[PORT HIL-SERL] Refactor folders structure | Rebased version (#1178)

lerobot/common/policies/sac/modeling_sac.py

@@ -606,7 +606,7 @@ class SACObservationEncoder(nn.Module):
 
         Usage patterns:
         - Called in select_action() with normalize=True
-        - Called in learner_server.py's get_observation_features() to pre-compute features for all policy components
+        - Called in learner.py's get_observation_features() to pre-compute features for all policy components
         - Called internally by forward() with normalize=False
 
         Args:

lerobot/common/transport/services.proto

@@ -13,9 +13,15 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
+// To generate a classes for transport part (services_pb2.py and services_pb2_grpc.py) use the following command:
+//
+// python -m grpc_tools.protoc -I . --python_out=. --grpc_python_out=. lerobot/common/transport/services.proto
+//
+// The command should be launched from the root of the project.
+
 syntax = "proto3";
 
-package hil_serl;
+package transport;
 
 // LearnerService: the Actor calls this to push transitions.
 // The Learner implements this service.

lerobot/common/transport/services_pb2.py

@@ -0,0 +1,46 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: lerobot/common/transport/services.proto
+# Protobuf Python Version: 5.29.0
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    29,
+    0,
+    '',
+    'lerobot/common/transport/services.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'lerobot/common/transport/services.proto\x12\ttransport\"L\n\nTransition\x12\x30\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x18.transport.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"L\n\nParameters\x12\x30\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x18.transport.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"T\n\x12InteractionMessage\x12\x30\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x18.transport.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"\x07\n\x05\x45mpty*`\n\rTransferState\x12\x14\n\x10TRANSFER_UNKNOWN\x10\x00\x12\x12\n\x0eTRANSFER_BEGIN\x10\x01\x12\x13\n\x0fTRANSFER_MIDDLE\x10\x02\x12\x10\n\x0cTRANSFER_END\x10\x03\x32\xcc\x02\n\x0eLearnerService\x12I\n\x16SendInteractionMessage\x12\x1d.transport.InteractionMessage\x1a\x10.transport.Empty\x12=\n\x10StreamParameters\x12\x10.transport.Empty\x1a\x15.transport.Parameters0\x01\x12<\n\x0fSendTransitions\x12\x15.transport.Transition\x1a\x10.transport.Empty(\x01\x12\x45\n\x10SendInteractions\x12\x1d.transport.InteractionMessage\x1a\x10.transport.Empty(\x01\x12+\n\x05Ready\x12\x10.transport.Empty\x1a\x10.transport.Emptyb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'lerobot.common.transport.services_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TRANSFERSTATE']._serialized_start=305
+  _globals['_TRANSFERSTATE']._serialized_end=401
+  _globals['_TRANSITION']._serialized_start=54
+  _globals['_TRANSITION']._serialized_end=130
+  _globals['_PARAMETERS']._serialized_start=132
+  _globals['_PARAMETERS']._serialized_end=208
+  _globals['_INTERACTIONMESSAGE']._serialized_start=210
+  _globals['_INTERACTIONMESSAGE']._serialized_end=294
+  _globals['_EMPTY']._serialized_start=296
+  _globals['_EMPTY']._serialized_end=303
+  _globals['_LEARNERSERVICE']._serialized_start=404
+  _globals['_LEARNERSERVICE']._serialized_end=736
+# @@protoc_insertion_point(module_scope)

lerobot/common/transport/services_pb2_grpc.py

@@ -3,9 +3,9 @@
 import grpc
 import warnings
 
-import hilserl_pb2 as hilserl__pb2
+from lerobot.common.transport import services_pb2 as lerobot_dot_common_dot_transport_dot_services__pb2
 
-GRPC_GENERATED_VERSION = '1.70.0'
+GRPC_GENERATED_VERSION = '1.71.0'
 GRPC_VERSION = grpc.__version__
 _version_not_supported = False
 
@@ -18,7 +18,7 @@ except ImportError:
 if _version_not_supported:
     raise RuntimeError(
         f'The grpc package installed is at version {GRPC_VERSION},'
-        + f' but the generated code in hilserl_pb2_grpc.py depends on'
+        + f' but the generated code in lerobot/common/transport/services_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
@@ -37,29 +37,29 @@ class LearnerServiceStub(object):
             channel: A grpc.Channel.
         """
         self.SendInteractionMessage = channel.unary_unary(
-                '/hil_serl.LearnerService/SendInteractionMessage',
+                '/transport.LearnerService/SendInteractionMessage',
-                request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
+                request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
-                response_deserializer=hilserl__pb2.Empty.FromString,
+                response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
                 _registered_method=True)
         self.StreamParameters = channel.unary_stream(
-                '/hil_serl.LearnerService/StreamParameters',
+                '/transport.LearnerService/StreamParameters',
-                request_serializer=hilserl__pb2.Empty.SerializeToString,
+                request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
-                response_deserializer=hilserl__pb2.Parameters.FromString,
+                response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Parameters.FromString,
                 _registered_method=True)
         self.SendTransitions = channel.stream_unary(
-                '/hil_serl.LearnerService/SendTransitions',
+                '/transport.LearnerService/SendTransitions',
-                request_serializer=hilserl__pb2.Transition.SerializeToString,
+                request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Transition.SerializeToString,
-                response_deserializer=hilserl__pb2.Empty.FromString,
+                response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
                 _registered_method=True)
         self.SendInteractions = channel.stream_unary(
-                '/hil_serl.LearnerService/SendInteractions',
+                '/transport.LearnerService/SendInteractions',
-                request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
+                request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
-                response_deserializer=hilserl__pb2.Empty.FromString,
+                response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
                 _registered_method=True)
         self.Ready = channel.unary_unary(
-                '/hil_serl.LearnerService/Ready',
+                '/transport.LearnerService/Ready',
-                request_serializer=hilserl__pb2.Empty.SerializeToString,
+                request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
-                response_deserializer=hilserl__pb2.Empty.FromString,
+                response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
                 _registered_method=True)
 
