Merge branch 'main' into user/michel-aractingi/2025_06_30_dataset_v3

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}"

tests/async_inference/test_robot_client.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 """Unit-tests for the `RobotClient` action-queue logic (pure Python, no gRPC).
 
-We monkey-patch `lerobot.common.robot_devices.robots.utils.make_robot` so that
+We monkey-patch `lerobot.robots.utils.make_robot_from_config` so that
 no real hardware is accessed. Only the queue-update mechanism is verified.
 """
 

tests/cameras/test_realsense.py

@@ -104,12 +104,14 @@ def test_read():
     assert isinstance(img, np.ndarray)
 
 
+# TODO(Steven): Fix this test for the latest version of pyrealsense2.
+@pytest.mark.skip("Skipping test: pyrealsense2 version > 2.55.1.6486")
 def test_read_depth():
     config = RealSenseCameraConfig(serial_number_or_name="042", width=640, height=480, fps=30, use_depth=True)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)
 
-    img = camera.read_depth(timeout_ms=1000)  # NOTE(Steven): Reading depth takes longer
+    img = camera.read_depth(timeout_ms=2000)  # NOTE(Steven): Reading depth takes longer in CI environments.
     assert isinstance(img, np.ndarray)