refactor(memory): rename memory2 package to memory

.gitignore

@@ -74,7 +74,7 @@ results/
 
 /thread_monitor_report.csv
 
-# Memory2 autorecord
+# Memory autorecord
 recording*.db
 
 # Rerun recordings

dimos/cli/dimos.py

@@ -794,7 +794,7 @@ def dataprep_inspect(
 map_app.command("replay")(_map_replay_main)
 map_app.command("replay-marker")(_map_replay_marker_main)
 
-from dimos.memory2.cli.app import mem_app
+from dimos.memory.cli.app import mem_app
 
 main.add_typer(mem_app, name="mem")
 

dimos/cli/dtop.py

@@ -213,7 +213,7 @@ def __init__(self, topic_name: str = "/resource_stats", db_path: str | None = No
         autoconf(check_only=True)
 
         if db_path is not None:
-            from dimos.memory2.store.sqlite import SqliteStore
+            from dimos.memory.store.sqlite import SqliteStore
 
             self._store: SqliteStore | None = SqliteStore(path=db_path)
             self._store.start()
@@ -565,7 +565,7 @@ def main() -> None:
     parser.add_argument(
         "--log",
         action="store_true",
-        help="Log stats to a memory2 SQLite database (dtop_{timestamp}.ignore.db).",
+        help="Log stats to a memory SQLite database (dtop_{timestamp}.ignore.db).",
     )
     args = parser.parse_args()
 

dimos/control/benchmarking/paths.py

@@ -22,8 +22,8 @@
 
 import math
 
-from dimos.memory2.vis.space.elements import Point, Polyline, Text
-from dimos.memory2.vis.space.space import Space
+from dimos.memory.vis.space.elements import Point, Polyline, Text
+from dimos.memory.vis.space.space import Space
 from dimos.msgs.geometry_msgs.Point import Point as GeoPoint
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
@@ -41,7 +41,7 @@
 
 
 def _xy_to_path(executed_xy: list[tuple[float, float]]) -> Path:
-    """Wrap (x, y) tuples in a nav_msgs.Path so memory2 Polyline can render them."""
+    """Wrap (x, y) tuples in a nav_msgs.Path so memory Polyline can render them."""
     poses = [
         PoseStamped(
             position=Vector3(x, y, 0.0),
@@ -428,7 +428,7 @@ def default_battery() -> dict[str, Path]:
 
 
 def path_to_svg(path: Path, size_px: int = 400, margin_px: int = 20) -> str:
-    """Render a Path as an SVG polyline via memory2.vis.space.
+    """Render a Path as an SVG polyline via memory.vis.space.
 
     ``size_px`` / ``margin_px`` are kept for API compatibility but ignored;
     Space picks its own dimensions from world-space content bounds.
@@ -449,7 +449,7 @@ def trajectory_to_svg(
     size_px: int = 500,
     margin_px: int = 20,
 ) -> str:
-    """Reference path (gray) + executed trajectory (blue), via memory2.vis.space."""
+    """Reference path (gray) + executed trajectory (blue), via memory.vis.space."""
     if not reference.poses or not executed_xy:
         return Space().to_svg()
 
@@ -470,15 +470,15 @@ def multi_trajectory_to_svg(
     margin_px: int = 30,
     title: str | None = None,
 ) -> str:
-    """Reference + multiple executed trajectories overlaid, via memory2.vis.space.
+    """Reference + multiple executed trajectories overlaid, via memory.vis.space.
 
     Each cohort gets a distinct color from ``_COHORT_COLORS`` (10 unique
     entries; no collisions for the current cohort matrix). A small dot at
     each cohort's start position helps disambiguate when overlapping lines
     converge. The legend is emitted as ``Polyline`` stubs + ``Text`` labels
     placed in world space below the plot bounds, so it sits inside the
     auto-fit viewBox alongside the trajectories. Axes / grid / tick labels
-    are drawn by memory2's Space renderer (`show_axes=True`).
+    are drawn by memory's Space renderer (`show_axes=True`).
     """
     if not reference.poses:
         return Space().to_svg()

dimos/experimental/world_belief/recall.py

@@ -23,13 +23,13 @@
 import re
 from typing import TYPE_CHECKING, Any, cast
 
-from dimos.memory2.embed import EmbedImages
+from dimos.memory.embed import EmbedImages
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
-    from dimos.memory2.type.observation import EmbeddedObservation
+    from dimos.memory.store.base import Store
+    from dimos.memory.type.observation import EmbeddedObservation
 
 logger = setup_logger()
 

dimos/experimental/world_belief/scene_scan.py

@@ -30,7 +30,7 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
+    from dimos.memory.store.base import Store
     from dimos.perception.detection.detectors.base import Detector
     from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
 

dimos/experimental/world_belief/world_belief.py

@@ -191,7 +191,7 @@ def __init__(
         novelty: float,
         max_views: int,
     ) -> None:
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
 