 
@@ -104,34 +104,34 @@ def add_LearnerServiceServicer_to_server(servicer, server):
     rpc_method_handlers = {
             'SendInteractionMessage': grpc.unary_unary_rpc_method_handler(
                     servicer.SendInteractionMessage,
-                    request_deserializer=hilserl__pb2.InteractionMessage.FromString,
+                    request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.FromString,
-                    response_serializer=hilserl__pb2.Empty.SerializeToString,
+                    response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
             ),
             'StreamParameters': grpc.unary_stream_rpc_method_handler(
                     servicer.StreamParameters,
-                    request_deserializer=hilserl__pb2.Empty.FromString,
+                    request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
-                    response_serializer=hilserl__pb2.Parameters.SerializeToString,
+                    response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Parameters.SerializeToString,
             ),
             'SendTransitions': grpc.stream_unary_rpc_method_handler(
                     servicer.SendTransitions,
-                    request_deserializer=hilserl__pb2.Transition.FromString,
+                    request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Transition.FromString,
-                    response_serializer=hilserl__pb2.Empty.SerializeToString,
+                    response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
             ),
             'SendInteractions': grpc.stream_unary_rpc_method_handler(
                     servicer.SendInteractions,
-                    request_deserializer=hilserl__pb2.InteractionMessage.FromString,
+                    request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.FromString,
-                    response_serializer=hilserl__pb2.Empty.SerializeToString,
+                    response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
             ),
             'Ready': grpc.unary_unary_rpc_method_handler(
                     servicer.Ready,
-                    request_deserializer=hilserl__pb2.Empty.FromString,
+                    request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
-                    response_serializer=hilserl__pb2.Empty.SerializeToString,
+                    response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
             ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
-            'hil_serl.LearnerService', rpc_method_handlers)
+            'transport.LearnerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('hil_serl.LearnerService', rpc_method_handlers)
+    server.add_registered_method_handlers('transport.LearnerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -154,9 +154,9 @@ class LearnerService(object):
         return grpc.experimental.unary_unary(
             request,
             target,
-            '/hil_serl.LearnerService/SendInteractionMessage',
+            '/transport.LearnerService/SendInteractionMessage',
-            hilserl__pb2.InteractionMessage.SerializeToString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
-            hilserl__pb2.Empty.FromString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
             options,
             channel_credentials,
             insecure,
@@ -181,9 +181,9 @@ class LearnerService(object):
         return grpc.experimental.unary_stream(
             request,
             target,
-            '/hil_serl.LearnerService/StreamParameters',
+            '/transport.LearnerService/StreamParameters',
-            hilserl__pb2.Empty.SerializeToString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
-            hilserl__pb2.Parameters.FromString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Parameters.FromString,
             options,
             channel_credentials,
             insecure,
@@ -208,9 +208,9 @@ class LearnerService(object):
         return grpc.experimental.stream_unary(
             request_iterator,
             target,
-            '/hil_serl.LearnerService/SendTransitions',
+            '/transport.LearnerService/SendTransitions',
-            hilserl__pb2.Transition.SerializeToString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Transition.SerializeToString,
-            hilserl__pb2.Empty.FromString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
             options,
             channel_credentials,
             insecure,
@@ -235,9 +235,9 @@ class LearnerService(object):
         return grpc.experimental.stream_unary(
             request_iterator,
             target,
-            '/hil_serl.LearnerService/SendInteractions',
+            '/transport.LearnerService/SendInteractions',
-            hilserl__pb2.InteractionMessage.SerializeToString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
-            hilserl__pb2.Empty.FromString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
             options,
             channel_credentials,
             insecure,
@@ -262,9 +262,9 @@ class LearnerService(object):
         return grpc.experimental.unary_unary(
             request,
             target,
-            '/hil_serl.LearnerService/Ready',
+            '/transport.LearnerService/Ready',
-            hilserl__pb2.Empty.SerializeToString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
-            hilserl__pb2.Empty.FromString,
+            lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
             options,
             channel_credentials,
             insecure,

lerobot/common/transport/utils.py

@@ -23,8 +23,8 @@ from typing import Any
 
 import torch
 
-from lerobot.scripts.server import hilserl_pb2
+from lerobot.common.transport import services_pb2
-from lerobot.scripts.server.utils import Transition
+from lerobot.common.utils.transition import Transition
 
 CHUNK_SIZE = 2 * 1024 * 1024  # 2 MB
 
@@ -47,12 +47,12 @@ def send_bytes_in_chunks(buffer: bytes, message_class: Any, log_prefix: str = ""
     logging_method(f"{log_prefix} Buffer size {size_in_bytes / 1024 / 1024} MB with")
 
     while sent_bytes < size_in_bytes:
-        transfer_state = hilserl_pb2.TransferState.TRANSFER_MIDDLE
+        transfer_state = services_pb2.TransferState.TRANSFER_MIDDLE
 
         if sent_bytes + CHUNK_SIZE >= size_in_bytes:
-            transfer_state = hilserl_pb2.TransferState.TRANSFER_END
+            transfer_state = services_pb2.TransferState.TRANSFER_END
         elif sent_bytes == 0:
-            transfer_state = hilserl_pb2.TransferState.TRANSFER_BEGIN
+            transfer_state = services_pb2.TransferState.TRANSFER_BEGIN
 
         size_to_read = min(CHUNK_SIZE, size_in_bytes - sent_bytes)
         chunk = buffer.read(size_to_read)
@@ -75,18 +75,18 @@ def receive_bytes_in_chunks(iterator, queue: Queue, shutdown_event: Event, log_p
             logging.info(f"{log_prefix} Shutting down receiver")
             return
 
-        if item.transfer_state == hilserl_pb2.TransferState.TRANSFER_BEGIN:
+        if item.transfer_state == services_pb2.TransferState.TRANSFER_BEGIN:
             bytes_buffer.seek(0)
             bytes_buffer.truncate(0)
             bytes_buffer.write(item.data)
             logging.debug(f"{log_prefix} Received data at step 0")
             step = 0
             continue
-        elif item.transfer_state == hilserl_pb2.TransferState.TRANSFER_MIDDLE:
+        elif item.transfer_state == services_pb2.TransferState.TRANSFER_MIDDLE:
             bytes_buffer.write(item.data)
             step += 1
             logging.debug(f"{log_prefix} Received data at step {step}")
-        elif item.transfer_state == hilserl_pb2.TransferState.TRANSFER_END:
+        elif item.transfer_state == services_pb2.TransferState.TRANSFER_END:
             bytes_buffer.write(item.data)
             logging.debug(f"{log_prefix} Received data at step end size {bytes_buffer_size(bytes_buffer)}")
 

lerobot/common/utils/buffer.py

@@ -23,7 +23,7 @@ import torch.nn.functional as F  # noqa: N812
 from tqdm import tqdm
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.scripts.server.utils import Transition
+from lerobot.common.utils.transition import Transition
 
 
 class BatchTransition(TypedDict):

lerobot/common/utils/process.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import signal
+import sys
+
+shutdown_event_counter = 0
+
+
+def setup_process_handlers(use_threads: bool) -> any:
+    if use_threads:
+        from threading import Event
+    else:
+        from multiprocessing import Event
+
+    shutdown_event = Event()
+
+    # Define signal handler
+    def signal_handler(signum, frame):
+        logging.info("Shutdown signal received. Cleaning up...")
+        shutdown_event.set()
+        global shutdown_event_counter
+        shutdown_event_counter += 1
+
+        if shutdown_event_counter > 1:
+            logging.info("Force shutdown")
+            sys.exit(1)
+
+    signal.signal(signal.SIGINT, signal_handler)  # Ctrl+C
+    signal.signal(signal.SIGTERM, signal_handler)  # Termination request (kill)
+    signal.signal(signal.SIGHUP, signal_handler)  # Terminal closed/Hangup
+    signal.signal(signal.SIGQUIT, signal_handler)  # Ctrl+\
+
+    def signal_handler(signum, frame):
+        logging.info("Shutdown signal received. Cleaning up...")
+        shutdown_event.set()
+
+    return shutdown_event

