Group config files

lerobot/common/robots/lekiwi/__init__.py

@@ -1,4 +1,3 @@
-from .config_lekiwi import LeKiwiConfig
+from .config_lekiwi import LeKiwiClientConfig, LeKiwiConfig
-from .configuration_daemon_lekiwi import LeKiwiClientConfig
 from .lekiwi import LeKiwi
 from .lekiwi_client import LeKiwiClient

lerobot/common/robots/lekiwi/config_lekiwi.py

@@ -42,3 +42,29 @@ class LeKiwiConfig(RobotConfig):
             ),
         }
     )
+
+
+@RobotConfig.register_subclass("lekiwi_client")
+@dataclass
+class LeKiwiClientConfig(RobotConfig):
+    # Network Configuration
+    remote_ip: str = "172.18.133.90"
+    port_zmq_cmd: int = 5555
+    port_zmq_observations: int = 5556
+
+    teleop_keys: dict[str, str] = field(
+        default_factory=lambda: {
+            # Movement
+            "forward": "w",
+            "backward": "s",
+            "left": "a",
+            "right": "d",
+            "rotate_left": "z",
+            "rotate_right": "x",
+            # Speed control
+            "speed_up": "r",
+            "speed_down": "f",
+            # quit teleop
+            "quit": "q",
+        }
+    )

lerobot/common/robots/lekiwi/configuration_daemon_lekiwi.py

@@ -1,43 +0,0 @@
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass, field
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("lekiwi_client")
-@dataclass
-class LeKiwiClientConfig(RobotConfig):
-    # Network Configuration
-    remote_ip: str = "172.18.133.90"
-    port_zmq_cmd: int = 5555
-    port_zmq_observations: int = 5556
-
-    teleop_keys: dict[str, str] = field(
-        default_factory=lambda: {
-            # Movement
-            "forward": "w",
-            "backward": "s",
-            "left": "a",
-            "right": "d",
-            "rotate_left": "z",
-            "rotate_right": "x",
-            # Speed control
-            "speed_up": "r",
-            "speed_down": "f",
-            # quit teleop
-            "quit": "q",
-        }
-    )

lerobot/common/robots/lekiwi/lekiwi_client.py

@@ -26,7 +26,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
 from lerobot.common.robots.config import RobotMode
 
 from ..robot import Robot
-from .configuration_daemon_lekiwi import LeKiwiClientConfig
+from .config_lekiwi import LeKiwiClientConfig
 
 
 # TODO(Steven): This doesn't need to inherit from Robot

lerobot/common/robots/lekiwi/lekiwi_client_app.py

@@ -21,7 +21,7 @@ from lerobot.common.robots.config import RobotMode
 from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.common.teleoperators.so100 import SO100Leader, SO100LeaderConfig
 
-from .configuration_daemon_lekiwi import LeKiwiClientConfig
+from .config_lekiwi import LeKiwiClientConfig
 from .lekiwi_client import LeKiwiClient
 
 DUMMY_FEATURES = {