diff --git a/examples/lekiwi/evaluate.py b/examples/lekiwi/evaluate.py
index a8aef6a28..57fb62e10 100644
--- a/examples/lekiwi/evaluate.py
+++ b/examples/lekiwi/evaluate.py
@@ -33,7 +33,7 @@ dataset = LeRobotDataset.create(
     image_writer_threads=4,
 )
 
-# To connect you already should have this script running on LeKiwi: `python -m lerobot.common.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
+# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
 robot.connect()
 
 _init_rerun(session_name="recording")
diff --git a/examples/lekiwi/record.py b/examples/lekiwi/record.py
index 2e8b9f355..11a716761 100644
--- a/examples/lekiwi/record.py
+++ b/examples/lekiwi/record.py
@@ -39,7 +39,7 @@ dataset = LeRobotDataset.create(
     image_writer_threads=4,
 )
 
-# To connect you already should have this script running on LeKiwi: `python -m lerobot.common.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
+# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
 robot.connect()
 leader_arm.connect()
 keyboard.connect()
diff --git a/examples/lekiwi/teleoperate.py b/examples/lekiwi/teleoperate.py
index 448610e2b..8358a2b93 100644
--- a/examples/lekiwi/teleoperate.py
+++ b/examples/lekiwi/teleoperate.py
@@ -17,7 +17,7 @@ robot = LeKiwiClient(robot_config)
 leader_arm = SO100Leader(teleop_arm_config)
 keyboard = KeyboardTeleop(keyboard_config)
 
-# To connect you already should have this script running on LeKiwi: `python -m lerobot.common.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
+# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
 robot.connect()
 leader_arm.connect()
 keyboard.connect()
diff --git a/src/lerobot/scripts/find_joint_limits.py b/src/lerobot/scripts/find_joint_limits.py
index c61806d23..f7e07514f 100644
--- a/src/lerobot/scripts/find_joint_limits.py
+++ b/src/lerobot/scripts/find_joint_limits.py
@@ -36,7 +36,6 @@ from dataclasses import dataclass
 import draccus
 import numpy as np
 
-from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
@@ -51,6 +50,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so100_leader,
 )
+from lerobot.utils.robot_utils import busy_wait
 
 
 @dataclass