         self._store = SqliteStore(path=path)
         self._namespace = _gallery_namespace(model_id)

dimos/experimental/world_belief/worldbelief_module.py

@@ -40,7 +40,7 @@
 from dimos.experimental.world_belief.worldbelief_recorder import (
     WorldBeliefRecorderSpec,
 )
-from dimos.memory2.module import MemoryModuleConfig
+from dimos.memory.module import MemoryModuleConfig
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.msgs.vision_msgs.Detection3DArray import Detection3DArray
@@ -239,7 +239,7 @@ def scan(self, prompt: list[str] | None = None, window: float = 60.0) -> SkillRe
         from dimos.experimental.world_belief.scene_scan import (
             ScanIncompleteError,
         )
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
         from dimos.perception.experimental.object import (
             aggregate_pointclouds,
             to_detection3d_array,
@@ -340,7 +340,7 @@ def recall(self, text: str, k: int = 20) -> dict[str, Any] | None:
         from contextlib import nullcontext
 
         from dimos.experimental.world_belief.recall import recall as _recall
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
 
         text = text.strip()
         if not text:

dimos/experimental/world_belief/worldbelief_recorder.py

@@ -21,7 +21,7 @@
 from dimos.constants import STATE_DIR
 from dimos.core.core import rpc
 from dimos.core.stream import In
-from dimos.memory2.module import Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image

dimos/hardware/sensors/lidar/fastlio2/recorder.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Record FAST-LIO odometry + lidar into a memory2 SQLite db.
+"""Record FAST-LIO odometry + lidar into a memory SQLite db.
 
 A ``Recorder`` that records its In ports under their own names
 (``fastlio_odometry`` / ``fastlio_lidar``) — wire them to FastLio2's
@@ -25,7 +25,7 @@
 from __future__ import annotations
 
 from dimos.core.stream import In
-from dimos.memory2.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2

dimos/hardware/sensors/lidar/fastlio2/tools/pcap_to_db.py

@@ -151,7 +151,7 @@ def _write_rrd(db_path: Path, odom_stream: str, lidar_stream: str, voxel: float)
     import numpy as np
     import rerun as rr
 
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
     from dimos.msgs.nav_msgs.Odometry import Odometry
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
     from dimos.visualization.rerun.init import rerun_init
@@ -413,7 +413,7 @@ def main(argv: list[str]) -> int:
     parser.add_argument(
         "--db",
         default=None,
-        help="target memory2 SQLite db. Existing -> append/align; missing -> fetched via "
+        help="target memory SQLite db. Existing -> append/align; missing -> fetched via "
         "get_data (LFS), else built from scratch. Omit to default to <pcap>.db.",
     )
     parser.add_argument(

dimos/hardware/sensors/lidar/pointlio/recorder.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Record Point-LIO odometry + lidar into a memory2 SQLite db.
+"""Record Point-LIO odometry + lidar into a memory SQLite db.
 
 A ``Recorder`` that records its In ports under their own names
 (``pointlio_odometry`` / ``pointlio_lidar``) — wire them to PointLio's
@@ -25,7 +25,7 @@
 from __future__ import annotations
 
 from dimos.core.stream import In
-from dimos.memory2.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2

dimos/hardware/sensors/lidar/pointlio/scripts/pcap_to_db.py

@@ -231,7 +231,7 @@ def _write_rrd(db_path: Path, odom_stream: str, lidar_stream: str, voxel: float)
     import numpy as np
     import rerun as rr
 
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
     from dimos.msgs.nav_msgs.Odometry import Odometry
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
     from dimos.visualization.rerun.init import rerun_init
@@ -504,7 +504,7 @@ def main(argv: list[str]) -> int:
     parser.add_argument(
         "--db",
         default=None,
-        help="target memory2 SQLite db. Existing -> append/align; missing -> built from "
+        help="target memory SQLite db. Existing -> append/align; missing -> built from "
         "scratch. Omit to default to <pcap>.db next to the pcap.",
     )
     parser.add_argument(

dimos/imitation/collection/blueprint.py

@@ -14,7 +14,7 @@
 
 """Recording blueprints.
 
-`CollectionRecorder` (a memory2 Recorder) captures the obs/action/status
+`CollectionRecorder` (a memory Recorder) captures the obs/action/status
 streams to a SQLite session DB during the run and flushes it durably on
 shutdown. DataPrep reads that DB afterwards.
 """

dimos/imitation/collection/recorder.py

@@ -12,9 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""CollectionRecorder — captures teleop collection streams to a memory2 DB.
+"""CollectionRecorder — captures teleop collection streams to a memory DB.
 
