Move utils

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.

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)

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):

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
 

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):

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,

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

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}"

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

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

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