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

* 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

tests/async_inference/test_e2e.py

@@ -48,11 +48,11 @@ def test_async_inference_e2e(monkeypatch):
     # Import grpc-dependent modules inside the test function
     import grpc
 
+    from lerobot.async_inference.configs import PolicyServerConfig, RobotClientConfig
+    from lerobot.async_inference.helpers import map_robot_keys_to_lerobot_features
+    from lerobot.async_inference.policy_server import PolicyServer
+    from lerobot.async_inference.robot_client import RobotClient
     from lerobot.robots.utils import make_robot_from_config
-    from lerobot.scripts.server.configs import PolicyServerConfig, RobotClientConfig
-    from lerobot.scripts.server.helpers import map_robot_keys_to_lerobot_features
-    from lerobot.scripts.server.policy_server import PolicyServer
-    from lerobot.scripts.server.robot_client import RobotClient
     from lerobot.transport import (
         services_pb2,  # type: ignore
         services_pb2_grpc,  # type: ignore

tests/async_inference/test_helpers.py

@@ -19,8 +19,7 @@ import time
 import numpy as np
 import torch
 
-from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.scripts.server.helpers import (
+from lerobot.async_inference.helpers import (
     FPSTracker,
     TimedAction,
     TimedObservation,
@@ -30,6 +29,7 @@ from lerobot.scripts.server.helpers import (
     raw_observation_to_observation,
     resize_robot_observation_image,
 )
+from lerobot.configs.types import FeatureType, PolicyFeature
 
 # ---------------------------------------------------------------------
 # FPSTracker

tests/async_inference/test_policy_server.py

@@ -65,8 +65,8 @@ class MockPolicy:
 def policy_server():
     """Fresh `PolicyServer` instance with a stubbed-out policy model."""
     # Import only when the test actually runs (after decorator check)
-    from lerobot.scripts.server.configs import PolicyServerConfig
-    from lerobot.scripts.server.policy_server import PolicyServer
+    from lerobot.async_inference.configs import PolicyServerConfig
+    from lerobot.async_inference.policy_server import PolicyServer
 
     test_config = PolicyServerConfig(host="localhost", port=9999)
     server = PolicyServer(test_config)
@@ -95,7 +95,7 @@ def policy_server():
 def _make_obs(state: torch.Tensor, timestep: int = 0, must_go: bool = False):
     """Create a TimedObservation with a given state vector."""
     # Import only when needed
-    from lerobot.scripts.server.helpers import TimedObservation
+    from lerobot.async_inference.helpers import TimedObservation
 
     return TimedObservation(
         observation={
@@ -191,7 +191,7 @@ def test_obs_sanity_checks(policy_server):
 def test_predict_action_chunk(monkeypatch, policy_server):
     """End-to-end test of `_predict_action_chunk` with a stubbed _get_action_chunk."""
     # Import only when needed
-    from lerobot.scripts.server.policy_server import PolicyServer
+    from lerobot.async_inference.policy_server import PolicyServer
 
     # Force server to act-style policy; patch method to return deterministic tensor
     policy_server.policy_type = "act"

tests/async_inference/test_robot_client.py

@@ -38,8 +38,8 @@ def robot_client():
     """Fresh `RobotClient` instance for each test case (no threads started).
     Uses DummyRobot."""
     # Import only when the test actually runs (after decorator check)
-    from lerobot.scripts.server.configs import RobotClientConfig
-    from lerobot.scripts.server.robot_client import RobotClient
+    from lerobot.async_inference.configs import RobotClientConfig
+    from lerobot.async_inference.robot_client import RobotClient
     from tests.mocks.mock_robot import MockRobotConfig
 
     test_config = MockRobotConfig()
@@ -73,7 +73,7 @@ def robot_client():
 
 def _make_actions(start_ts: float, start_t: int, count: int):
     """Generate `count` consecutive TimedAction objects starting at timestep `start_t`."""
-    from lerobot.scripts.server.helpers import TimedAction
+    from lerobot.async_inference.helpers import TimedAction
 
     fps = 30  # emulates most common frame-rate
     actions = []
@@ -124,7 +124,7 @@ def test_aggregate_action_queues_combines_actions_in_overlap(
 ):
     """`_aggregate_action_queues` must combine actions on overlapping timesteps according
     to the provided aggregate_fn, here tested with multiple coefficients."""
-    from lerobot.scripts.server.helpers import TimedAction
+    from lerobot.async_inference.helpers import TimedAction
 
     robot_client.chunks_received = 0