From 3848a8f9aa765ce73914e8511b4fd92b4ddbfac5 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Thu, 3 Apr 2025 18:37:21 +0200
Subject: [PATCH] Rename viperx & widowx

---
 lerobot/common/robots/viperx/__init__.py                  | 2 ++
 .../viperx/{configuration_viperx.py => config_viperx.py}  | 2 +-
 .../common/robots/viperx/{robot_viperx.py => viperx.py}   | 8 ++++----
 lerobot/common/teleoperators/widowx/__init__.py           | 6 ++----
 .../widowx/{configuration_widowx.py => config_widowx.py}  | 2 +-
 .../teleoperators/widowx/{teleop_widowx.py => widowx.py}  | 8 ++++----
 6 files changed, 14 insertions(+), 14 deletions(-)
 create mode 100644 lerobot/common/robots/viperx/__init__.py
 rename lerobot/common/robots/viperx/{configuration_viperx.py => config_viperx.py} (97%)
 rename lerobot/common/robots/viperx/{robot_viperx.py => viperx.py} (98%)
 rename lerobot/common/teleoperators/widowx/{configuration_widowx.py => config_widowx.py} (94%)
 rename lerobot/common/teleoperators/widowx/{teleop_widowx.py => widowx.py} (96%)

diff --git a/lerobot/common/robots/viperx/__init__.py b/lerobot/common/robots/viperx/__init__.py
new file mode 100644
index 00000000..522d02f1
--- /dev/null
+++ b/lerobot/common/robots/viperx/__init__.py
@@ -0,0 +1,2 @@
+from .config_viperx import ViperXConfig
+from .viperx import ViperX
diff --git a/lerobot/common/robots/viperx/configuration_viperx.py b/lerobot/common/robots/viperx/config_viperx.py
similarity index 97%
rename from lerobot/common/robots/viperx/configuration_viperx.py
rename to lerobot/common/robots/viperx/config_viperx.py
index e6c68b18..e135e278 100644
--- a/lerobot/common/robots/viperx/configuration_viperx.py
+++ b/lerobot/common/robots/viperx/config_viperx.py
@@ -7,7 +7,7 @@ from ..config import RobotConfig
 
 @RobotConfig.register_subclass("viperx")
 @dataclass
-class ViperXRobotConfig(RobotConfig):
+class ViperXConfig(RobotConfig):
     port: str  # Port to connect to the arm
 
     disable_torque_on_disconnect: bool = True
diff --git a/lerobot/common/robots/viperx/robot_viperx.py b/lerobot/common/robots/viperx/viperx.py
similarity index 98%
rename from lerobot/common/robots/viperx/robot_viperx.py
rename to lerobot/common/robots/viperx/viperx.py
index fc11b603..744fbc87 100644
--- a/lerobot/common/robots/viperx/robot_viperx.py
+++ b/lerobot/common/robots/viperx/viperx.py
@@ -19,22 +19,22 @@ from lerobot.common.motors.dynamixel import (
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .configuration_viperx import ViperXRobotConfig
+from .config_viperx import ViperXConfig
 
 logger = logging.getLogger(__name__)
 
 
-class ViperXRobot(Robot):
+class ViperX(Robot):
     """
     [ViperX](https://www.trossenrobotics.com/viperx-300) developed by Trossen Robotics
     """
 
-    config_class = ViperXRobotConfig
+    config_class = ViperXConfig
     name = "viperx"
 
     def __init__(
         self,
-        config: ViperXRobotConfig,
+        config: ViperXConfig,
     ):
         super().__init__(config)
         self.config = config
diff --git a/lerobot/common/teleoperators/widowx/__init__.py b/lerobot/common/teleoperators/widowx/__init__.py
index c67f0625..122ee329 100644
--- a/lerobot/common/teleoperators/widowx/__init__.py
+++ b/lerobot/common/teleoperators/widowx/__init__.py
@@ -1,4 +1,2 @@
-from .configuration_widowx import WidowXTeleopConfig
-from .teleop_widowx import WidowXTeleop
-
-__all__ = ["WidowXTeleopConfig", "WidowXTeleop"]
+from .config_widowx import WidowXConfig
+from .widowx import WidowX
diff --git a/lerobot/common/teleoperators/widowx/configuration_widowx.py b/lerobot/common/teleoperators/widowx/config_widowx.py
similarity index 94%
rename from lerobot/common/teleoperators/widowx/configuration_widowx.py
rename to lerobot/common/teleoperators/widowx/config_widowx.py
index 6aa5810b..42fae12d 100644
--- a/lerobot/common/teleoperators/widowx/configuration_widowx.py
+++ b/lerobot/common/teleoperators/widowx/config_widowx.py
@@ -21,5 +21,5 @@ from ..config import TeleoperatorConfig
 
 @TeleoperatorConfig.register_subclass("widowx")
 @dataclass
-class WidowXTeleopConfig(TeleoperatorConfig):
+class WidowXConfig(TeleoperatorConfig):
     port: str  # Port to connect to the arm
diff --git a/lerobot/common/teleoperators/widowx/teleop_widowx.py b/lerobot/common/teleoperators/widowx/widowx.py
similarity index 96%
rename from lerobot/common/teleoperators/widowx/teleop_widowx.py
rename to lerobot/common/teleoperators/widowx/widowx.py
index b9997abb..8b452055 100644
--- a/lerobot/common/teleoperators/widowx/teleop_widowx.py
+++ b/lerobot/common/teleoperators/widowx/widowx.py
@@ -26,20 +26,20 @@ from lerobot.common.motors.dynamixel import (
 )
 
 from ..teleoperator import Teleoperator
-from .configuration_widowx import WidowXTeleopConfig
+from .config_widowx import WidowXConfig
 
 logger = logging.getLogger(__name__)
 
 
-class WidowXTeleop(Teleoperator):
+class WidowX(Teleoperator):
     """
     [WidowX](https://www.trossenrobotics.com/widowx-250) developed by Trossen Robotics
     """
 
-    config_class = WidowXTeleopConfig
+    config_class = WidowXConfig
     name = "widowx"
 
-    def __init__(self, config: WidowXTeleopConfig):
+    def __init__(self, config: WidowXConfig):
         super().__init__(config)
         self.config = config
         self.arm = DynamixelMotorsBus(