chore: move errors to utils (#2017)

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/cameras/opencv/camera_opencv.py

@@ -31,7 +31,7 @@ if platform.system() == "Windows" and "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"
 import cv2
 import numpy as np
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..camera import Camera
 from ..utils import get_cv2_backend, get_cv2_rotation

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

@@ -31,7 +31,7 @@ import numpy as np
 from reachy2_sdk.media.camera import CameraView
 from reachy2_sdk.media.camera_manager import CameraManager
 
-from lerobot.errors import DeviceNotConnectedError
+from lerobot.utils.errors import DeviceNotConnectedError
 
 from ..camera import Camera
 from .configuration_reachy2_camera import ColorMode, Reachy2CameraConfig

src/lerobot/cameras/realsense/camera_realsense.py

@@ -29,7 +29,7 @@ try:
 except Exception as e:
     logging.info(f"Could not import realsense: {e}")
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..camera import Camera
 from ..configs import ColorMode

src/lerobot/motors/motors_bus.py

@@ -32,7 +32,7 @@ import serial
 from deepdiff import DeepDiff
 from tqdm import tqdm
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
 NameOrID: TypeAlias = str | int

src/lerobot/robots/hope_jr/hope_jr_arm.py

@@ -20,12 +20,12 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorNormMode
 from lerobot.motors.calibration_gui import RangeFinderGUI
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/robots/hope_jr/hope_jr_hand.py

@@ -20,12 +20,12 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorNormMode
 from lerobot.motors.calibration_gui import RangeFinderGUI
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from .config_hope_jr import HopeJrHandConfig

src/lerobot/robots/koch_follower/koch_follower.py

@@ -20,12 +20,12 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DynamixelMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/robots/lekiwi/lekiwi.py

@@ -23,12 +23,12 @@ from typing import Any
 import numpy as np
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/robots/lekiwi/lekiwi_client.py

@@ -23,7 +23,7 @@ from typing import Any
 import cv2
 import numpy as np
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from .config_lekiwi import LeKiwiClientConfig

src/lerobot/robots/so100_follower/so100_follower.py

@@ -20,12 +20,12 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/robots/so101_follower/so101_follower.py

@@ -20,12 +20,12 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/robots/viperx/viperx.py

@@ -18,13 +18,13 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DynamixelMotorsBus,
     OperatingMode,
 )
 from lerobot.utils.constants import OBS_STATE
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position

src/lerobot/teleoperators/homunculus/homunculus_arm.py

@@ -22,8 +22,8 @@ from typing import Deque
 
 import serial
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors.motors_bus import MotorCalibration, MotorNormMode
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
 from ..teleoperator import Teleoperator

src/lerobot/teleoperators/homunculus/homunculus_glove.py

@@ -22,10 +22,10 @@ from typing import Deque
 
 import serial
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import MotorCalibration
 from lerobot.motors.motors_bus import MotorNormMode
 from lerobot.teleoperators.homunculus.joints_translation import homunculus_glove_to_hope_jr_hand
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
 from ..teleoperator import Teleoperator

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -21,7 +21,7 @@ import time
 from queue import Queue
 from typing import Any
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
 from ..utils import TeleopEvents

src/lerobot/teleoperators/koch_leader/koch_leader.py

@@ -17,13 +17,13 @@
 import logging
 import time
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DriveMode,
     DynamixelMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
 from .config_koch_leader import KochLeaderConfig

src/lerobot/teleoperators/phone/teleop_phone.py

@@ -26,9 +26,9 @@ import hebi
 import numpy as np
 from teleop import Teleop
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
 from lerobot.teleoperators.teleoperator import Teleoperator
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.utils.rotation import Rotation
 
 logger = logging.getLogger(__name__)

src/lerobot/teleoperators/so100_leader/so100_leader.py

@@ -17,12 +17,12 @@
 import logging
 import time
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
 from .config_so100_leader import SO100LeaderConfig

src/lerobot/teleoperators/so101_leader/so101_leader.py

@@ -17,12 +17,12 @@
 import logging
 import time
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
 from .config_so101_leader import SO101LeaderConfig

src/lerobot/teleoperators/stretch3_gamepad/stretch3_gamepad.py

@@ -20,7 +20,7 @@ import numpy as np
 from stretch_body.gamepad_teleop import GamePadTeleop
 from stretch_body.robot_params import RobotParams
 
-from lerobot.errors import DeviceAlreadyConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError
 
 from ..teleoperator import Teleoperator
 from .configuration_stretch3 import Stretch3GamePadConfig

src/lerobot/teleoperators/widowx/widowx.py

@@ -17,13 +17,13 @@
 import logging
 import time
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DriveMode,
     DynamixelMotorsBus,
     OperatingMode,
 )
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
 from .config_widowx import WidowXConfig

tests/cameras/test_opencv.py

@@ -26,7 +26,7 @@ import pytest
 
 from lerobot.cameras.configs import Cv2Rotation
 from lerobot.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 # NOTE(Steven): more tests + assertions?
 TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"

tests/cameras/test_reachy2_camera.py

@@ -21,7 +21,7 @@ import numpy as np
 import pytest
 
 from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
-from lerobot.errors import DeviceNotConnectedError
+from lerobot.utils.errors import DeviceNotConnectedError
 
 PARAMS = [
     ("teleop", "left"),

tests/cameras/test_realsense.py

@@ -26,7 +26,7 @@ import numpy as np
 import pytest
 
 from lerobot.cameras.configs import Cv2Rotation
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 pytest.importorskip("pyrealsense2")
 

tests/mocks/mock_robot.py

@@ -20,8 +20,8 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras import CameraConfig, make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.robots import Robot, RobotConfig
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 
 @RobotConfig.register_subclass("mock_robot")

tests/mocks/mock_teleop.py

@@ -19,8 +19,8 @@ from dataclasses import dataclass
 from functools import cached_property
 from typing import Any
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 
 @TeleoperatorConfig.register_subclass("mock_teleop")