refactor import fixes

examples/dataset/load_lerobot_dataset.py

@@ -31,17 +31,12 @@ from pprint import pprint
 import torch
 from huggingface_hub import HfApi
 
-import lerobot
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 
 def main():
-    # We ported a number of existing datasets ourselves, use this to see the list:
-    print("List of available datasets:")
-    pprint(lerobot.available_datasets)
-
-    # You can also browse through the datasets created/ported by the community on the hub using the hub api:
+    # Browse datasets created/ported by the community on the hub using the hub api:
     hub_api = HfApi()
     repo_ids = [info.id for info in hub_api.list_datasets(task_categories="robotics", tags=["LeRobot"])]
     pprint(repo_ids)

examples/hil/hil_data_collection.py

@@ -114,9 +114,9 @@ from hil_utils import (
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.common.control_utils import is_headless, predict_action
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.datasets.feature_utils import build_dataset_frame, combine_feature_dicts, hw_to_dataset_features
 from lerobot.datasets.image_writer import safe_stop_image_writer
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
@@ -141,8 +141,8 @@ from lerobot.teleoperators import Teleoperator, TeleoperatorConfig, make_teleope
 from lerobot.teleoperators.openarm_mini.config_openarm_mini import OpenArmMiniConfig  # noqa: F401
 from lerobot.teleoperators.so_leader.config_so_leader import SOLeaderTeleopConfig  # noqa: F401
 from lerobot.utils.constants import ACTION, OBS_STATE, OBS_STR
-from lerobot.utils.control_utils import is_headless, predict_action
 from lerobot.utils.device_utils import get_safe_torch_device
+from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts, hw_to_dataset_features
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging, log_say
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data

examples/hil/hil_utils.py

@@ -19,6 +19,7 @@ import time
 from dataclasses import dataclass, field
 from pathlib import Path
 
+from lerobot.common.control_utils import is_headless
 from lerobot.processor import (
     IdentityProcessorStep,
     RobotAction,
@@ -33,7 +34,6 @@ from lerobot.processor.converters import (
 )
 from lerobot.robots import Robot
 from lerobot.teleoperators import Teleoperator
-from lerobot.utils.control_utils import is_headless
 from lerobot.utils.robot_utils import precise_sleep
 
 logger = logging.getLogger(__name__)

examples/lekiwi/evaluate.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
@@ -22,7 +22,7 @@ from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.utils.constants import ACTION, OBS_STR
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import hw_to_dataset_features
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/lekiwi/record.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
@@ -23,7 +23,7 @@ from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.constants import ACTION, OBS_STR
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import hw_to_dataset_features
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/phone_to_so100/evaluate.py

@@ -15,8 +15,8 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -39,7 +39,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 )
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/phone_to_so100/record.py

@@ -15,7 +15,7 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import combine_feature_dicts
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -39,7 +39,7 @@ from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
 from lerobot.teleoperators.phone.teleop_phone import Phone
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/rtc/eval_with_real_robot.py

@@ -107,7 +107,6 @@ from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.datasets.feature_utils import build_dataset_frame, hw_to_dataset_features
 from lerobot.policies.factory import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc import ActionInterpolator, ActionQueue, LatencyTracker, RTCConfig
 from lerobot.processor import (
@@ -133,6 +132,7 @@ from lerobot.robots import (  # noqa: F401
 )
 from lerobot.robots.utils import make_robot_from_config
 from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
+from lerobot.utils.feature_utils import build_dataset_frame, hw_to_dataset_features
 from lerobot.utils.hub import HubMixin
 from lerobot.utils.utils import init_logging
 

examples/so100_to_so100_EE/evaluate.py

@@ -15,8 +15,8 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -39,7 +39,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 )
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/so100_to_so100_EE/record.py

@@ -16,7 +16,7 @@
 
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import combine_feature_dicts
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -36,7 +36,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/training/train_policy.py

@@ -20,11 +20,11 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def main():

examples/training/train_with_streaming.py

@@ -21,12 +21,12 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.utils.constants import ACTION
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def main():

examples/tutorial/act/act_training_example.py

@@ -6,11 +6,11 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def make_delta_timestamps(delta_indices: list[int] | None, fps: int) -> list[float]:

examples/tutorial/diffusion/diffusion_training_example.py

@@ -6,11 +6,11 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def make_delta_timestamps(delta_indices: list[int] | None, fps: int) -> list[float]:

examples/tutorial/pi0/using_pi0_example.py

@@ -1,11 +1,11 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.pi0.modeling_pi0 import PI0Policy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
+from lerobot.utils.feature_utils import hw_to_dataset_features
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

examples/tutorial/rl/hilserl_example.py

@@ -6,7 +6,6 @@ from queue import Empty, Full
 import torch
 import torch.optim as optim
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.envs.configs import HILSerlProcessorConfig, HILSerlRobotEnvConfig
 from lerobot.policies.sac.configuration_sac import SACConfig
@@ -17,6 +16,7 @@ from lerobot.rl.gym_manipulator import make_robot_env
 from lerobot.robots.so_follower import SO100FollowerConfig
 from lerobot.teleoperators.so_leader import SO100LeaderConfig
 from lerobot.teleoperators.utils import TeleopEvents
+from lerobot.utils.feature_utils import hw_to_dataset_features
 
 LOG_EVERY = 10
 SEND_EVERY = 10

examples/tutorial/smolvla/using_smolvla_example.py

@@ -1,11 +1,11 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
+from lerobot.utils.feature_utils import hw_to_dataset_features
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20