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Merged
SimarKareer merged 1 commit into from
Feb 27, 2026
Merged

move embodiment.py #233

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2 changes: 1 addition & 1 deletion egomimic/algo/hpt.py
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Expand Up @@ -14,7 +14,7 @@

from egomimic.algo.algo import Algo
from egomimic.models.hpt_nets import MultiheadAttention, SimpleTransformer
from egomimic.rldb.embodiment import get_embodiment, get_embodiment_id
from egomimic.rldb.embodiment.embodiment import get_embodiment, get_embodiment_id
from egomimic.utils.egomimicUtils import (
STD_SCALE,
EinOpsRearrange,
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2 changes: 1 addition & 1 deletion egomimic/algo/pi.py
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Expand Up @@ -21,7 +21,7 @@
_SimpleObservation,
_to_minus1_1,
)
from egomimic.rldb.embodiment import get_embodiment, get_embodiment_id
from egomimic.rldb.embodiment.embodiment import get_embodiment, get_embodiment_id
from egomimic.utils.action_utils import ConverterRegistry
from egomimic.utils.egomimicUtils import (
draw_actions,
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2 changes: 1 addition & 1 deletion egomimic/pl_utils/pl_model.py
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Expand Up @@ -9,7 +9,7 @@
from lightning import LightningModule

import egomimic.utils.tensor_utils as TensorUtils
from egomimic.rldb.embodiment import get_embodiment
from egomimic.rldb.embodiment.embodiment import get_embodiment


class ModelWrapper(LightningModule):
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0 egomimic/rldb/embodiment.py → egomimic/rldb/embodiment/embodiment.py
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2 changes: 1 addition & 1 deletion egomimic/rldb/utils.py
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Expand Up @@ -29,7 +29,7 @@
_slow_down_slerp_quat,
_ypr_to_quat,
)
from egomimic.rldb.embodiment import (
from egomimic.rldb.embodiment.embodiment import (
EMBODIMENT_ID_TO_KEY,
get_embodiment_id,
)
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2 changes: 1 addition & 1 deletion egomimic/rldb/zarr/utils.py
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Expand Up @@ -8,7 +8,7 @@
import pandas as pd
import torch

from egomimic.rldb.embodiment import get_embodiment_id
from egomimic.rldb.embodiment.embodiment import get_embodiment_id
from egomimic.rldb.zarr.zarr_dataset_multi import MultiDataset, ZarrDataset

logger = logging.getLogger(__name__)
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2 changes: 1 addition & 1 deletion egomimic/robot/rollout.py
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Expand Up @@ -12,7 +12,7 @@
# from egomimic.algo import *
from egomimic.models.denoising_policy import DenoisingPolicy
from egomimic.pl_utils.pl_model import ModelWrapper
from egomimic.rldb.embodiment import get_embodiment
from egomimic.rldb.embodiment.embodiment import get_embodiment
from egomimic.rldb.utils import RLDBDataset
from egomimic.robot.eva.eva_kinematics import EvaMinkKinematicsSolver
from egomimic.utils.egomimicUtils import (
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2 changes: 1 addition & 1 deletion egomimic/scripts/aloha_process/aloha_to_lerobot.py
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Expand Up @@ -13,7 +13,7 @@
import torch.nn.functional as F
from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME, LeRobotDataset

from egomimic.rldb.embodiment import EMBODIMENT
from egomimic.rldb.embodiment.embodiment import EMBODIMENT
from egomimic.utils.egomimicUtils import (
EXTRINSICS,
AlohaFK,
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2 changes: 1 addition & 1 deletion egomimic/scripts/aria_process/aria_to_lerobot.py
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Expand Up @@ -34,7 +34,7 @@
from projectaria_tools.core.sensor_data import TimeDomain, TimeQueryOptions
from projectaria_tools.core.stream_id import StreamId

from egomimic.rldb.embodiment import EMBODIMENT
from egomimic.rldb.embodiment.embodiment import EMBODIMENT
from egomimic.utils.egomimicUtils import (
INTRINSICS,
cam_frame_to_cam_pixels,
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2 changes: 1 addition & 1 deletion egomimic/scripts/eva_process/eva_to_lerobot.py
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Expand Up @@ -18,7 +18,7 @@
from scipy.spatial.transform import Rotation as R

import egomimic
from egomimic.rldb.embodiment import EMBODIMENT
from egomimic.rldb.embodiment.embodiment import EMBODIMENT
from egomimic.robot.eva.eva_kinematics import EvaMinkKinematicsSolver
from egomimic.utils.egomimicUtils import (
EXTRINSICS,
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2 changes: 1 addition & 1 deletion egomimic/scripts/eva_process/zarr_utils.py
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Expand Up @@ -12,7 +12,7 @@
from scipy.spatial.transform import Rotation as R

import egomimic
from egomimic.rldb.embodiment import EMBODIMENT
from egomimic.rldb.embodiment.embodiment import EMBODIMENT
from egomimic.robot.eva.eva_kinematics import EvaMinkKinematicsSolver
from egomimic.utils.egomimicUtils import (
ee_orientation_to_cam_frame,
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2 changes: 1 addition & 1 deletion egomimic/scripts/mecka_process/mecka_to_lerobot.py
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Expand Up @@ -19,7 +19,7 @@
import torch
from scipy.spatial.transform import Rotation

from egomimic.rldb.embodiment import EMBODIMENT
from egomimic.rldb.embodiment.embodiment import EMBODIMENT

sys.path.insert(0, str(Path(__file__).parent / "lerobot"))

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2 changes: 1 addition & 1 deletion egomimic/scripts/mecka_process/mecka_to_zarr.py
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Expand Up @@ -22,7 +22,7 @@
import pandas as pd
from scipy.spatial.transform import Rotation

from egomimic.rldb.embodiment import EMBODIMENT
from egomimic.rldb.embodiment.embodiment import EMBODIMENT
from egomimic.rldb.zarr.zarr_writer import ZarrWriter

logging.basicConfig(level=logging.INFO)
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