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/utils/test_encoding_utils.py

@@ -1,6 +1,6 @@
 import pytest
 
-from lerobot.common.utils.encoding_utils import (
+from lerobot.utils.encoding_utils import (
     decode_sign_magnitude,
     decode_twos_complement,
     encode_sign_magnitude,

tests/utils/test_io_utils.py

@@ -17,7 +17,7 @@ from typing import Any
 
 import pytest
 
-from lerobot.common.utils.io_utils import deserialize_json_into_object
+from lerobot.utils.io_utils import deserialize_json_into_object
 
 
 @pytest.fixture

tests/utils/test_logging_utils.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 import pytest
 
-from lerobot.common.utils.logging_utils import AverageMeter, MetricsTracker
+from lerobot.utils.logging_utils import AverageMeter, MetricsTracker
 
 
 @pytest.fixture

tests/utils/test_process.py

@@ -22,7 +22,7 @@ from unittest.mock import patch
 
 import pytest
 
-from lerobot.common.utils.process import ProcessSignalHandler
+from lerobot.utils.process import ProcessSignalHandler
 
 
 # Fixture to reset shutdown_event_counter and original signal handlers before and after each test

tests/utils/test_queue.py

@@ -18,7 +18,7 @@ import threading
 import time
 from queue import Queue
 
-from lerobot.common.utils.queue import get_last_item_from_queue
+from lerobot.utils.queue import get_last_item_from_queue
 
 
 def test_get_last_item_single_item():

tests/utils/test_random_utils.py

@@ -17,7 +17,7 @@ import numpy as np
 import pytest
 import torch
 
-from lerobot.common.utils.random_utils import (
+from lerobot.utils.random_utils import (
     deserialize_numpy_rng_state,
     deserialize_python_rng_state,
     deserialize_rng_state,

tests/utils/test_replay_buffer.py

@@ -20,8 +20,8 @@ from typing import Callable
 import pytest
 import torch
 
-from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.common.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
 from tests.fixtures.constants import DUMMY_REPO_ID
 
 

tests/utils/test_train_utils.py

@@ -14,7 +14,7 @@
 from pathlib import Path
 from unittest.mock import Mock, patch
 
-from lerobot.common.constants import (
+from lerobot.constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,
     OPTIMIZER_PARAM_GROUPS,
@@ -24,7 +24,7 @@ from lerobot.common.constants import (
     TRAINING_STATE_DIR,
     TRAINING_STEP,
 )
-from lerobot.common.utils.train_utils import (
+from lerobot.utils.train_utils import (
     get_step_checkpoint_dir,
     get_step_identifier,
     load_training_state,
@@ -69,7 +69,7 @@ def test_update_last_checkpoint(tmp_path):
     assert last_checkpoint.resolve() == checkpoint
 
 
-@patch("lerobot.common.utils.train_utils.save_training_state")
+@patch("lerobot.utils.train_utils.save_training_state")
 def test_save_checkpoint(mock_save_training_state, tmp_path, optimizer):
     policy = Mock()
     cfg = Mock()