Package folder structure (#1417)

* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section

tests/datasets/test_compute_stats.py

@@ -18,7 +18,7 @@ from unittest.mock import patch
 import numpy as np
 import pytest
 
-from lerobot.common.datasets.compute_stats import (
+from lerobot.datasets.compute_stats import (
     _assert_type_and_shape,
     aggregate_feature_stats,
     aggregate_stats,
@@ -61,7 +61,7 @@ def test_sample_indices():
     assert len(indices) == estimate_num_samples(10)
 
 
-@patch("lerobot.common.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy)
+@patch("lerobot.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy)
 def test_sample_images(mock_load):
     image_paths = [f"image_{i}.jpg" for i in range(100)]
     images = sample_images(image_paths)
@@ -144,9 +144,7 @@ def test_compute_episode_stats():
         "observation.state": {"dtype": "numeric"},
     }
 
-    with patch(
-        "lerobot.common.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy
-    ):
+    with patch("lerobot.datasets.compute_stats.load_image_as_numpy", side_effect=mock_load_image_as_numpy):
         stats = compute_episode_stats(episode_data, features)
 
     assert "observation.image" in stats and "observation.state" in stats

tests/datasets/test_datasets.py

@@ -28,21 +28,21 @@ from PIL import Image
 from safetensors.torch import load_file
 
 import lerobot
-from lerobot.common.datasets.factory import make_dataset
-from lerobot.common.datasets.image_writer import image_array_to_pil_image
-from lerobot.common.datasets.lerobot_dataset import (
+from lerobot.configs.default import DatasetConfig
+from lerobot.configs.train import TrainPipelineConfig
+from lerobot.datasets.factory import make_dataset
+from lerobot.datasets.image_writer import image_array_to_pil_image
+from lerobot.datasets.lerobot_dataset import (
     LeRobotDataset,
     MultiLeRobotDataset,
 )
-from lerobot.common.datasets.utils import (
+from lerobot.datasets.utils import (
     create_branch,
     flatten_dict,
     unflatten_dict,
 )
-from lerobot.common.envs.factory import make_env_config
-from lerobot.common.policies.factory import make_policy_config
-from lerobot.configs.default import DatasetConfig
-from lerobot.configs.train import TrainPipelineConfig
+from lerobot.envs.factory import make_env_config
+from lerobot.policies.factory import make_policy_config
 from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
 from tests.utils import require_x86_64_kernel
 
@@ -558,7 +558,7 @@ def test_create_branch():
 
 def test_dataset_feature_with_forward_slash_raises_error():
     # make sure dir does not exist
-    from lerobot.common.constants import HF_LEROBOT_HOME
+    from lerobot.constants import HF_LEROBOT_HOME
 
     dataset_dir = HF_LEROBOT_HOME / "lerobot/test/with/slash"
     # make sure does not exist

tests/datasets/test_delta_timestamps.py

@@ -19,7 +19,7 @@ import pyarrow.compute as pc
 import pytest
 import torch
 
-from lerobot.common.datasets.utils import (
+from lerobot.datasets.utils import (
     check_delta_timestamps,
     check_timestamps_sync,
     get_delta_indices,

tests/datasets/test_image_transforms.py

@@ -21,7 +21,7 @@ from safetensors.torch import load_file
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import functional as F  # noqa: N812
 
-from lerobot.common.datasets.transforms import (
+from lerobot.datasets.transforms import (
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,
@@ -29,11 +29,11 @@ from lerobot.common.datasets.transforms import (
     SharpnessJitter,
     make_transform_from_config,
 )
-from lerobot.common.utils.random_utils import seeded_context
 from lerobot.scripts.visualize_image_transforms import (
     save_all_transforms,
     save_each_transform,
 )
+from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel
 

tests/datasets/test_image_writer.py

@@ -20,7 +20,7 @@ import numpy as np
 import pytest
 from PIL import Image
 
-from lerobot.common.datasets.image_writer import (
+from lerobot.datasets.image_writer import (
     AsyncImageWriter,
     image_array_to_pil_image,
     safe_stop_image_writer,

tests/datasets/test_online_buffer.py

@@ -20,7 +20,7 @@ import numpy as np
 import pytest
 import torch
 
-from lerobot.common.datasets.online_buffer import OnlineBuffer, compute_sampler_weights
+from lerobot.datasets.online_buffer import OnlineBuffer, compute_sampler_weights
 
 # Some constants for OnlineBuffer tests.
 data_key = "data"

tests/datasets/test_sampler.py

@@ -15,9 +15,9 @@
 # limitations under the License.
 from datasets import Dataset
 
-from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
-from lerobot.common.datasets.sampler import EpisodeAwareSampler
-from lerobot.common.datasets.utils import (
+from lerobot.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
+from lerobot.datasets.sampler import EpisodeAwareSampler
+from lerobot.datasets.utils import (
     hf_transform_to_torch,
 )
 

tests/datasets/test_utils.py

@@ -18,8 +18,8 @@ import torch
 from datasets import Dataset
 from huggingface_hub import DatasetCard
 
-from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
-from lerobot.common.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
+from lerobot.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
+from lerobot.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
 
 
 def test_default_parameters():