lerobot/common/utils/queue.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+from queue import Empty, Queue
+
+
+def get_last_item_from_queue(queue: Queue):
+    item = queue.get()
+    counter = 1
+
+    # Drain queue and keep only the most recent parameters
+    try:
+        while True:
+            item = queue.get_nowait()
+            counter += 1
+    except Empty:
+        pass
+
+    logging.debug(f"Drained {counter} items from queue")
+
+    return item

lerobot/common/utils/transition.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2024 The HuggingFace Inc. team.
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-# All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,64 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import logging
-import signal
-import sys
-from queue import Empty
 from typing import TypedDict
 
 import torch
-from torch.multiprocessing import Queue
-
-shutdown_event_counter = 0
-
-
-def setup_process_handlers(use_threads: bool) -> any:
-    if use_threads:
-        from threading import Event
-    else:
-        from multiprocessing import Event
-
-    shutdown_event = Event()
-
-    # Define signal handler
-    def signal_handler(signum, frame):
-        logging.info("Shutdown signal received. Cleaning up...")
-        shutdown_event.set()
-        global shutdown_event_counter
-        shutdown_event_counter += 1
-
-        if shutdown_event_counter > 1:
-            logging.info("Force shutdown")
-            sys.exit(1)
-
-    signal.signal(signal.SIGINT, signal_handler)  # Ctrl+C
-    signal.signal(signal.SIGTERM, signal_handler)  # Termination request (kill)
-    signal.signal(signal.SIGHUP, signal_handler)  # Terminal closed/Hangup
-    signal.signal(signal.SIGQUIT, signal_handler)  # Ctrl+\
-
-    def signal_handler(signum, frame):
-        logging.info("Shutdown signal received. Cleaning up...")
-        shutdown_event.set()
-
-    return shutdown_event
-
-
-def get_last_item_from_queue(queue: Queue):
-    item = queue.get()
-    counter = 1
-
-    # Drain queue and keep only the most recent parameters
-    try:
-        while True:
-            item = queue.get_nowait()
-            counter += 1
-    except Empty:
-        pass
-
-    logging.debug(f"Drained {counter} items from queue")
-
-    return item
 
 
 class Transition(TypedDict):

lerobot/scripts/rl/actor.py

@@ -24,12 +24,12 @@ Examples of usage:
 
 - Start an actor server for real robot training with human-in-the-loop intervention:
 ```bash
-python lerobot/scripts/server/actor_server.py --config_path lerobot/configs/train_config_hilserl_so100.json
+python lerobot/scripts/rl/actor.py --config_path lerobot/configs/train_config_hilserl_so100.json
 ```
 
 - Run with a specific robot type for a pick and place task:
 ```bash
-python lerobot/scripts/server/actor_server.py \
+python lerobot/scripts/rl/actor.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --robot.type=so100 \
     --task=pick_and_place
@@ -37,7 +37,7 @@ python lerobot/scripts/server/actor_server.py \
 
 - Set a custom workspace bound for the robot's end-effector:
 ```bash
-python lerobot/scripts/server/actor_server.py \
+python lerobot/scripts/rl/actor.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --env.ee_action_space_params.bounds.max="[0.24, 0.20, 0.10]" \
     --env.ee_action_space_params.bounds.min="[0.16, -0.08, 0.03]"
@@ -45,7 +45,7 @@ python lerobot/scripts/server/actor_server.py \
 
 - Run with specific camera crop parameters:
 ```bash
-python lerobot/scripts/server/actor_server.py \
+python lerobot/scripts/rl/actor.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --env.crop_params_dict="{'observation.images.side': [180, 207, 180, 200], 'observation.images.front': [180, 250, 120, 150]}"
 ```
@@ -85,8 +85,23 @@ from lerobot.common.policies.factory import make_policy
 from lerobot.common.policies.sac.modeling_sac import SACPolicy
 from lerobot.common.robots import so100_follower_end_effector  # noqa: F401
 from lerobot.common.teleoperators import gamepad, so100_leader  # noqa: F401
+from lerobot.common.transport import services_pb2, services_pb2_grpc
+from lerobot.common.transport.utils import (
+    bytes_to_state_dict,
+    python_object_to_bytes,
+    receive_bytes_in_chunks,
+    send_bytes_in_chunks,
+    transitions_to_bytes,
+)
+from lerobot.common.utils.process import setup_process_handlers
+from lerobot.common.utils.queue import get_last_item_from_queue
 from lerobot.common.utils.random_utils import set_seed
 from lerobot.common.utils.robot_utils import busy_wait
+from lerobot.common.utils.transition import (
+    Transition,
+    move_state_dict_to_device,
+    move_transition_to_device,
+)
 from lerobot.common.utils.utils import (
     TimerManager,
     get_safe_torch_device,
@@ -94,22 +109,8 @@ from lerobot.common.utils.utils import (
 )
 from lerobot.configs import parser
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.scripts.server import hilserl_pb2, hilserl_pb2_grpc, learner_service
+from lerobot.scripts.rl import learner_service
-from lerobot.scripts.server.buffer import Transition
+from lerobot.scripts.rl.gym_manipulator import make_robot_env
-from lerobot.scripts.server.gym_manipulator import make_robot_env
-from lerobot.scripts.server.network_utils import (
-    bytes_to_state_dict,
-    python_object_to_bytes,
-    receive_bytes_in_chunks,
-    send_bytes_in_chunks,
-    transitions_to_bytes,
-)
-from lerobot.scripts.server.utils import (
-    get_last_item_from_queue,
-    move_state_dict_to_device,
-    move_transition_to_device,
-    setup_process_handlers,
-)
 
 ACTOR_SHUTDOWN_TIMEOUT = 30
 
@@ -386,14 +387,14 @@ def act_with_policy(
 
 
 def establish_learner_connection(
-    stub: hilserl_pb2_grpc.LearnerServiceStub,
+    stub: services_pb2_grpc.LearnerServiceStub,
     shutdown_event: Event,  # type: ignore
     attempts: int = 30,
 ):
     """Establish a connection with the learner.
 
