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

src/lerobot/utils/robot_utils.py

@@ -0,0 +1,44 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import platform
+import time
+
+
+def busy_wait(seconds):
+    if platform.system() == "Darwin":
+        # On Mac, `time.sleep` is not accurate and we need to use this while loop trick,
+        # but it consumes CPU cycles.
+        # TODO(rcadene): find an alternative: from python 11, time.sleep is precise
+        end_time = time.perf_counter() + seconds
+        while time.perf_counter() < end_time:
+            pass
+    else:
+        # On Linux time.sleep is accurate
+        if seconds > 0:
+            time.sleep(seconds)
+
+
+def safe_disconnect(func):
+    # TODO(aliberts): Allow to pass custom exceptions
+    # (e.g. ThreadServiceExit, KeyboardInterrupt, SystemExit, UnpluggedError, DynamixelCommError)
+    def wrapper(robot, *args, **kwargs):
+        try:
+            return func(robot, *args, **kwargs)
+        except Exception as e:
+            if robot.is_connected:
+                robot.disconnect()
+            raise e
+
+    return wrapper