test(groot): move parity producer into utils/ package

Mirror the tests/policies/pi0_pi05/utils convention: move dump_original_n1_7.py into
a tests/policies/groot/utils/ package (with __init__.py) and update all path
references in the test docstring/skip-message and the policy README.

docs/source/policy_groot_README.md

@@ -48,7 +48,7 @@ is itself a defaulted dataclass, so the original config dataclasses fail to impo
 
 So the test uses a **producer / consumer** split across two venvs:
 
-1. **Producer** — `tests/policies/groot/dump_original_n1_7.py`, run in the *original*
+1. **Producer** — `tests/policies/groot/utils/dump_original_n1_7.py`, run in the *original*
    gr00t venv. For each embodiment it builds dummy inputs generically from the
    checkpoint metadata (state dims from `statistics.json`; camera/language keys from
    the processor modality configs), runs the original model, and saves the exact
@@ -82,7 +82,7 @@ PY
 
 # 1) Produce the original-side artifacts for all embodiments (original gr00t venv, CUDA)
 CUDA_VISIBLE_DEVICES=0 /path/to/Isaac-GR00T/.venv-original/bin/python \
-    tests/policies/groot/dump_original_n1_7.py \
+    tests/policies/groot/utils/dump_original_n1_7.py \
     --ckpt "$CKPT" --out-dir tests/policies/groot/artifacts --device cuda --seed 42
 
 # 2) Run the parity test (LeRobot venv) — one parametrized case per embodiment

tests/policies/groot/test_groot_vs_original.py

@@ -25,7 +25,8 @@ in the checkpoint.
 
 To keep the comparison fair, the original outputs + the exact collated inputs are
 produced once per embodiment in the original ``gr00t`` env via the companion script
-``dump_original_n1_7.py`` (next to this file) and saved to per-tag ``.npz`` files.
+``utils/dump_original_n1_7.py`` (in the ``utils`` package next to this file) and saved
+to per-tag ``.npz`` files.
 This test discovers those artifacts, replays the identical inputs through the LeRobot
 model, and compares.
 
@@ -65,7 +66,7 @@ def _artifact_dir() -> Path:
 
     Self-contained by default: a sibling ``artifacts/`` directory next to this test.
     Override with ``GROOT_N1_7_PARITY_DIR`` (e.g. to point at a scratch location).
-    The directory is read-only here -- it is populated by ``dump_original_n1_7.py``
+    The directory is read-only here -- it is populated by ``utils/dump_original_n1_7.py``
     run in the original gr00t environment; the test never creates it.
     """
     env = os.environ.get("GROOT_N1_7_PARITY_DIR")
@@ -169,7 +170,7 @@ _ARTIFACTS = _discover_artifacts()
     not _ARTIFACTS,
     reason=(
         "No GR00T N1.7 parity artifacts found. Generate them first in the original gr00t "
-        "env:\n  .venv-original/bin/python tests/policies/groot/dump_original_n1_7.py "
+        "env:\n  .venv-original/bin/python tests/policies/groot/utils/dump_original_n1_7.py "
         "--ckpt <ckpt> --out-dir tests/policies/groot/artifacts --device cuda"
     ),
 )

tests/policies/groot/utils/__init__.py

@@ -0,0 +1 @@
+"""Utilities shared by GR00T policy tests."""

tests/policies/groot/utils/dump_original_n1_7.py

@@ -25,7 +25,7 @@ The companion pytest (run in the LeRobot env) loads each .npz, replays the ident
 inputs + seed through the LeRobot GR00T N1.7 model, and asserts the outputs match.
 
 Usage:
-    .venv-original/bin/python tests/policies/groot/dump_original_n1_7.py \
+    .venv-original/bin/python tests/policies/groot/utils/dump_original_n1_7.py \
         --ckpt <path-to-GR00T-N1.7-LIBERO/libero_10> \
         --out-dir tests/policies/groot/artifacts \
         [--tags libero_sim,oxe_droid_relative_eef_relative_joint,...] \