Package folder structure (#1417)

* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section

tests/rl/test_actor.py

@@ -21,14 +21,14 @@ import pytest
 import torch
 from torch.multiprocessing import Event, Queue
 
-from lerobot.common.utils.transition import Transition
+from lerobot.utils.transition import Transition
 from tests.utils import require_package
 
 
 def create_learner_service_stub():
     import grpc
 
-    from lerobot.common.transport import services_pb2, services_pb2_grpc
+    from lerobot.transport import services_pb2, services_pb2_grpc
 
     class MockLearnerService(services_pb2_grpc.LearnerServiceServicer):
         def __init__(self):
@@ -101,8 +101,8 @@ def test_establish_learner_connection_failure():
 
 @require_package("grpc")
 def test_push_transitions_to_transport_queue():
-    from lerobot.common.transport.utils import bytes_to_transitions
     from lerobot.scripts.rl.actor import push_transitions_to_transport_queue
+    from lerobot.transport.utils import bytes_to_transitions
     from tests.transport.test_transport_utils import assert_transitions_equal
 
     """Test pushing transitions to transport queue."""
@@ -169,8 +169,8 @@ def test_transitions_stream():
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_interactions_stream():
-    from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
     from lerobot.scripts.rl.actor import interactions_stream
+    from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
     """Test interactions stream functionality."""
     shutdown_event = Event()

tests/rl/test_actor_learner.py

@@ -22,9 +22,9 @@ import pytest
 import torch
 from torch.multiprocessing import Event, Queue
 
-from lerobot.common.policies.sac.configuration_sac import SACConfig
-from lerobot.common.utils.transition import Transition
 from lerobot.configs.train import TrainRLServerPipelineConfig
+from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.utils.transition import Transition
 from tests.utils import require_package
 
 
@@ -90,7 +90,6 @@ def cfg():
 @require_package("grpc")
 @pytest.mark.timeout(10)  # force cross-platform watchdog
 def test_end_to_end_transitions_flow(cfg):
-    from lerobot.common.transport.utils import bytes_to_transitions
     from lerobot.scripts.rl.actor import (
         establish_learner_connection,
         learner_service_client,
@@ -98,6 +97,7 @@ def test_end_to_end_transitions_flow(cfg):
         send_transitions,
     )
     from lerobot.scripts.rl.learner import start_learner
+    from lerobot.transport.utils import bytes_to_transitions
     from tests.transport.test_transport_utils import assert_transitions_equal
 
     """Test complete transitions flow from actor to learner."""
@@ -152,13 +152,13 @@ def test_end_to_end_transitions_flow(cfg):
 @require_package("grpc")
 @pytest.mark.timeout(10)
 def test_end_to_end_interactions_flow(cfg):
-    from lerobot.common.transport.utils import bytes_to_python_object, python_object_to_bytes
     from lerobot.scripts.rl.actor import (
         establish_learner_connection,
         learner_service_client,
         send_interactions,
     )
     from lerobot.scripts.rl.learner import start_learner
+    from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
     """Test complete interactions flow from actor to learner."""
     # Queues for actor-learner communication
@@ -226,9 +226,9 @@ def test_end_to_end_interactions_flow(cfg):
 @pytest.mark.parametrize("data_size", ["small", "large"])
 @pytest.mark.timeout(10)
 def test_end_to_end_parameters_flow(cfg, data_size):
-    from lerobot.common.transport.utils import bytes_to_state_dict, state_to_bytes
     from lerobot.scripts.rl.actor import establish_learner_connection, learner_service_client, receive_policy
     from lerobot.scripts.rl.learner import start_learner
+    from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
     """Test complete parameter flow from learner to actor, with small and large data."""
     # Actor's local queue to receive params

tests/rl/test_learner_service.py

@@ -50,8 +50,8 @@ def create_learner_service_stub(
 ):
     import grpc
 
-    from lerobot.common.transport import services_pb2_grpc  # generated from .proto
     from lerobot.scripts.rl.learner_service import LearnerService
+    from lerobot.transport import services_pb2_grpc  # generated from .proto
 
     """Fixture to start a LearnerService gRPC server and provide a connected stub."""
 
@@ -83,7 +83,7 @@ def close_learner_service_stub(channel, server):
 
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_ready_method(learner_service_stub):
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     """Test the ready method of the UserService."""
     request = services_pb2.Empty()
@@ -94,7 +94,7 @@ def test_ready_method(learner_service_stub):
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_interactions():
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     shutdown_event = Event()
 
@@ -138,7 +138,7 @@ def test_send_interactions():
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_transitions():
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     """Test the SendTransitions method with various transition data."""
     shutdown_event = Event()
@@ -184,7 +184,7 @@ def test_send_transitions():
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_transitions_empty_stream():
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     """Test SendTransitions with empty stream."""
     shutdown_event = Event()
@@ -214,7 +214,7 @@ def test_send_transitions_empty_stream():
 def test_stream_parameters():
     import time
 
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     """Test the StreamParameters method."""
     shutdown_event = Event()
@@ -270,7 +270,7 @@ def test_stream_parameters():
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_stream_parameters_with_shutdown():
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     """Test StreamParameters handles shutdown gracefully."""
     shutdown_event = Event()
@@ -325,7 +325,7 @@ def test_stream_parameters_waits_and_retries_on_empty_queue():
     import threading
     import time
 
-    from lerobot.common.transport import services_pb2
+    from lerobot.transport import services_pb2
 
     """Test that StreamParameters waits and retries when the queue is empty."""
     shutdown_event = Event()