     Args:
-        stub (hilserl_pb2_grpc.LearnerServiceStub): The stub to use for the connection.
+        stub (services_pb2_grpc.LearnerServiceStub): The stub to use for the connection.
         shutdown_event (Event): The event to check if the connection should be established.
         attempts (int): The number of attempts to establish the connection.
     Returns:
@@ -407,7 +408,7 @@ def establish_learner_connection(
         # Force a connection attempt and check state
         try:
             logging.info("[ACTOR] Send ready message to Learner")
-            if stub.Ready(hilserl_pb2.Empty()) == hilserl_pb2.Empty():
+            if stub.Ready(services_pb2.Empty()) == services_pb2.Empty():
                 return True
         except grpc.RpcError as e:
             logging.error(f"[ACTOR] Waiting for Learner to be ready... {e}")
@@ -419,7 +420,7 @@ def establish_learner_connection(
 def learner_service_client(
     host: str = "127.0.0.1",
     port: int = 50051,
-) -> tuple[hilserl_pb2_grpc.LearnerServiceStub, grpc.Channel]:
+) -> tuple[services_pb2_grpc.LearnerServiceStub, grpc.Channel]:
     import json
 
     """
@@ -458,7 +459,7 @@ def learner_service_client(
             ("grpc.service_config", service_config_json),
         ],
     )
-    stub = hilserl_pb2_grpc.LearnerServiceStub(channel)
+    stub = services_pb2_grpc.LearnerServiceStub(channel)
     logging.info("[ACTOR] Learner service client created")
     return stub, channel
 
@@ -467,7 +468,7 @@ def receive_policy(
     cfg: TrainPipelineConfig,
     parameters_queue: Queue,
     shutdown_event: Event,  # type: ignore
-    learner_client: hilserl_pb2_grpc.LearnerServiceStub | None = None,
+    learner_client: services_pb2_grpc.LearnerServiceStub | None = None,
     grpc_channel: grpc.Channel | None = None,
 ):
     """Receive parameters from the learner.
@@ -499,7 +500,7 @@ def receive_policy(
         )
 
     try:
-        iterator = learner_client.StreamParameters(hilserl_pb2.Empty())
+        iterator = learner_client.StreamParameters(services_pb2.Empty())
         receive_bytes_in_chunks(
             iterator,
             parameters_queue,
@@ -519,9 +520,9 @@ def send_transitions(
     cfg: TrainPipelineConfig,
     transitions_queue: Queue,
     shutdown_event: any,  # Event,
-    learner_client: hilserl_pb2_grpc.LearnerServiceStub | None = None,
+    learner_client: services_pb2_grpc.LearnerServiceStub | None = None,
     grpc_channel: grpc.Channel | None = None,
-) -> hilserl_pb2.Empty:
+) -> services_pb2.Empty:
     """
     Sends transitions to the learner.
 
@@ -530,7 +531,7 @@ def send_transitions(
     - Transition Data:
         - A batch of transitions (observation, action, reward, next observation) is collected.
         - Transitions are moved to the CPU and serialized using PyTorch.
-        - The serialized data is wrapped in a `hilserl_pb2.Transition` message and sent to the learner.
+        - The serialized data is wrapped in a `services_pb2.Transition` message and sent to the learner.
     """
 
     if not use_threads(cfg):
@@ -569,9 +570,9 @@ def send_interactions(
     cfg: TrainPipelineConfig,
     interactions_queue: Queue,
     shutdown_event: Event,  # type: ignore
-    learner_client: hilserl_pb2_grpc.LearnerServiceStub | None = None,
+    learner_client: services_pb2_grpc.LearnerServiceStub | None = None,
     grpc_channel: grpc.Channel | None = None,
-) -> hilserl_pb2.Empty:
+) -> services_pb2.Empty:
     """
     Sends interactions to the learner.
 
@@ -614,7 +615,7 @@ def send_interactions(
     logging.info("[ACTOR] Interactions process stopped")
 
 
-def transitions_stream(shutdown_event: Event, transitions_queue: Queue) -> hilserl_pb2.Empty:  # type: ignore
+def transitions_stream(shutdown_event: Event, transitions_queue: Queue) -> services_pb2.Empty:  # type: ignore
     while not shutdown_event.is_set():
         try:
             message = transitions_queue.get(block=True, timeout=5)
@@ -623,16 +624,16 @@ def transitions_stream(shutdown_event: Event, transitions_queue: Queue) -> hilse
             continue
 
         yield from send_bytes_in_chunks(
-            message, hilserl_pb2.Transition, log_prefix="[ACTOR] Send transitions"
+            message, services_pb2.Transition, log_prefix="[ACTOR] Send transitions"
         )
 
-    return hilserl_pb2.Empty()
+    return services_pb2.Empty()
 
 
 def interactions_stream(
     shutdown_event: Event,  # type: ignore
     interactions_queue: Queue,
-) -> hilserl_pb2.Empty:
+) -> services_pb2.Empty:
     while not shutdown_event.is_set():
         try:
             message = interactions_queue.get(block=True, timeout=5)
@@ -642,11 +643,11 @@ def interactions_stream(
 
         yield from send_bytes_in_chunks(
             message,
-            hilserl_pb2.InteractionMessage,
+            services_pb2.InteractionMessage,
             log_prefix="[ACTOR] Send interactions",
         )
 
-    return hilserl_pb2.Empty()
+    return services_pb2.Empty()
 
 
 #################################################

lerobot/scripts/rl/learner.py

@@ -25,12 +25,12 @@ Examples of usage:
 
 - Start a learner server for training:
 ```bash
-python lerobot/scripts/server/learner_server.py --config_path lerobot/configs/train_config_hilserl_so100.json
+python lerobot/scripts/rl/learner.py --config_path lerobot/configs/train_config_hilserl_so100.json
 ```
 
 - Run with specific SAC hyperparameters:
 ```bash
-python lerobot/scripts/server/learner_server.py \
+python lerobot/scripts/rl/learner.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --learner.sac.alpha=0.1 \
     --learner.sac.gamma=0.99
@@ -38,7 +38,7 @@ python lerobot/scripts/server/learner_server.py \
 
 - Run with a specific dataset and wandb logging:
 ```bash
-python lerobot/scripts/server/learner_server.py \
+python lerobot/scripts/rl/learner.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --dataset.repo_id=username/pick_lift_cube \
     --wandb.enable=true \
@@ -47,14 +47,14 @@ python lerobot/scripts/server/learner_server.py \
 
 - Run with a pretrained policy for fine-tuning:
 ```bash
-python lerobot/scripts/server/learner_server.py \
+python lerobot/scripts/rl/learner.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --pretrained_policy_name_or_path=outputs/previous_training/checkpoints/080000/pretrained_model
 ```
 
 - Run with a reward classifier model:
 ```bash
-python lerobot/scripts/server/learner_server.py \
+python lerobot/scripts/rl/learner.py \
     --config_path lerobot/configs/train_config_hilserl_so100.json \
     --reward_classifier_pretrained_path=outputs/reward_model/best_model
 ```
@@ -84,7 +84,6 @@ from pathlib import Path
 from pprint import pformat
 
 import grpc
-import hilserl_pb2_grpc  # type: ignore
 import torch
 from termcolor import colored
 from torch import nn
@@ -103,6 +102,14 @@ from lerobot.common.policies.factory import make_policy
 from lerobot.common.policies.sac.modeling_sac import SACPolicy
 from lerobot.common.robots import so100_follower_end_effector  # noqa: F401
 from lerobot.common.teleoperators import gamepad, so100_leader  # noqa: F401
+from lerobot.common.transport import services_pb2_grpc
+from lerobot.common.transport.utils import (
+    bytes_to_python_object,
+    bytes_to_transitions,
+    state_to_bytes,
+)
+from lerobot.common.utils.buffer import ReplayBuffer, concatenate_batch_transitions
+from lerobot.common.utils.process import setup_process_handlers
 from lerobot.common.utils.random_utils import set_seed
 from lerobot.common.utils.train_utils import (
     get_step_checkpoint_dir,
@@ -112,6 +119,7 @@ from lerobot.common.utils.train_utils import (
 from lerobot.common.utils.train_utils import (
     load_training_state as utils_load_training_state,
 )
+from lerobot.common.utils.transition import move_state_dict_to_device, move_transition_to_device
 from lerobot.common.utils.utils import (
     format_big_number,
     get_safe_torch_device,
@@ -120,18 +128,7 @@ from lerobot.common.utils.utils import (
 from lerobot.common.utils.wandb_utils import WandBLogger
 from lerobot.configs import parser
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.scripts.server import learner_service
+from lerobot.scripts.rl import learner_service
-from lerobot.scripts.server.buffer import ReplayBuffer, concatenate_batch_transitions
-from lerobot.scripts.server.network_utils import (
-    bytes_to_python_object,
-    bytes_to_transitions,
-    state_to_bytes,
-)
-from lerobot.scripts.server.utils import (
-    move_state_dict_to_device,
-    move_transition_to_device,
-    setup_process_handlers,
-)
 
