[Async Inference] Merge Protos & refactoring (#1480)

* Merge together proto files and refactor Async inference

* Fixup for Async inference

* Drop not reuqired changes

* Fix tests

* Drop old async files

* Drop chunk_size param

* Fix versions

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* Fix wrong fix

Co-authored-by: Ben Zhang <ben.zhang@uwaterloo.ca>

* Fixup

---------

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Ben Zhang <ben.zhang@uwaterloo.ca>
Co-authored-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>

tests/async_inference/test_e2e.py

@@ -54,8 +54,8 @@ def test_async_inference_e2e(monkeypatch):
     from lerobot.scripts.server.policy_server import PolicyServer
     from lerobot.scripts.server.robot_client import RobotClient
     from lerobot.transport import (
-        async_inference_pb2,  # type: ignore
-        async_inference_pb2_grpc,  # type: ignore
+        services_pb2,  # type: ignore
+        services_pb2_grpc,  # type: ignore
     )
     from tests.mocks.mock_robot import MockRobotConfig
 
@@ -113,13 +113,13 @@ def test_async_inference_e2e(monkeypatch):
 
     # Bypass potentially heavy model loading inside SendPolicyInstructions
     def _fake_send_policy_instructions(self, request, context):  # noqa: N802
-        return async_inference_pb2.Empty()
+        return services_pb2.Empty()
 
     monkeypatch.setattr(PolicyServer, "SendPolicyInstructions", _fake_send_policy_instructions, raising=True)
 
     # Build gRPC server running a PolicyServer
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=1, thread_name_prefix="policy_server"))
-    async_inference_pb2_grpc.add_AsyncInferenceServicer_to_server(policy_server, server)
+    services_pb2_grpc.add_AsyncInferenceServicer_to_server(policy_server, server)
 
     # Use the host/port specified in the fixture's config
     server_address = f"{policy_server.config.host}:{policy_server.config.port}"