diff --git a/examples/3_evaluate_pretrained_policy.py b/examples/3_evaluate_pretrained_policy.py index b3d13f74..a892fa23 100644 --- a/examples/3_evaluate_pretrained_policy.py +++ b/examples/3_evaluate_pretrained_policy.py @@ -7,7 +7,7 @@ from pathlib import Path from huggingface_hub import snapshot_download -from lerobot.common.utils import init_hydra_config +from lerobot.common.utils.utils import init_hydra_config from lerobot.scripts.eval import eval # Get a pretrained policy from the hub. diff --git a/examples/4_train_policy.py b/examples/4_train_policy.py index 7a7a7aaf..1ccb40d6 100644 --- a/examples/4_train_policy.py +++ b/examples/4_train_policy.py @@ -13,7 +13,7 @@ from omegaconf import OmegaConf from lerobot.common.datasets.factory import make_dataset from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy -from lerobot.common.utils import init_hydra_config +from lerobot.common.utils.utils import init_hydra_config output_directory = Path("outputs/train/example_pusht_diffusion") os.makedirs(output_directory, exist_ok=True) diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py index b5b5f861..9698175d 100644 --- a/lerobot/common/policies/factory.py +++ b/lerobot/common/policies/factory.py @@ -2,7 +2,7 @@ import inspect from omegaconf import DictConfig, OmegaConf -from lerobot.common.utils import get_safe_torch_device +from lerobot.common.utils.utils import get_safe_torch_device def _policy_cfg_from_hydra_cfg(policy_cfg_class, hydra_cfg): diff --git a/lerobot/common/policies/tdmpc/policy.py b/lerobot/common/policies/tdmpc/policy.py index ed28c4a6..adaa30c0 100644 --- a/lerobot/common/policies/tdmpc/policy.py +++ b/lerobot/common/policies/tdmpc/policy.py @@ -11,7 +11,7 @@ import torch.nn as nn import lerobot.common.policies.tdmpc.helper as h from lerobot.common.policies.utils import populate_queues -from lerobot.common.utils import get_safe_torch_device +from lerobot.common.utils.utils import get_safe_torch_device FIRST_FRAME = 0 diff --git a/lerobot/common/import_utils.py b/lerobot/common/utils/import_utils.py similarity index 100% rename from lerobot/common/import_utils.py rename to lerobot/common/utils/import_utils.py diff --git a/lerobot/common/utils.py b/lerobot/common/utils/utils.py similarity index 100% rename from lerobot/common/utils.py rename to lerobot/common/utils/utils.py diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py index bf533228..c76d4b4f 100644 --- a/lerobot/scripts/eval.py +++ b/lerobot/scripts/eval.py @@ -50,7 +50,7 @@ from lerobot.common.envs.factory import make_env from lerobot.common.envs.utils import postprocess_action, preprocess_observation from lerobot.common.logger import log_output_dir from lerobot.common.policies.factory import make_policy -from lerobot.common.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed +from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed def write_video(video_path, stacked_frames, fps): diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index b1d63067..601f7306 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -13,7 +13,7 @@ from lerobot.common.datasets.utils import cycle from lerobot.common.envs.factory import make_env from lerobot.common.logger import Logger, log_output_dir from lerobot.common.policies.factory import make_policy -from lerobot.common.utils import ( +from lerobot.common.utils.utils import ( format_big_number, get_safe_torch_device, init_logging, diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py index 739115e9..226fdc1f 100644 --- a/lerobot/scripts/visualize_dataset.py +++ b/lerobot/scripts/visualize_dataset.py @@ -9,7 +9,7 @@ import torch from lerobot.common.datasets.factory import make_dataset from lerobot.common.logger import log_output_dir -from lerobot.common.utils import init_logging +from lerobot.common.utils.utils import init_logging NUM_EPISODES_TO_RENDER = 50 MAX_NUM_STEPS = 1000 diff --git a/tests/test_available.py b/tests/test_available.py index 560364c0..a29b1c8f 100644 --- a/tests/test_available.py +++ b/tests/test_available.py @@ -3,7 +3,7 @@ import pytest import lerobot import gymnasium as gym -from lerobot.common.import_utils import is_package_available +from lerobot.common.utils.import_utils import is_package_available from lerobot.common.policies.act.modeling_act import ActionChunkingTransformerPolicy from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy from lerobot.common.policies.tdmpc.policy import TDMPCPolicy @@ -13,7 +13,7 @@ from lerobot.common.policies.tdmpc.policy import TDMPCPolicy def test_available_env_task(env_name: str, task_name: list): """ This test verifies that all environments listed in `lerobot/__init__.py` can - be sucessfully imported if — they're installed — and that their + be sucessfully imported — if they're installed — and that their `available_tasks_per_env` are valid. """ package_name = f"gym_{env_name}" diff --git a/tests/test_datasets.py b/tests/test_datasets.py index 4f166bad..9ec5c3fc 100644 --- a/tests/test_datasets.py +++ b/tests/test_datasets.py @@ -7,7 +7,7 @@ import torch import lerobot from lerobot.common.datasets.utils import compute_stats, get_stats_einops_patterns, load_previous_and_future_frames from lerobot.common.transforms import Prod -from lerobot.common.utils import init_hydra_config +from lerobot.common.utils.utils import init_hydra_config import logging from lerobot.common.datasets.factory import make_dataset from datasets import Dataset diff --git a/tests/test_envs.py b/tests/test_envs.py index adba5362..ae0e2b51 100644 --- a/tests/test_envs.py +++ b/tests/test_envs.py @@ -6,8 +6,8 @@ import gymnasium as gym from gymnasium.utils.env_checker import check_env from lerobot.common.envs.factory import make_env -from lerobot.common.import_utils import is_package_available -from lerobot.common.utils import init_hydra_config +from lerobot.common.utils.import_utils import is_package_available +from lerobot.common.utils.utils import init_hydra_config import lerobot from lerobot.common.envs.utils import preprocess_observation diff --git a/tests/test_policies.py b/tests/test_policies.py index ffa2a2b1..cca755c9 100644 --- a/tests/test_policies.py +++ b/tests/test_policies.py @@ -7,7 +7,7 @@ from lerobot.common.policies.factory import make_policy from lerobot.common.policies.policy_protocol import Policy from lerobot.common.envs.factory import make_env from lerobot.common.datasets.factory import make_dataset -from lerobot.common.utils import init_hydra_config +from lerobot.common.utils.utils import init_hydra_config from .utils import DEVICE, DEFAULT_CONFIG_PATH