 LOG_PREFIX = "[LEARNER]"
 
@@ -244,7 +241,7 @@ def start_learner_threads(
         concurrency_entity = Process
 
     communication_process = concurrency_entity(
-        target=start_learner_server,
+        target=start_learner,
         args=(
             parameters_queue,
             transition_queue,
@@ -643,7 +640,7 @@ def add_actor_information_and_train(
             )
 
 
-def start_learner_server(
+def start_learner(
     parameters_queue: Queue,
     transition_queue: Queue,
     interaction_message_queue: Queue,
@@ -666,7 +663,7 @@ def start_learner_server(
         # Create a process-specific log file
         log_dir = os.path.join(cfg.output_dir, "logs")
         os.makedirs(log_dir, exist_ok=True)
-        log_file = os.path.join(log_dir, f"learner_server_process_{os.getpid()}.log")
+        log_file = os.path.join(log_dir, f"learner_process_{os.getpid()}.log")
 
         # Initialize logging with explicit log file
         init_logging(log_file=log_file, display_pid=True)
@@ -693,7 +690,7 @@ def start_learner_server(
         ],
     )
 
-    hilserl_pb2_grpc.add_LearnerServiceServicer_to_server(
+    services_pb2_grpc.add_LearnerServiceServicer_to_server(
         service,
         server,
     )

lerobot/scripts/rl/learner_service.py

@@ -1,17 +1,21 @@
 import logging
 from multiprocessing import Event, Queue
 
-import hilserl_pb2  # type: ignore
+from lerobot.common.transport import services_pb2, services_pb2_grpc
-import hilserl_pb2_grpc  # type: ignore
+from lerobot.common.transport.utils import receive_bytes_in_chunks, send_bytes_in_chunks
-
-from lerobot.scripts.server.network_utils import receive_bytes_in_chunks, send_bytes_in_chunks
 
 MAX_MESSAGE_SIZE = 4 * 1024 * 1024  # 4 MB
 MAX_WORKERS = 3  # Stream parameters, send transitions and interactions
 SHUTDOWN_TIMEOUT = 10
 
 
-class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
+class LearnerService(services_pb2_grpc.LearnerServiceServicer):
+    """
+    Implementation of the LearnerService gRPC service
+    This service is used to send parameters to the Actor and receive transitions and interactions from the Actor
+    check transport.proto for the gRPC service definition
+    """
+
     def __init__(
         self,
         shutdown_event: Event,  # type: ignore
@@ -36,7 +40,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
 
             yield from send_bytes_in_chunks(
                 buffer,
-                hilserl_pb2.Parameters,
+                services_pb2.Parameters,
                 log_prefix="[LEARNER] Sending parameters",
                 silent=True,
             )
@@ -46,7 +50,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
             self.shutdown_event.wait(self.seconds_between_pushes)
 
         logging.info("[LEARNER] Stream parameters finished")
-        return hilserl_pb2.Empty()
+        return services_pb2.Empty()
 
     def SendTransitions(self, request_iterator, _context):  # noqa: N802
         # TODO: authorize the request
@@ -60,7 +64,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
         )
 
         logging.debug("[LEARNER] Finished receiving transitions")
-        return hilserl_pb2.Empty()
+        return services_pb2.Empty()
 
     def SendInteractions(self, request_iterator, _context):  # noqa: N802
         # TODO: authorize the request
@@ -74,7 +78,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
         )
 
         logging.debug("[LEARNER] Finished receiving interactions")
-        return hilserl_pb2.Empty()
+        return services_pb2.Empty()
 
     def Ready(self, request, context):  # noqa: N802
-        return hilserl_pb2.Empty()
+        return services_pb2.Empty()

lerobot/scripts/server/hilserl_pb2.py

@@ -1,46 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# NO CHECKED-IN PROTOBUF GENCODE
-# source: hilserl.proto
-# Protobuf Python Version: 5.29.0
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import runtime_version as _runtime_version
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(
-    _runtime_version.Domain.PUBLIC,
-    5,
-    29,
-    0,
-    '',
-    'hilserl.proto'
-)
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rhilserl.proto\x12\x08hil_serl\"K\n\nTransition\x12/\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x17.hil_serl.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"K\n\nParameters\x12/\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x17.hil_serl.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"S\n\x12InteractionMessage\x12/\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x17.hil_serl.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"\x07\n\x05\x45mpty*`\n\rTransferState\x12\x14\n\x10TRANSFER_UNKNOWN\x10\x00\x12\x12\n\x0eTRANSFER_BEGIN\x10\x01\x12\x13\n\x0fTRANSFER_MIDDLE\x10\x02\x12\x10\n\x0cTRANSFER_END\x10\x03\x32\xc2\x02\n\x0eLearnerService\x12G\n\x16SendInteractionMessage\x12\x1c.hil_serl.InteractionMessage\x1a\x0f.hil_serl.Empty\x12;\n\x10StreamParameters\x12\x0f.hil_serl.Empty\x1a\x14.hil_serl.Parameters0\x01\x12:\n\x0fSendTransitions\x12\x14.hil_serl.Transition\x1a\x0f.hil_serl.Empty(\x01\x12\x43\n\x10SendInteractions\x12\x1c.hil_serl.InteractionMessage\x1a\x0f.hil_serl.Empty(\x01\x12)\n\x05Ready\x12\x0f.hil_serl.Empty\x1a\x0f.hil_serl.Emptyb\x06proto3')
-
-_globals = globals()
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hilserl_pb2', _globals)
-if not _descriptor._USE_C_DESCRIPTORS:
-  DESCRIPTOR._loaded_options = None
-  _globals['_TRANSFERSTATE']._serialized_start=275
-  _globals['_TRANSFERSTATE']._serialized_end=371
-  _globals['_TRANSITION']._serialized_start=27
-  _globals['_TRANSITION']._serialized_end=102
-  _globals['_PARAMETERS']._serialized_start=104
-  _globals['_PARAMETERS']._serialized_end=179
-  _globals['_INTERACTIONMESSAGE']._serialized_start=181
-  _globals['_INTERACTIONMESSAGE']._serialized_end=264
-  _globals['_EMPTY']._serialized_start=266
-  _globals['_EMPTY']._serialized_end=273
-  _globals['_LEARNERSERVICE']._serialized_start=374
-  _globals['_LEARNERSERVICE']._serialized_end=696
-# @@protoc_insertion_point(module_scope)

