diff --git a/examples/port_datasets/agibot_hdf5/port_agibot.py b/examples/port_datasets/agibot_hdf5/port_agibot.py index e9b1a61a0..739ce604e 100644 --- a/examples/port_datasets/agibot_hdf5/port_agibot.py +++ b/examples/port_datasets/agibot_hdf5/port_agibot.py @@ -8,8 +8,8 @@ import h5py import numpy as np import pandas as pd -from lerobot.common.datasets.lerobot_dataset import LeRobotDataset -from lerobot.common.datasets.utils import ( +from lerobot.datasets.lerobot_dataset import LeRobotDataset +from lerobot.datasets.utils import ( DEFAULT_CHUNK_SIZE, DEFAULT_VIDEO_FILE_SIZE_IN_MB, DEFAULT_VIDEO_PATH, @@ -20,7 +20,7 @@ from lerobot.common.datasets.utils import ( update_chunk_file_indices, write_info, ) -from lerobot.common.utils.utils import get_elapsed_time_in_days_hours_minutes_seconds +from lerobot.utils.utils import get_elapsed_time_in_days_hours_minutes_seconds AGIBOT_FPS = 30 AGIBOT_ROBOT_TYPE = "AgiBot_A2D" diff --git a/examples/port_datasets/agibot_hdf5/slurm_port_shards.py b/examples/port_datasets/agibot_hdf5/slurm_port_shards.py index c9d3dad93..4ce79bafb 100644 --- a/examples/port_datasets/agibot_hdf5/slurm_port_shards.py +++ b/examples/port_datasets/agibot_hdf5/slurm_port_shards.py @@ -37,8 +37,8 @@ class PortAgiBotShards(PipelineStep): ) from examples.port_datasets.agibot_hdf5.port_agibot import port_agibot from examples.port_datasets.droid_rlds.port_droid import validate_dataset - from lerobot.common.constants import HF_LEROBOT_HOME - from lerobot.common.utils.utils import init_logging + from lerobot.constants import HF_LEROBOT_HOME + from lerobot.utils.utils import init_logging init_logging() disable_progress_bars() diff --git a/examples/port_datasets/droid_rlds/README.md b/examples/port_datasets/droid_rlds/README.md index b4da49869..9cbb8969f 100644 --- a/examples/port_datasets/droid_rlds/README.md +++ b/examples/port_datasets/droid_rlds/README.md @@ -108,7 +108,7 @@ python examples/port_datasets/droid_rlds/slurm_port_shards.py --slurm 1 ... Once all jobs are completed, you will have one dataset per shard (e.g. `droid_1.0.1_world_2048_rank_1594`) saved on disk in your `/lerobot/home/dir/your_id` directory. You can find your `/lerobot/home/dir` by running: ```bash -python -c "from lerobot.common.constants import HF_LEROBOT_HOME;print(HF_LEROBOT_HOME)" +python -c "from lerobot.constants import HF_LEROBOT_HOME;print(HF_LEROBOT_HOME)" ``` diff --git a/examples/port_datasets/droid_rlds/port_droid.py b/examples/port_datasets/droid_rlds/port_droid.py index 3bcb0ba36..20e0199c8 100644 --- a/examples/port_datasets/droid_rlds/port_droid.py +++ b/examples/port_datasets/droid_rlds/port_droid.py @@ -22,8 +22,8 @@ from pathlib import Path import numpy as np import tensorflow_datasets as tfds -from lerobot.common.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata -from lerobot.common.utils.utils import get_elapsed_time_in_days_hours_minutes_seconds +from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata +from lerobot.utils.utils import get_elapsed_time_in_days_hours_minutes_seconds DROID_SHARDS = 2048 DROID_FPS = 15 diff --git a/examples/port_datasets/droid_rlds/slurm_aggregate_shards.py b/examples/port_datasets/droid_rlds/slurm_aggregate_shards.py index 42f26d89c..692d243da 100644 --- a/examples/port_datasets/droid_rlds/slurm_aggregate_shards.py +++ b/examples/port_datasets/droid_rlds/slurm_aggregate_shards.py @@ -24,15 +24,15 @@ from datatrove.executor.slurm import SlurmPipelineExecutor from datatrove.pipeline.base import PipelineStep from examples.port_datasets.droid_rlds.port_droid import DROID_SHARDS -from lerobot.common.datasets.aggregate import validate_all_metadata -from lerobot.common.datasets.lerobot_dataset import LeRobotDatasetMetadata -from lerobot.common.datasets.utils import ( +from lerobot.datasets.aggregate import validate_all_metadata +from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata +from lerobot.datasets.utils import ( legacy_write_episode_stats, legacy_write_task, write_episode, write_info, ) -from lerobot.common.utils.utils import init_logging +from lerobot.utils.utils import init_logging class AggregateDatasets(PipelineStep): @@ -149,9 +149,9 @@ class AggregateDatasets(PipelineStep): import pandas as pd - from lerobot.common.datasets.aggregate import get_update_episode_and_task_func - from lerobot.common.datasets.lerobot_dataset import LeRobotDatasetMetadata - from lerobot.common.utils.utils import init_logging + from lerobot.datasets.aggregate import get_update_episode_and_task_func + from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata + from lerobot.utils.utils import init_logging init_logging() diff --git a/examples/port_datasets/droid_rlds/slurm_port_shards.py b/examples/port_datasets/droid_rlds/slurm_port_shards.py index 093194ce6..602b1f40b 100644 --- a/examples/port_datasets/droid_rlds/slurm_port_shards.py +++ b/examples/port_datasets/droid_rlds/slurm_port_shards.py @@ -22,7 +22,7 @@ class PortDroidShards(PipelineStep): from datasets.utils.tqdm import disable_progress_bars from examples.port_datasets.droid_rlds.port_droid import port_droid, validate_dataset - from lerobot.common.utils.utils import init_logging + from lerobot.utils.utils import init_logging init_logging() disable_progress_bars() diff --git a/examples/port_datasets/droid_rlds/slurm_upload.py b/examples/port_datasets/droid_rlds/slurm_upload.py index 8dec7c209..34bb40df9 100644 --- a/examples/port_datasets/droid_rlds/slurm_upload.py +++ b/examples/port_datasets/droid_rlds/slurm_upload.py @@ -10,9 +10,9 @@ from huggingface_hub import HfApi from huggingface_hub.constants import REPOCARD_NAME from examples.port_datasets.droid_rlds.port_droid import DROID_SHARDS -from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata -from lerobot.common.datasets.utils import create_lerobot_dataset_card -from lerobot.common.utils.utils import init_logging +from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata +from lerobot.datasets.utils import create_lerobot_dataset_card +from lerobot.utils.utils import init_logging class UploadDataset(PipelineStep): @@ -137,8 +137,8 @@ class UploadDataset(PipelineStep): from datasets.utils.tqdm import disable_progress_bars from huggingface_hub import CommitOperationAdd, preupload_lfs_files - from lerobot.common.datasets.lerobot_dataset import LeRobotDatasetMetadata - from lerobot.common.utils.utils import init_logging + from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata + from lerobot.utils.utils import init_logging init_logging() disable_progress_bars() diff --git a/src/lerobot/datasets/backward_compatibility.py b/src/lerobot/datasets/backward_compatibility.py index 32e60649d..2ba4c7c80 100644 --- a/src/lerobot/datasets/backward_compatibility.py +++ b/src/lerobot/datasets/backward_compatibility.py @@ -52,7 +52,7 @@ The dataset you requested ({repo_id}) is in {version} format. While current version of LeRobot is backward-compatible with it, the version of your dataset still uses global stats instead of per-episode stats. Update your dataset stats to the new format using this command: ``` -python lerobot/common/datasets/v30/convert_dataset_v21_to_v30.py --repo-id={repo_id} +python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id={repo_id} ``` If you encounter a problem, contact LeRobot maintainers on [Discord](https://discord.com/invite/s3KuuzsPFb) diff --git a/tests/fixtures/dataset_factories.py b/tests/fixtures/dataset_factories.py index 2459b0bf6..5e1a4e2a4 100644 --- a/tests/fixtures/dataset_factories.py +++ b/tests/fixtures/dataset_factories.py @@ -26,7 +26,7 @@ import pytest import torch from datasets import Dataset -from lerobot.common.datasets.video_utils import encode_video_frames +from lerobot.datasets.video_utils import encode_video_frames from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset, LeRobotDatasetMetadata from lerobot.datasets.utils import ( DEFAULT_CHUNK_SIZE, diff --git a/tests/policies/test_policies.py b/tests/policies/test_policies.py index bd6c99801..57ac0edc1 100644 --- a/tests/policies/test_policies.py +++ b/tests/policies/test_policies.py @@ -23,20 +23,20 @@ import torch from safetensors.torch import load_file from lerobot import available_policies -from lerobot.common.datasets.factory import make_dataset -from lerobot.common.datasets.utils import cycle, dataset_to_policy_features -from lerobot.common.envs.factory import make_env, make_env_config -from lerobot.common.envs.utils import preprocess_observation -from lerobot.common.optim.factory import make_optimizer_and_scheduler -from lerobot.common.policies.act.modeling_act import ACTTemporalEnsembler -from lerobot.common.policies.factory import ( +from lerobot.datasets.factory import make_dataset +from lerobot.datasets.utils import cycle, dataset_to_policy_features +from lerobot.envs.factory import make_env, make_env_config +from lerobot.envs.utils import preprocess_observation +from lerobot.optim.factory import make_optimizer_and_scheduler +from lerobot.policies.act.modeling_act import ACTTemporalEnsembler +from lerobot.policies.factory import ( get_policy_class, make_policy, make_policy_config, ) -from lerobot.common.policies.normalize import Normalize, Unnormalize -from lerobot.common.policies.pretrained import PreTrainedPolicy -from lerobot.common.utils.random_utils import seeded_context +from lerobot.policies.normalize import Normalize, Unnormalize +from lerobot.policies.pretrained import PreTrainedPolicy +from lerobot.utils.random_utils import seeded_context from lerobot.configs.default import DatasetConfig from lerobot.configs.train import TrainPipelineConfig from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature