docs/style: updating docs and deprecated links (#1584)

docs/source/hilserl.mdx

@@ -28,7 +28,7 @@ This guide provides step-by-step instructions for training a robot policy using
 - A gamepad (recommended) or keyboard to control the robot
 - A Nvidia GPU
 - A real robot with a follower and leader arm (optional if you use the keyboard or the gamepad)
-- A URDF file for the robot for the kinematics package (check `lerobot/common/model/kinematics.py`)
+- A URDF file for the robot for the kinematics package (check `lerobot/model/kinematics.py`)
 
 ## What kind of tasks can I train?
 
@@ -477,7 +477,7 @@ Create a training configuration file (example available [here](https://huggingfa
 1. Configure the policy settings (`type="sac"`, `device`, etc.)
 2. Set `dataset` to your cropped dataset
 3. Configure environment settings with crop parameters
-4. Check the other parameters related to SAC in [configuration_sac.py](https://github.com/huggingface/lerobot/blob/19bb621a7d0a31c20cd3cc08b1dbab68d3031454/lerobot/common/policies/sac/configuration_sac.py#L79).
+4. Check the other parameters related to SAC in [configuration_sac.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/sac/configuration_sac.py#L79).
 5. Verify that the `policy` config is correct with the right `input_features` and `output_features` for your task.
 
 **Starting the Learner**

docs/source/il_robots.mdx

@@ -323,7 +323,7 @@ The `record` function provides a suite of tools for capturing and managing data
 ##### 2. Checkpointing and Resuming
 
 - Checkpoints are automatically created during recording.
-- If an issue occurs, you can resume by re-running the same command with `--resume=true`.
+- If an issue occurs, you can resume by re-running the same command with `--resume=true`. When resuming a recording, `--dataset.num_episodes` must be set to the **number of additional episodes to be recorded**, and not to the targeted total number of episodes in the dataset !
 - To start recording from scratch, **manually delete** the dataset directory.
 
 ##### 3. Recording Parameters

docs/source/lekiwi.mdx

@@ -258,7 +258,7 @@ You should see on your laptop something like this: `[INFO] Connected to remote r
 | F   | Decrease speed |
 
 > [!TIP]
-> If you use a different keyboard, you can change the keys for each command in the [`LeKiwiConfig`](../src/lerobot/robot_devices/robots/configs.py).
+> If you use a different keyboard, you can change the keys for each command in the [`LeKiwiClientConfig`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/lekiwi/config_lekiwi.py).
 
 ### Wired version
 

src/lerobot/__init__.py

@@ -170,7 +170,7 @@ available_datasets = sorted(
 # lists all available policies from `lerobot/policies`
 available_policies = ["act", "diffusion", "tdmpc", "vqbet"]
 
-# lists all available robots from `lerobot/robot_devices/robots`
+# lists all available robots from `lerobot/robots`
 available_robots = [
     "koch",
     "koch_bimanual",
@@ -179,13 +179,13 @@ available_robots = [
     "so101",
 ]
 
-# lists all available cameras from `lerobot/robot_devices/cameras`
+# lists all available cameras from `lerobot/cameras`
 available_cameras = [
     "opencv",
     "intelrealsense",
 ]
 
-# lists all available motors from `lerobot/robot_devices/motors`
+# lists all available motors from `lerobot/motors`
 available_motors = [
     "dynamixel",
     "feetech",

src/lerobot/robots/viperx/README.md

@@ -63,7 +63,7 @@ python lerobot/scripts/control_robot.py \
   --control.type=teleoperate
 ```
 
-By adding `--robot.max_relative_target=5`, we override the default value for `max_relative_target` defined in [`AlohaRobotConfig`](lerobot/robot_devices/robots/configs.py). It is expected to be `5` to limit the magnitude of the movement for more safety, but the teleoperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot.max_relative_target=null` to the command line:
+By adding `--robot.max_relative_target=5`, we override the default value for `max_relative_target` defined in [`ViperXConfig`](./config_viperx.py). It is expected to be `5` to limit the magnitude of the movement for more safety, but the teleoperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot.max_relative_target=null` to the command line:
 
 ```bash
 python lerobot/scripts/control_robot.py \

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.
 """