lerobot/scripts/server/kinematics.py

@@ -1,546 +0,0 @@
-# ruff: noqa: N806, N815, N803
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import numpy as np
-from scipy.spatial.transform import Rotation
-
-
-def skew_symmetric(w):
-    """Creates the skew-symmetric matrix from a 3D vector."""
-    return np.array([[0, -w[2], w[1]], [w[2], 0, -w[0]], [-w[1], w[0], 0]])
-
-
-def rodrigues_rotation(w, theta):
-    """Computes the rotation matrix using Rodrigues' formula."""
-    w_hat = skew_symmetric(w)
-    return np.eye(3) + np.sin(theta) * w_hat + (1 - np.cos(theta)) * w_hat @ w_hat
-
-
-def screw_axis_to_transform(S, theta):
-    """Converts a screw axis to a 4x4 transformation matrix."""
-    S_w = S[:3]
-    S_v = S[3:]
-    if np.allclose(S_w, 0) and np.linalg.norm(S_v) == 1:  # Pure translation
-        T = np.eye(4)
-        T[:3, 3] = S_v * theta
-    elif np.linalg.norm(S_w) == 1:  # Rotation and translation
-        w_hat = skew_symmetric(S_w)
-        R = np.eye(3) + np.sin(theta) * w_hat + (1 - np.cos(theta)) * w_hat @ w_hat
-        t = (np.eye(3) * theta + (1 - np.cos(theta)) * w_hat + (theta - np.sin(theta)) * w_hat @ w_hat) @ S_v
-        T = np.eye(4)
-        T[:3, :3] = R
-        T[:3, 3] = t
-    else:
-        raise ValueError("Invalid screw axis parameters")
-    return T
-
-
-def pose_difference_se3(pose1, pose2):
-    """
-    Calculates the SE(3) difference between two 4x4 homogeneous transformation matrices.
-    SE(3) (Special Euclidean Group) represents rigid body transformations in 3D space, combining rotation (SO(3)) and translation.
-    Each 4x4 matrix has the following structure, a 3x3 rotation matrix in the top-left and a 3x1 translation vector in the top-right:
-
-    [R11 R12 R13 tx]
-    [R21 R22 R23 ty]
-    [R31 R32 R33 tz]
-    [ 0   0   0   1]
-
-    where Rij is the 3x3 rotation matrix and [tx,ty,tz] is the translation vector.
-
-    pose1 - pose2
-
-    Args:
-        pose1: A 4x4 numpy array representing the first pose.
-        pose2: A 4x4 numpy array representing the second pose.
-
-    Returns:
-        A tuple (translation_diff, rotation_diff) where:
-        - translation_diff is a 3x1 numpy array representing the translational difference.
-        - rotation_diff is a 3x1 numpy array representing the rotational difference in axis-angle representation.
-    """
-
-    # Extract rotation matrices from poses
-    R1 = pose1[:3, :3]
-    R2 = pose2[:3, :3]
-
-    # Calculate translational difference
-    translation_diff = pose1[:3, 3] - pose2[:3, 3]
-
-    # Calculate rotational difference using scipy's Rotation library
-    R_diff = Rotation.from_matrix(R1 @ R2.T)
-    rotation_diff = R_diff.as_rotvec()  # Convert to axis-angle representation
-
-    return np.concatenate([translation_diff, rotation_diff])
-
-
-def se3_error(target_pose, current_pose):
-    pos_error = target_pose[:3, 3] - current_pose[:3, 3]
-    R_target = target_pose[:3, :3]
-    R_current = current_pose[:3, :3]
-    R_error = R_target @ R_current.T
-    rot_error = Rotation.from_matrix(R_error).as_rotvec()
-    return np.concatenate([pos_error, rot_error])
-
-
-class RobotKinematics:
-    """Robot kinematics class supporting multiple robot models."""
-
-    # Robot measurements dictionary
-    ROBOT_MEASUREMENTS = {
-        "koch": {
-            "gripper": [0.239, -0.001, 0.024],
-            "wrist": [0.209, 0, 0.024],
-            "forearm": [0.108, 0, 0.02],
-            "humerus": [0, 0, 0.036],
-            "shoulder": [0, 0, 0],
-            "base": [0, 0, 0.02],
-        },
-        "so100": {
-            "gripper": [0.320, 0, 0.050],
-            "wrist": [0.278, 0, 0.050],
-            "forearm": [0.143, 0, 0.044],
-            "humerus": [0.031, 0, 0.072],
-            "shoulder": [0, 0, 0],
-            "base": [0, 0, 0.02],
-        },
-        "moss": {
-            "gripper": [0.246, 0.013, 0.111],
-            "wrist": [0.245, 0.002, 0.064],
-            "forearm": [0.122, 0, 0.064],
-            "humerus": [0.001, 0.001, 0.063],
-            "shoulder": [0, 0, 0],
-            "base": [0, 0, 0.02],
-        },
-    }
-
-    def __init__(self, robot_type="so100"):
-        """Initialize kinematics for the specified robot type.
-
-        Args:
-            robot_type: String specifying the robot model ("koch", "so100", or "moss")
-        """
-        if robot_type not in self.ROBOT_MEASUREMENTS:
-            raise ValueError(
-                f"Unknown robot type: {robot_type}. Available types: {list(self.ROBOT_MEASUREMENTS.keys())}"
-            )
-
-        self.robot_type = robot_type
-        self.measurements = self.ROBOT_MEASUREMENTS[robot_type]
-
-        # Initialize all transformation matrices and screw axes
-        self._setup_transforms()
-
-    def _create_translation_matrix(self, x=0, y=0, z=0):
-        """Create a 4x4 translation matrix."""
-        return np.array([[1, 0, 0, x], [0, 1, 0, y], [0, 0, 1, z], [0, 0, 0, 1]])
-
-    def _setup_transforms(self):
-        """Setup all transformation matrices and screw axes for the robot."""
-        # Set up rotation matrices (constant across robot types)
-
-        # Gripper orientation
-        self.gripper_X0 = np.array(
-            [
-                [1, 0, 0, 0],
-                [0, 0, 1, 0],
-                [0, -1, 0, 0],
-                [0, 0, 0, 1],
-            ]
-        )
-
-        # Wrist orientation
-        self.wrist_X0 = np.array(
-            [
-                [0, -1, 0, 0],
-                [1, 0, 0, 0],
-                [0, 0, 1, 0],
-                [0, 0, 0, 1],
-            ]
-        )
-
-        # Base orientation
-        self.base_X0 = np.array(
-            [
-                [0, 0, 1, 0],
-                [1, 0, 0, 0],
-                [0, 1, 0, 0],
-                [0, 0, 0, 1],
-            ]
-        )
-
-        # Gripper
-        # Screw axis of gripper frame wrt base frame
-        self.S_BG = np.array(
-            [
-                1,
-                0,
-                0,
-                0,
-                self.measurements["gripper"][2],
-                -self.measurements["gripper"][1],
-            ]
-        )
-
-        # Gripper origin to centroid transform
-        self.X_GoGc = self._create_translation_matrix(x=0.07)
-
-        # Gripper origin to tip transform
-        self.X_GoGt = self._create_translation_matrix(x=0.12)
-
-        # 0-position gripper frame pose wrt base
-        self.X_BoGo = self._create_translation_matrix(
-            x=self.measurements["gripper"][0],
-            y=self.measurements["gripper"][1],
-            z=self.measurements["gripper"][2],
-        )
-
-        # Wrist
-        # Screw axis of wrist frame wrt base frame
-        self.S_BR = np.array([0, 1, 0, -self.measurements["wrist"][2], 0, self.measurements["wrist"][0]])
