Update paths

tests/test_cameras.py

@@ -24,7 +24,7 @@ pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
 import numpy as np
 import pytest
 
-from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
 
 # Maximum absolute difference between two consecutive images recorded by a camera.
@@ -57,11 +57,11 @@ def test_camera(request, camera_type, mock):
     camera = make_camera(**camera_kwargs)
 
     # Test reading, async reading, disconnecting before connecting raises an error
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         camera.read()
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         camera.async_read()
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         camera.disconnect()
 
     # Test deleting the object without connecting first
@@ -76,7 +76,7 @@ def test_camera(request, camera_type, mock):
     assert camera.height is not None
 
     # Test connecting twice raises an error
-    with pytest.raises(RobotDeviceAlreadyConnectedError):
+    with pytest.raises(DeviceAlreadyConnectedError):
         camera.connect()
 
     # Test reading from the camera
@@ -185,9 +185,9 @@ def test_camera(request, camera_type, mock):
 def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
     # TODO(rcadene): refactor
     if camera_type == "opencv":
-        from lerobot.common.cameras.opencv import save_images_from_cameras
+        from lerobot.common.cameras.opencv.camera_opencv import save_images_from_cameras
     elif camera_type == "intelrealsense":
-        from lerobot.common.cameras.intelrealsense import save_images_from_cameras
+        from lerobot.common.cameras.intel.camera_realsense import save_images_from_cameras
 
     # Small `record_time_s` to speedup unit tests
     save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)

tests/test_motors.py

@@ -30,7 +30,7 @@ import time
 import numpy as np
 import pytest
 
-from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.scripts.find_motors_bus_port import find_port
 from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
 
@@ -89,11 +89,11 @@ def test_motors_bus(request, motor_type, mock):
     motors_bus = make_motors_bus(motor_type, mock=mock)
 
     # Test reading and writing before connecting raises an error
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         motors_bus.read("Torque_Enable")
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         motors_bus.write("Torque_Enable", 1)
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         motors_bus.disconnect()
 
     # Test deleting the object without connecting first
@@ -104,7 +104,7 @@ def test_motors_bus(request, motor_type, mock):
     motors_bus.connect()
 
     # Test connecting twice raises an error
-    with pytest.raises(RobotDeviceAlreadyConnectedError):
+    with pytest.raises(DeviceAlreadyConnectedError):
         motors_bus.connect()
 
     # Test disabling torque and reading torque on all motors

tests/test_robots.py

@@ -26,8 +26,8 @@ pytest -sx 'tests/test_robots.py::test_robot[aloha-True]'
 import pytest
 import torch
 
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.common.robots.utils import make_robot
-from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
 from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
 
 
@@ -54,15 +54,15 @@ def test_robot(tmp_path, request, robot_type, mock):
 
     # Test using robot before connecting raises an error
     robot = make_robot(**robot_kwargs)
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         robot.teleop_step()
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         robot.teleop_step(record_data=True)
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         robot.capture_observation()
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         robot.send_action(None)
-    with pytest.raises(RobotDeviceNotConnectedError):
+    with pytest.raises(DeviceNotConnectedError):
         robot.disconnect()
 
     # Test deleting the object without connecting first
@@ -74,7 +74,7 @@ def test_robot(tmp_path, request, robot_type, mock):
     assert robot.is_connected
 
     # Test connecting twice raises an error
-    with pytest.raises(RobotDeviceAlreadyConnectedError):
+    with pytest.raises(DeviceAlreadyConnectedError):
         robot.connect()
 
     # TODO(rcadene, aliberts): Test disconnecting with `__del__` instead of `disconnect`

tests/utils.py

@@ -23,9 +23,8 @@ import pytest
 import torch
 
 from lerobot import available_cameras, available_motors, available_robots
-from lerobot.common.cameras.utils import Camera
-from lerobot.common.cameras.utils import make_camera as make_camera_device
-from lerobot.common.motors.utils import MotorsBus
+from lerobot.common.cameras import Camera
+from lerobot.common.motors.motors_bus import MotorsBus
 from lerobot.common.motors.utils import make_motors_bus as make_motors_bus_device
 from lerobot.common.utils.import_utils import is_package_available
 
@@ -306,11 +305,19 @@ def mock_calibration_dir(calibration_dir):
 def make_camera(camera_type: str, **kwargs) -> Camera:
     if camera_type == "opencv":
         camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
-        return make_camera_device(camera_type, camera_index=camera_index, **kwargs)
+        kwargs["camera_index"] = camera_index
+        from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
+
+        config = OpenCVCameraConfig(**kwargs)
+        return OpenCVCamera(config)
 
     elif camera_type == "intelrealsense":
         serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
-        return make_camera_device(camera_type, serial_number=serial_number, **kwargs)
+        kwargs["serial_number"] = serial_number
+        from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
+
+        config = RealSenseCameraConfig(**kwargs)
+        return RealSenseCamera(config)
     else:
         raise ValueError(f"The camera type '{camera_type}' is not valid.")