complete migration

examples/dataset/use_dataset_tools.py

@@ -31,12 +31,13 @@ import numpy as np
 
 from lerobot.datasets import (
     LeRobotDataset,
+    add_features,
     delete_episodes,
     merge_datasets,
+    modify_features,
     remove_feature,
     split_dataset,
 )
-from lerobot.datasets.dataset_tools import add_features, modify_features
 
 
 def main():

examples/hil/hil_utils.py

@@ -25,8 +25,6 @@ from lerobot.processor import (
     RobotAction,
     RobotObservation,
     RobotProcessorPipeline,
-)
-from lerobot.processor.converters import (
     observation_to_transition,
     robot_action_observation_to_transition,
     transition_to_observation,

examples/phone_to_so100/evaluate.py

@@ -24,8 +24,6 @@ from lerobot.policies.act import ACTPolicy
 from lerobot.processor import (
     RobotProcessorPipeline,
     make_default_teleop_action_processor,
-)
-from lerobot.processor.converters import (
     observation_to_transition,
     robot_action_observation_to_transition,
     transition_to_observation,

examples/phone_to_so100/record.py

@@ -18,8 +18,8 @@ from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
-from lerobot.processor.converters import (
+from lerobot.processor import (
+    RobotProcessorPipeline,
     observation_to_transition,
     robot_action_observation_to_transition,
     transition_to_observation,

examples/phone_to_so100/replay.py

@@ -18,8 +18,8 @@ import time
 
 from lerobot.datasets import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
-from lerobot.processor.converters import (
+from lerobot.processor import (
+    RobotProcessorPipeline,
     robot_action_observation_to_transition,
     transition_to_robot_action,
 )

examples/phone_to_so100/teleoperate.py

@@ -16,8 +16,8 @@
 import time
 
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
-from lerobot.processor.converters import (
+from lerobot.processor import (
+    RobotProcessorPipeline,
     robot_action_observation_to_transition,
     transition_to_robot_action,
 )

examples/port_datasets/slurm_aggregate_shards.py

@@ -36,7 +36,7 @@ class AggregateDatasets(PipelineStep):
     def run(self, data=None, rank: int = 0, world_size: int = 1):
         import logging
 
-        from lerobot.datasets.aggregate import aggregate_datasets
+        from lerobot.datasets import aggregate_datasets
         from lerobot.utils.utils import init_logging
 
         init_logging()

examples/port_datasets/slurm_upload.py

@@ -26,8 +26,7 @@ from huggingface_hub import HfApi
 from huggingface_hub.constants import REPOCARD_NAME
 from port_droid import DROID_SHARDS
 
-from lerobot.datasets import CODEBASE_VERSION, LeRobotDatasetMetadata
-from lerobot.datasets.utils import create_lerobot_dataset_card
+from lerobot.datasets import CODEBASE_VERSION, LeRobotDatasetMetadata, create_lerobot_dataset_card
 from lerobot.utils.utils import init_logging
 
 

examples/rtc/eval_dataset.py

@@ -110,8 +110,7 @@ except ImportError:
     plt = None
 
 from lerobot.configs import DatasetConfig, PreTrainedConfig, RTCAttentionSchedule, parser
-from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
-from lerobot.datasets.factory import resolve_delta_timestamps
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata, resolve_delta_timestamps
 from lerobot.policies import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc import RTCConfig
 from lerobot.policies.rtc.debug_visualizer import RTCDebugVisualizer

examples/rtc/eval_with_real_robot.py

@@ -103,7 +103,7 @@ from torch import Tensor
 
 from lerobot.cameras.opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense import RealSenseCameraConfig  # noqa: F401
-from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
+from lerobot.cameras.zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import PreTrainedConfig, RTCAttentionSchedule, parser
 from lerobot.policies import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc import ActionInterpolator, ActionQueue, LatencyTracker, RTCConfig
@@ -112,11 +112,9 @@ from lerobot.processor import (
     RelativeActionsProcessorStep,
     TransitionKey,
     create_transition,
-    to_relative_actions,
-)
-from lerobot.processor.factory import (
     make_default_robot_action_processor,
     make_default_robot_observation_processor,
+    to_relative_actions,
 )
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.robots import (  # noqa: F401

examples/so100_to_so100_EE/evaluate.py

@@ -24,8 +24,6 @@ from lerobot.policies.act import ACTPolicy
 from lerobot.processor import (
     RobotProcessorPipeline,
     make_default_teleop_action_processor,
-)
-from lerobot.processor.converters import (
     observation_to_transition,
     robot_action_observation_to_transition,
     transition_to_observation,

examples/so100_to_so100_EE/record.py

@@ -19,8 +19,8 @@ from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
-from lerobot.processor.converters import (
+from lerobot.processor import (
+    RobotProcessorPipeline,
     observation_to_transition,
     robot_action_observation_to_transition,
     transition_to_observation,

examples/so100_to_so100_EE/replay.py

@@ -19,8 +19,8 @@ import time
 
 from lerobot.datasets import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
-from lerobot.processor.converters import (
+from lerobot.processor import (
+    RobotProcessorPipeline,
     robot_action_observation_to_transition,
     transition_to_robot_action,
 )

examples/so100_to_so100_EE/teleoperate.py

@@ -17,8 +17,8 @@
 import time
 
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
-from lerobot.processor.converters import (
+from lerobot.processor import (
+    RobotProcessorPipeline,
     robot_action_observation_to_transition,
     robot_action_to_transition,
     transition_to_robot_action,