diff --git a/examples/lekiwi/evaluate.py b/examples/lekiwi/evaluate.py index 3dbb10f5..8993a5e1 100644 --- a/examples/lekiwi/evaluate.py +++ b/examples/lekiwi/evaluate.py @@ -19,8 +19,8 @@ from lerobot.datasets.utils import hw_to_dataset_features from lerobot.policies.act.modeling_act import ACTPolicy from lerobot.policies.factory import make_pre_post_processors from lerobot.processor import make_default_processors -from lerobot.record import record_loop from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig +from lerobot.scripts.lerobot_record import record_loop from lerobot.utils.control_utils import init_keyboard_listener from lerobot.utils.utils import log_say from lerobot.utils.visualization_utils import _init_rerun diff --git a/examples/lekiwi/record.py b/examples/lekiwi/record.py index f5d109d5..f59093b2 100644 --- a/examples/lekiwi/record.py +++ b/examples/lekiwi/record.py @@ -17,9 +17,9 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.utils import hw_to_dataset_features from lerobot.processor import make_default_processors -from lerobot.record import record_loop from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient +from lerobot.scripts.lerobot_record import record_loop from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig from lerobot.utils.control_utils import init_keyboard_listener diff --git a/examples/phone_to_so100/evaluate.py b/examples/phone_to_so100/evaluate.py index e76b1135..c7d6eb24 100644 --- a/examples/phone_to_so100/evaluate.py +++ b/examples/phone_to_so100/evaluate.py @@ -34,13 +34,13 @@ from lerobot.processor.converters import ( transition_to_observation, transition_to_robot_action, ) -from lerobot.record import record_loop from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig from lerobot.robots.so100_follower.robot_kinematic_processor import ( ForwardKinematicsJointsToEE, InverseKinematicsEEToJoints, ) from lerobot.robots.so100_follower.so100_follower import SO100Follower +from lerobot.scripts.lerobot_record import record_loop from lerobot.utils.control_utils import init_keyboard_listener from lerobot.utils.utils import log_say from lerobot.utils.visualization_utils import _init_rerun diff --git a/examples/phone_to_so100/record.py b/examples/phone_to_so100/record.py index 768041d6..6681017a 100644 --- a/examples/phone_to_so100/record.py +++ b/examples/phone_to_so100/record.py @@ -26,7 +26,6 @@ from lerobot.processor.converters import ( transition_to_observation, transition_to_robot_action, ) -from lerobot.record import record_loop from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig from lerobot.robots.so100_follower.robot_kinematic_processor import ( EEBoundsAndSafety, @@ -36,6 +35,7 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import ( InverseKinematicsEEToJoints, ) from lerobot.robots.so100_follower.so100_follower import SO100Follower +from lerobot.scripts.lerobot_record import record_loop 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 diff --git a/examples/so100_to_so100_EE/evaluate.py b/examples/so100_to_so100_EE/evaluate.py index fd10bf86..f47a216d 100644 --- a/examples/so100_to_so100_EE/evaluate.py +++ b/examples/so100_to_so100_EE/evaluate.py @@ -34,13 +34,13 @@ from lerobot.processor.converters import ( transition_to_observation, transition_to_robot_action, ) -from lerobot.record import record_loop from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig from lerobot.robots.so100_follower.robot_kinematic_processor import ( ForwardKinematicsJointsToEE, InverseKinematicsEEToJoints, ) from lerobot.robots.so100_follower.so100_follower import SO100Follower +from lerobot.scripts.lerobot_record import record_loop from lerobot.utils.control_utils import init_keyboard_listener from lerobot.utils.utils import log_say from lerobot.utils.visualization_utils import _init_rerun diff --git a/examples/so100_to_so100_EE/record.py b/examples/so100_to_so100_EE/record.py index abb8fb99..60c96835 100644 --- a/examples/so100_to_so100_EE/record.py +++ b/examples/so100_to_so100_EE/record.py @@ -27,7 +27,6 @@ from lerobot.processor.converters import ( transition_to_observation, transition_to_robot_action, ) -from lerobot.record import record_loop from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig from lerobot.robots.so100_follower.robot_kinematic_processor import ( EEBoundsAndSafety, @@ -35,6 +34,7 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import ( InverseKinematicsEEToJoints, ) from lerobot.robots.so100_follower.so100_follower import SO100Follower +from lerobot.scripts.lerobot_record import record_loop from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader from lerobot.utils.control_utils import init_keyboard_listener diff --git a/pyproject.toml b/pyproject.toml index 0a4096a4..69c0fa2b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -165,7 +165,7 @@ all = [ lerobot-calibrate="lerobot.calibrate:main" lerobot-find-cameras="lerobot.scripts.lerobot_find_cameras:main" lerobot-find-port="lerobot.scripts.lerobot_find_port:main" -lerobot-record="lerobot.record:main" +lerobot-record="lerobot.scripts.lerobot_record:main" lerobot-replay="lerobot.replay:main" lerobot-setup-motors="lerobot.setup_motors:main" lerobot-teleoperate="lerobot.scripts.lerobot_teleoperate:main" diff --git a/src/lerobot/record.py b/src/lerobot/scripts/lerobot_record.py similarity index 100% rename from src/lerobot/record.py rename to src/lerobot/scripts/lerobot_record.py diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py index 8df71e04..239f6a0e 100644 --- a/tests/test_control_robot.py +++ b/tests/test_control_robot.py @@ -17,8 +17,8 @@ from unittest.mock import patch from lerobot.calibrate import CalibrateConfig, calibrate -from lerobot.record import DatasetRecordConfig, RecordConfig, record from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay +from lerobot.scripts.lerobot_record import DatasetRecordConfig, RecordConfig, record from lerobot.scripts.lerobot_teleoperate import TeleoperateConfig, teleoperate from tests.fixtures.constants import DUMMY_REPO_ID from tests.mocks.mock_robot import MockRobotConfig