-
-        # 0-position origin to centroid transform
-        self.X_RoRc = self._create_translation_matrix(x=0.0035, y=-0.002)
-
-        # 0-position wrist frame pose wrt base
-        self.X_BR = self._create_translation_matrix(
-            x=self.measurements["wrist"][0],
-            y=self.measurements["wrist"][1],
-            z=self.measurements["wrist"][2],
-        )
-
-        # Forearm
-        # Screw axis of forearm frame wrt base frame
-        self.S_BF = np.array(
-            [
-                0,
-                1,
-                0,
-                -self.measurements["forearm"][2],
-                0,
-                self.measurements["forearm"][0],
-            ]
-        )
-
-        # Forearm origin + centroid transform
-        self.X_FoFc = self._create_translation_matrix(x=0.036)  # spellchecker:disable-line
-
-        # 0-position forearm frame pose wrt base
-        self.X_BF = self._create_translation_matrix(
-            x=self.measurements["forearm"][0],
-            y=self.measurements["forearm"][1],
-            z=self.measurements["forearm"][2],
-        )
-
-        # Humerus
-        # Screw axis of humerus frame wrt base frame
-        self.S_BH = np.array(
-            [
-                0,
-                -1,
-                0,
-                self.measurements["humerus"][2],
-                0,
-                -self.measurements["humerus"][0],
-            ]
-        )
-
-        # Humerus origin to centroid transform
-        self.X_HoHc = self._create_translation_matrix(x=0.0475)
-
-        # 0-position humerus frame pose wrt base
-        self.X_BH = self._create_translation_matrix(
-            x=self.measurements["humerus"][0],
-            y=self.measurements["humerus"][1],
-            z=self.measurements["humerus"][2],
-        )
-
-        # Shoulder
-        # Screw axis of shoulder frame wrt Base frame
-        self.S_BS = np.array([0, 0, -1, 0, 0, 0])
-
-        # Shoulder origin to centroid transform
-        self.X_SoSc = self._create_translation_matrix(x=-0.017, z=0.0235)
-
-        # 0-position shoulder frame pose wrt base
-        self.X_BS = self._create_translation_matrix(
-            x=self.measurements["shoulder"][0],
-            y=self.measurements["shoulder"][1],
-            z=self.measurements["shoulder"][2],
-        )
-
-        # Base
-        # Base origin to centroid transform
-        self.X_BoBc = self._create_translation_matrix(y=0.015)
-
-        # World to base transform
-        self.X_WoBo = self._create_translation_matrix(
-            x=self.measurements["base"][0],
-            y=self.measurements["base"][1],
-            z=self.measurements["base"][2],
-        )
-
-        # Pre-compute gripper post-multiplication matrix
-        self._fk_gripper_post = self.X_GoGc @ self.X_BoGo @ self.gripper_X0
-
-    def fk_base(self):
-        """Forward kinematics for the base frame."""
-        return self.X_WoBo @ self.X_BoBc @ self.base_X0
-
-    def fk_shoulder(self, robot_pos_deg):
-        """Forward kinematics for the shoulder frame."""
-        robot_pos_rad = robot_pos_deg / 180 * np.pi
-        return self.X_WoBo @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0]) @ self.X_SoSc @ self.X_BS
-
-    def fk_humerus(self, robot_pos_deg):
-        """Forward kinematics for the humerus frame."""
-        robot_pos_rad = robot_pos_deg / 180 * np.pi
-        return (
-            self.X_WoBo
-            @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
-            @ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
-            @ self.X_HoHc
-            @ self.X_BH
-        )
-
-    def fk_forearm(self, robot_pos_deg):
-        """Forward kinematics for the forearm frame."""
-        robot_pos_rad = robot_pos_deg / 180 * np.pi
-        return (
-            self.X_WoBo
-            @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
-            @ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
-            @ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
-            @ self.X_FoFc  # spellchecker:disable-line
-            @ self.X_BF
-        )
-
-    def fk_wrist(self, robot_pos_deg):
-        """Forward kinematics for the wrist frame."""
-        robot_pos_rad = robot_pos_deg / 180 * np.pi
-        return (
-            self.X_WoBo
-            @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
-            @ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
-            @ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
-            @ screw_axis_to_transform(self.S_BR, robot_pos_rad[3])
-            @ self.X_RoRc
-            @ self.X_BR
-            @ self.wrist_X0
-        )
-
-    def fk_gripper(self, robot_pos_deg):
-        """Forward kinematics for the gripper frame."""
-        robot_pos_rad = robot_pos_deg / 180 * np.pi
-        return (
-            self.X_WoBo
-            @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
-            @ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
-            @ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
-            @ screw_axis_to_transform(self.S_BR, robot_pos_rad[3])
-            @ screw_axis_to_transform(self.S_BG, robot_pos_rad[4])
-            @ self._fk_gripper_post
-        )
-
-    def fk_gripper_tip(self, robot_pos_deg):
-        """Forward kinematics for the gripper tip frame."""
-        robot_pos_rad = robot_pos_deg / 180 * np.pi
-        return (
-            self.X_WoBo
-            @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
-            @ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
-            @ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
-            @ screw_axis_to_transform(self.S_BR, robot_pos_rad[3])
-            @ screw_axis_to_transform(self.S_BG, robot_pos_rad[4])
-            @ self.X_GoGt
-            @ self.X_BoGo
-            @ self.gripper_X0
-        )
-
-    def compute_jacobian(self, robot_pos_deg, fk_func=None):
-        """Finite differences to compute the Jacobian.
-        J(i, j) represents how the ith component of the end-effector's velocity changes wrt a small change
-        in the jth joint's velocity.
-
-        Args:
-            robot_pos_deg: Current joint positions in degrees
-            fk_func: Forward kinematics function to use (defaults to fk_gripper)
-        """
-        if fk_func is None:
-            fk_func = self.fk_gripper
-
-        eps = 1e-8
-        jac = np.zeros(shape=(6, 5))
-        delta = np.zeros(len(robot_pos_deg[:-1]), dtype=np.float64)
-        for el_ix in range(len(robot_pos_deg[:-1])):
-            delta *= 0
-            delta[el_ix] = eps / 2
-            Sdot = (
-                pose_difference_se3(
-                    fk_func(robot_pos_deg[:-1] + delta),