-A `Recorder` (memory2) subscribes each declared `In` port and appends every
+A `Recorder` (memory) subscribes each declared `In` port and appends every
 message to a SQLite store, flushing durably on stop(). Only *connected*
 streams are recorded, so the same recorder works for any arm whose
 coordinator publishes `coordinator_joint_state`.
@@ -27,7 +27,7 @@
 
 from dimos.core.stream import In
 from dimos.imitation.collection.episode_monitor import EpisodeStatus
-from dimos.memory2.module import Recorder, RecorderConfig
+from dimos.memory.module import Recorder, RecorderConfig
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.sensor_msgs.JointState import JointState
 

dimos/imitation/dataprep/build.py

@@ -36,7 +36,7 @@
     get_writer,
     iter_episode_samples,
 )
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()

dimos/imitation/dataprep/core.py

@@ -39,8 +39,8 @@
 from dimos.protocol.service.spec import BaseConfig
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.sqlite import SqliteStore
-    from dimos.memory2.stream import Stream
+    from dimos.memory.store.sqlite import SqliteStore
+    from dimos.memory.stream import Stream
 
 # Each `formats/<name>/` package's writer/reader expose these, via get_writer/get_inspector.
 Writer = Callable[[Iterator["Sample"], "OutputConfig"], Path]

dimos/mapping/cli/map.py

@@ -24,14 +24,14 @@
 
 if TYPE_CHECKING:
     from dimos.mapping.loop_closure.pgo import PoseGraph
-    from dimos.memory2.stream import Stream
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.stream import Stream
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.geometry_msgs.Transform import Transform
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 PATH_THICKNESS = 0.01
-# Pin pattern (from dimos/memory2/vis/space/rerun.py): thin vertical line
+# Pin pattern (from dimos/memory/vis/space/rerun.py): thin vertical line
 # from each marker with the label floating at the top so multi-marker
 # labels never overlap the boxes.
 MARKER_STEM = 1.0
@@ -183,7 +183,7 @@ def _log_reconstruction(
     import rerun as rr
     import rerun.blueprint as rrb
 
-    from dimos.memory2.vis.color import Color
+    from dimos.memory.vis.color import Color
     from dimos.msgs.geometry_msgs.Transform import Transform
 
     rr.send_blueprint(rrb.Blueprint(rrb.Spatial3DView(origin="world")))
@@ -421,9 +421,9 @@ def main(
     import rerun as rr
 
     from dimos.mapping.loop_closure.pgo import PGO
-    from dimos.memory2.cli.dataset import open_store, resolve_dataset
-    from dimos.memory2.transform import QualityWindow, SpeedLimit
-    from dimos.memory2.utils.progress import progress
+    from dimos.memory.cli.dataset import open_store, resolve_dataset
+    from dimos.memory.transform import QualityWindow, SpeedLimit
+    from dimos.memory.utils.progress import progress
     from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
@@ -449,7 +449,7 @@ def main(
     # clouds with no tf lookup are dropped. Stored per-frame poses are never
     # used for registration — only as trajectory metadata (dedup/path) when
     # the tf stream can't provide a position.
-    from dimos.memory2.tf import StreamTF
+    from dimos.memory.tf import StreamTF
 
     tf_buf = StreamTF.from_store(store)
     # Streams are homogeneous: read the cloud frame from the first observation.

dimos/mapping/cli/pose_fill.py

@@ -37,9 +37,9 @@
 # Heavy dimos imports are deferred (TYPE_CHECKING / inside functions) so that
 # `dimos map --help` stays fast. See test_cli_startup.py.
 if TYPE_CHECKING:
-    from dimos.memory2.backend import Backend
-    from dimos.memory2.stream import Stream
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.backend import Backend
+    from dimos.memory.stream import Stream
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.geometry_msgs.Transform import Transform
 
 
@@ -64,7 +64,7 @@ def pose_fill(
     camera_optical`` so a base-frame odometry source yields an optical-frame
     image pose.
     """
-    from dimos.memory2.type.observation import _to_tuple
+    from dimos.memory.type.observation import _to_tuple
     from dimos.msgs.geometry_msgs.Quaternion import Quaternion
     from dimos.msgs.geometry_msgs.Transform import Transform
     from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -103,7 +103,7 @@ def pose_fill_db(
     rtree spatial index is rebuilt from it on insert). Returns a per-stream
     count of observations written.
     """
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
 
     dest_p = Path(dest_path)
     if dest_p.exists():

dimos/mapping/cli/rename.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Copy a memory2 sqlite recording into a new file, renaming streams.
+"""Copy a memory sqlite recording into a new file, renaming streams.
 
 Iterates each source stream and re-appends every observation under its new
 name in a fresh destination db. Slower than in-place ``ALTER TABLE`` but
@@ -31,10 +31,10 @@
 
 import typer
 
-from dimos.memory2.codecs.base import resolve_payload_type
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.type.observation import Observation
+from dimos.memory.codecs.base import resolve_payload_type
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.stream import Stream
+from dimos.memory.type.observation import Observation
 from dimos.utils.data import resolve_named_path