError
 
 PYNPUT_AVAILABLE = True
 try:

lerobot/common/robots/stretch3/stretch3_robot.py

@@ -22,7 +22,7 @@ from stretch_body.gamepad_teleop import GamePadTeleop
 from stretch_body.robot import Robot as StretchAPI
 from stretch_body.robot_params import RobotParams
 
-from lerobot.common.robot_devices.robots.configs import StretchRobotConfig
+from lerobot.common.robots.configs import StretchRobotConfig
 
 
 class StretchRobot(StretchAPI):

lerobot/common/robots/utils.py

@@ -1,6 +1,6 @@
 from typing import Protocol
 
-from lerobot.common.robot_devices.robots.configs import (
+from lerobot.common.robots.configs import (
     AlohaRobotConfig,
     KochBimanualRobotConfig,
     KochRobotConfig,
@@ -54,15 +54,15 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
 
 def make_robot_from_config(config: RobotConfig):
     if isinstance(config, ManipulatorRobotConfig):
-        from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
+        from lerobot.common.robots.manipulator import ManipulatorRobot
 
         return ManipulatorRobot(config)
     elif isinstance(config, LeKiwiRobotConfig):
-        from lerobot.common.robot_devices.robots.mobile_manipulator import MobileManipulator
+        from lerobot.common.robots.mobile_manipulator import MobileManipulator
 
         return MobileManipulator(config)
     else:
-        from lerobot.common.robot_devices.robots.stretch import StretchRobot
+        from lerobot.common.robots.stretch3.stretch3_robot import StretchRobot
 
         return StretchRobot(config)
 

lerobot/common/utils/control_utils.py

@@ -19,8 +19,8 @@ from termcolor import colored
 from lerobot.common.datasets.image_writer import safe_stop_image_writer
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.datasets.utils import get_features_from_robot
-from lerobot.common.robot_devices.robots.utils import Robot
-from lerobot.common.robot_devices.utils import busy_wait
+from lerobot.common.robots.utils import Robot
+from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import get_safe_torch_device, has_method
 
 

lerobot/configs/control.py

@@ -4,7 +4,7 @@ from pathlib import Path
 
 import draccus
 
-from lerobot.common.robot_devices.robots.configs import RobotConfig
+from lerobot.common.robots.configs import RobotConfig
 from lerobot.common.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig

lerobot/scripts/configure_motor.py

@@ -18,8 +18,8 @@ import time
 
 def get_motor_bus_cls(brand: str) -> tuple:
     if brand == "feetech":
-        from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig
-        from lerobot.common.robot_devices.motors.feetech import (
+        from lerobot.common.motors.configs import FeetechMotorsBusConfig
+        from lerobot.common.motors.feetech import (
             MODEL_BAUDRATE_TABLE,
             SCS_SERIES_BAUDRATE_TABLE,
             FeetechMotorsBus,
@@ -28,8 +28,8 @@ def get_motor_bus_cls(brand: str) -> tuple:
         return FeetechMotorsBusConfig, FeetechMotorsBus, MODEL_BAUDRATE_TABLE, SCS_SERIES_BAUDRATE_TABLE
 
     elif brand == "dynamixel":
-        from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig
-        from lerobot.common.robot_devices.motors.dynamixel import (
+        from lerobot.common.motors.configs import DynamixelMotorsBusConfig
+        from lerobot.common.motors.dynamixel import (
             MODEL_BAUDRATE_TABLE,
             X_SERIES_BAUDRATE_TABLE,
             DynamixelMotorsBus,

lerobot/scripts/control_robot.py

@@ -129,15 +129,8 @@ from pprint import pformat
 # from safetensors.torch import load_file, save_file
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.policies.factory import make_policy
-from lerobot.common.robot_devices.control_configs import (
-    CalibrateControlConfig,
-    ControlPipelineConfig,
-    RecordControlConfig,
-    RemoteRobotConfig,
-    ReplayControlConfig,
-    TeleoperateControlConfig,
-)
-from lerobot.common.robot_devices.control_utils import (
+from lerobot.common.robots.utils import Robot, make_robot_from_config
+from lerobot.common.utils.control_utils import (
     control_loop,
     init_keyboard_listener,
     log_control_info,
@@ -148,10 +141,17 @@ from lerobot.common.robot_devices.control_utils import (
     stop_recording,
     warmup_record,
 )
-from lerobot.common.robot_devices.robots.utils import Robot, make_robot_from_config
-from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
+from lerobot.common.utils.robot_utils import busy_wait, safe_disconnect
 from lerobot.common.utils.utils import has_method, init_logging, log_say
 from lerobot.configs import parser
+from lerobot.configs.control import (
+    CalibrateControlConfig,
+    ControlPipelineConfig,
+    RecordControlConfig,
+    RemoteRobotConfig,
+    ReplayControlConfig,
+    TeleoperateControlConfig,
+)
 
 ########################################################################################
 # Control modes
@@ -368,7 +368,7 @@ def control_robot(cfg: ControlPipelineConfig):
     elif isinstance(cfg.control, ReplayControlConfig):
         replay(robot, cfg.control)
     elif isinstance(cfg.control, RemoteRobotConfig):
-        from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi
+        from lerobot.common.robots.lekiwi.lekiwi_remote import run_lekiwi
 
         run_lekiwi(cfg.robot)
 

lerobot/scripts/control_sim_robot.py

@@ -80,7 +80,8 @@ import numpy as np
 import torch
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.common.robot_devices.control_utils import (
+from lerobot.common.robots.utils import Robot, make_robot
+from lerobot.common.utils.control_utils import (
     init_keyboard_listener,
     init_policy,
     is_headless,
@@ -90,8 +91,7 @@ from lerobot.common.robot_devices.control_utils import (
     sanity_check_dataset_robot_compatibility,
     stop_recording,
 )
-from lerobot.common.robot_devices.robots.utils import Robot, make_robot
-from lerobot.common.robot_devices.utils import busy_wait
+from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say
 
 raise NotImplementedError("This script is currently deactivated")