Reorganize files

lerobot/scripts/configure_motor.py

@@ -18,8 +18,8 @@ import time
 
 def get_motor_bus_cls(brand: str) -> tuple:
     if brand == "feetech":
-        from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig
-        from lerobot.common.robot_devices.motors.feetech import (
+        from lerobot.common.motors.configs import FeetechMotorsBusConfig
+        from lerobot.common.motors.feetech import (
             MODEL_BAUDRATE_TABLE,
             SCS_SERIES_BAUDRATE_TABLE,
             FeetechMotorsBus,
@@ -28,8 +28,8 @@ def get_motor_bus_cls(brand: str) -> tuple:
         return FeetechMotorsBusConfig, FeetechMotorsBus, MODEL_BAUDRATE_TABLE, SCS_SERIES_BAUDRATE_TABLE
 
     elif brand == "dynamixel":
-        from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig
-        from lerobot.common.robot_devices.motors.dynamixel import (
+        from lerobot.common.motors.configs import DynamixelMotorsBusConfig
+        from lerobot.common.motors.dynamixel import (
             MODEL_BAUDRATE_TABLE,
             X_SERIES_BAUDRATE_TABLE,
             DynamixelMotorsBus,

lerobot/scripts/control_robot.py

@@ -129,15 +129,8 @@ from pprint import pformat
 # from safetensors.torch import load_file, save_file
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.policies.factory import make_policy
-from lerobot.common.robot_devices.control_configs import (
-    CalibrateControlConfig,
-    ControlPipelineConfig,
-    RecordControlConfig,
-    RemoteRobotConfig,
-    ReplayControlConfig,
-    TeleoperateControlConfig,
-)
-from lerobot.common.robot_devices.control_utils import (
+from lerobot.common.robots.utils import Robot, make_robot_from_config
+from lerobot.common.utils.control_utils import (
     control_loop,
     init_keyboard_listener,
     log_control_info,
@@ -148,10 +141,17 @@ from lerobot.common.robot_devices.control_utils import (
     stop_recording,
     warmup_record,
 )
-from lerobot.common.robot_devices.robots.utils import Robot, make_robot_from_config
-from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
+from lerobot.common.utils.robot_utils import busy_wait, safe_disconnect
 from lerobot.common.utils.utils import has_method, init_logging, log_say
 from lerobot.configs import parser
+from lerobot.configs.control import (
+    CalibrateControlConfig,
+    ControlPipelineConfig,
+    RecordControlConfig,
+    RemoteRobotConfig,
+    ReplayControlConfig,
+    TeleoperateControlConfig,
+)
 
 ########################################################################################
 # Control modes
@@ -368,7 +368,7 @@ def control_robot(cfg: ControlPipelineConfig):
     elif isinstance(cfg.control, ReplayControlConfig):
         replay(robot, cfg.control)
     elif isinstance(cfg.control, RemoteRobotConfig):
-        from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi
+        from lerobot.common.robots.lekiwi.lekiwi_remote import run_lekiwi
 
         run_lekiwi(cfg.robot)
 

lerobot/scripts/control_sim_robot.py

@@ -80,7 +80,8 @@ import numpy as np
 import torch
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.common.robot_devices.control_utils import (
+from lerobot.common.robots.utils import Robot, make_robot
+from lerobot.common.utils.control_utils import (
     init_keyboard_listener,
     init_policy,
     is_headless,
@@ -90,8 +91,7 @@ from lerobot.common.robot_devices.control_utils import (
     sanity_check_dataset_robot_compatibility,
     stop_recording,
 )
-from lerobot.common.robot_devices.robots.utils import Robot, make_robot
-from lerobot.common.robot_devices.utils import busy_wait
+from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say
 
 raise NotImplementedError("This script is currently deactivated")