diff --git a/lerobot/common/motors/dynamixel.py b/lerobot/common/motors/dynamixel/dynamixel.py
similarity index 100%
rename from lerobot/common/motors/dynamixel.py
rename to lerobot/common/motors/dynamixel/dynamixel.py
diff --git a/lerobot/common/motors/dynamixel_calibration.py b/lerobot/common/motors/dynamixel/dynamixel_calibration.py
similarity index 99%
rename from lerobot/common/motors/dynamixel_calibration.py
rename to lerobot/common/motors/dynamixel/dynamixel_calibration.py
index ae4914ce..fc1e2c4a 100644
--- a/lerobot/common/motors/dynamixel_calibration.py
+++ b/lerobot/common/motors/dynamixel/dynamixel_calibration.py
@@ -3,7 +3,7 @@
 
 import numpy as np
 
-from lerobot.common.motors.dynamixel import (
+from lerobot.common.motors.dynamixel.dynamixel import (
     CalibrationMode,
     TorqueMode,
     convert_degrees_to_steps,
diff --git a/lerobot/common/motors/feetech.py b/lerobot/common/motors/feetech/feetech.py
similarity index 100%
rename from lerobot/common/motors/feetech.py
rename to lerobot/common/motors/feetech/feetech.py
diff --git a/lerobot/common/motors/feetech_calibration.py b/lerobot/common/motors/feetech/feetech_calibration.py
similarity index 99%
rename from lerobot/common/motors/feetech_calibration.py
rename to lerobot/common/motors/feetech/feetech_calibration.py
index 651432e0..b3ec125c 100644
--- a/lerobot/common/motors/feetech_calibration.py
+++ b/lerobot/common/motors/feetech/feetech_calibration.py
@@ -5,7 +5,7 @@ import time
 
 import numpy as np
 
-from lerobot.common.motors.feetech import (
+from lerobot.common.motors.feetech.feetech import (
     CalibrationMode,
     TorqueMode,
     convert_degrees_to_steps,
diff --git a/lerobot/common/motors/utils.py b/lerobot/common/motors/utils.py
index 8d146034..2060679c 100644
--- a/lerobot/common/motors/utils.py
+++ b/lerobot/common/motors/utils.py
@@ -21,12 +21,12 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
 
     for key, cfg in motors_bus_configs.items():
         if cfg.type == "dynamixel":
-            from lerobot.common.motors.dynamixel import DynamixelMotorsBus
+            from lerobot.common.motors.dynamixel.dynamixel import DynamixelMotorsBus
 
             motors_buses[key] = DynamixelMotorsBus(cfg)
 
         elif cfg.type == "feetech":
-            from lerobot.common.motors.feetech import FeetechMotorsBus
+            from lerobot.common.motors.feetech.feetech import FeetechMotorsBus
 
             motors_buses[key] = FeetechMotorsBus(cfg)
 
@@ -38,13 +38,13 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
 
 def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
     if motor_type == "dynamixel":
-        from lerobot.common.motors.dynamixel import DynamixelMotorsBus
+        from lerobot.common.motors.dynamixel.dynamixel import DynamixelMotorsBus
 
         config = DynamixelMotorsBusConfig(**kwargs)
         return DynamixelMotorsBus(config)
 
     elif motor_type == "feetech":
-        from lerobot.common.motors.feetech import FeetechMotorsBus
+        from lerobot.common.motors.feetech.feetech import FeetechMotorsBus
 
         config = FeetechMotorsBusConfig(**kwargs)
         return FeetechMotorsBus(config)