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chore(async): move async related code to its directory at top level (#2003)

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* chore(async): move async related code to its directory at top level

* chore(style): apply pre-commit to renamed headers

* test(async): fix async imports

* docs(async): update async headers doc
This commit is contained in:
Steven Palma
2025-09-24 14:49:37 +02:00
committed by GitHub
parent 7359e18eb6
commit 1cba47da20
10 changed files with 44 additions and 41 deletions
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16
docs/source/async.mdx
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@@ -31,7 +31,7 @@ Then, spin up a policy server (in one terminal, or in a separate machine) specif
You can spin up a policy server running:
```shell
python src/lerobot/scripts/server/policy_server.py \
python src/lerobot/async_inference/policy_server.py \
--host=127.0.0.1 \
--port=8080 \
```
@@ -39,7 +39,7 @@ python src/lerobot/scripts/server/policy_server.py \
This will start a policy server listening on `127.0.0.1:8080` (`localhost`, port 8080). At this stage, the policy server is empty, as all information related to which policy to run and with which parameters are specified during the first handshake with the client. Spin up a client with:
```shell
python src/lerobot/scripts/server/robot_client.py \
python src/lerobot/async_inference/robot_client.py \
--server_address=127.0.0.1:8080 \ # SERVER: the host address and port of the policy server
--robot.type=so100_follower \ # ROBOT: your robot type
--robot.port=/dev/tty.usbmodem585A0076841 \ # ROBOT: your robot port
@@ -122,8 +122,8 @@ python -m lerobot.scripts.server.policy_server \
<!-- prettier-ignore-start -->
```python
from lerobot.scripts.server.configs import PolicyServerConfig
from lerobot.scripts.server.policy_server import serve
from lerobot.async_inference.configs import PolicyServerConfig
from lerobot.async_inference.policy_server import serve
config = PolicyServerConfig(
host="localhost",
@@ -148,7 +148,7 @@ The `RobotClient` streams observations to the `PolicyServer`, and receives actio
<hfoptions id="start_robot_client">
<hfoption id="Command">
```bash
python src/lerobot/scripts/server/robot_client.py \
python src/lerobot/async_inference/robot_client.py \
--server_address=127.0.0.1:8080 \ # SERVER: the host address and port of the policy server
--robot.type=so100_follower \ # ROBOT: your robot type
--robot.port=/dev/tty.usbmodem585A0076841 \ # ROBOT: your robot port
@@ -171,9 +171,9 @@ python src/lerobot/scripts/server/robot_client.py \
import threading
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.scripts.server.configs import RobotClientConfig
from lerobot.scripts.server.robot_client import RobotClient
from lerobot.scripts.server.helpers import visualize_action_queue_size
from lerobot.async_inference.configs import RobotClientConfig
from lerobot.async_inference.robot_client import RobotClient
from lerobot.async_inference.helpers import visualize_action_queue_size
# 1. Create the robot instance
"""Check out the cameras available in your setup by running `python lerobot/find_cameras.py`"""