-                    fk_func(robot_pos_deg[:-1] - delta),
-                )
-                / eps
-            )
-            jac[:, el_ix] = Sdot
-        return jac
-
-    def compute_positional_jacobian(self, robot_pos_deg, fk_func=None):
-        """Finite differences to compute the positional Jacobian.
-        J(i, j) represents how the ith component of the end-effector's position changes wrt a small change
-        in the jth joint's velocity.
-
-        Args:
-            robot_pos_deg: Current joint positions in degrees
-            fk_func: Forward kinematics function to use (defaults to fk_gripper)
-        """
-        if fk_func is None:
-            fk_func = self.fk_gripper
-
-        eps = 1e-8
-        jac = np.zeros(shape=(3, 5))
-        delta = np.zeros(len(robot_pos_deg[:-1]), dtype=np.float64)
-        for el_ix in range(len(robot_pos_deg[:-1])):
-            delta *= 0
-            delta[el_ix] = eps / 2
-            Sdot = (
-                fk_func(robot_pos_deg[:-1] + delta)[:3, 3] - fk_func(robot_pos_deg[:-1] - delta)[:3, 3]
-            ) / eps
-            jac[:, el_ix] = Sdot
-        return jac
-
-    def ik(self, current_joint_state, desired_ee_pose, position_only=True, fk_func=None):
-        """Inverse kinematics using gradient descent.
-
-        Args:
-            current_joint_state: Initial joint positions in degrees
-            desired_ee_pose: Target end-effector pose as a 4x4 transformation matrix
-            position_only: If True, only match end-effector position, not orientation
-            fk_func: Forward kinematics function to use (defaults to fk_gripper)
-
-        Returns:
-            Joint positions in degrees that achieve the desired end-effector pose
-        """
-        if fk_func is None:
-            fk_func = self.fk_gripper
-
-        # Do gradient descent.
-        max_iterations = 5
-        learning_rate = 1
-        for _ in range(max_iterations):
-            current_ee_pose = fk_func(current_joint_state)
-            if not position_only:
-                error = se3_error(desired_ee_pose, current_ee_pose)
-                jac = self.compute_jacobian(current_joint_state, fk_func)
-            else:
-                error = desired_ee_pose[:3, 3] - current_ee_pose[:3, 3]
-                jac = self.compute_positional_jacobian(current_joint_state, fk_func)
-            delta_angles = np.linalg.pinv(jac) @ error
-            current_joint_state[:-1] += learning_rate * delta_angles
-
-            if np.linalg.norm(error) < 5e-3:
-                return current_joint_state
-        return current_joint_state
-
-
-if __name__ == "__main__":
-    import time
-
-    def run_test(robot_type):
-        """Run test suite for a specific robot type."""
-        print(f"\n--- Testing {robot_type.upper()} Robot ---")
-
-        # Initialize kinematics for this robot
-        robot = RobotKinematics(robot_type)
-
-        # Test 1: Forward kinematics consistency
-        print("Test 1: Forward kinematics consistency")
-        test_angles = np.array([30, 45, -30, 20, 10, 0])  # Example joint angles in degrees
-
-        # Calculate FK for different joints
-        shoulder_pose = robot.fk_shoulder(test_angles)
-        humerus_pose = robot.fk_humerus(test_angles)
-        forearm_pose = robot.fk_forearm(test_angles)
-        wrist_pose = robot.fk_wrist(test_angles)
-        gripper_pose = robot.fk_gripper(test_angles)
-        gripper_tip_pose = robot.fk_gripper_tip(test_angles)
-
-        # Check that poses form a consistent kinematic chain (positions should be progressively further from origin)
-        distances = [
-            np.linalg.norm(shoulder_pose[:3, 3]),
-            np.linalg.norm(humerus_pose[:3, 3]),
-            np.linalg.norm(forearm_pose[:3, 3]),
-            np.linalg.norm(wrist_pose[:3, 3]),
-            np.linalg.norm(gripper_pose[:3, 3]),
-            np.linalg.norm(gripper_tip_pose[:3, 3]),
-        ]
-
-        # Check if distances generally increase along the chain
-        is_consistent = all(distances[i] <= distances[i + 1] for i in range(len(distances) - 1))
-        print(f"  Pose distances from origin: {[round(d, 3) for d in distances]}")
-        print(f"  Kinematic chain consistency: {'PASSED' if is_consistent else 'FAILED'}")
-
-        # Test 2: Jacobian computation
-        print("Test 2: Jacobian computation")
-        jacobian = robot.compute_jacobian(test_angles)
-        positional_jacobian = robot.compute_positional_jacobian(test_angles)
-
-        # Check shapes
-        jacobian_shape_ok = jacobian.shape == (6, 5)
-        pos_jacobian_shape_ok = positional_jacobian.shape == (3, 5)
-
-        print(f"  Jacobian shape: {'PASSED' if jacobian_shape_ok else 'FAILED'}")
-        print(f"  Positional Jacobian shape: {'PASSED' if pos_jacobian_shape_ok else 'FAILED'}")
-
-        # Test 3: Inverse kinematics
-        print("Test 3: Inverse kinematics (position only)")
-
-        # Generate target pose from known joint angles
-        original_angles = np.array([10, 20, 30, -10, 5, 0])
-        target_pose = robot.fk_gripper(original_angles)
-
-        # Start IK from a different position
-        initial_guess = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
-
-        # Measure IK performance
-        start_time = time.time()
-        computed_angles = robot.ik(initial_guess.copy(), target_pose)
-        ik_time = time.time() - start_time
-
-        # Compute resulting pose from IK solution
-        result_pose = robot.fk_gripper(computed_angles)
-
-        # Calculate position error
-        pos_error = np.linalg.norm(target_pose[:3, 3] - result_pose[:3, 3])
-        passed = pos_error < 0.01  # Accept errors less than 1cm
-
-        print(f"  IK computation time: {ik_time:.4f} seconds")
-        print(f"  Position error: {pos_error:.4f}")
-        print(f"  IK position accuracy: {'PASSED' if passed else 'FAILED'}")
-
-        return is_consistent and jacobian_shape_ok and pos_jacobian_shape_ok and passed
-
-    # Run tests for all robot types
-    results = {}
-    for robot_type in ["koch", "so100", "moss"]:
-        results[robot_type] = run_test(robot_type)
-
-    # Print overall summary
-    print("\n=== Test Summary ===")
-    all_passed = all(results.values())
-    for robot_type, passed in results.items():
-        print(f"{robot_type.upper()}: {'PASSED' if passed else 'FAILED'}")
-    print(f"\nOverall: {'ALL TESTS PASSED' if all_passed else 'SOME TESTS FAILED'}")

tests/utils/test_replay_buffer.py

@@ -5,7 +5,7 @@ import pytest
 import torch
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.scripts.server.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
+from lerobot.common.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
 from tests.fixtures.constants import DUMMY_REPO_ID