diff --git a/lerobot/common/motors/__init__.py b/lerobot/common/motors/__init__.py
index 3261ae7e..75904fa8 100644
--- a/lerobot/common/motors/__init__.py
+++ b/lerobot/common/motors/__init__.py
@@ -1 +1 @@
-from .motors_bus import CalibrationMode, DriveMode, Motor, MotorsBus, TorqueMode
+from .motors_bus import CalibrationMode, Motor, MotorsBus
diff --git a/lerobot/common/motors/dynamixel/__init__.py b/lerobot/common/motors/dynamixel/__init__.py
index 14cbf8c1..e711c09b 100644
--- a/lerobot/common/motors/dynamixel/__init__.py
+++ b/lerobot/common/motors/dynamixel/__init__.py
@@ -1,3 +1,3 @@
-from .dynamixel import DynamixelMotorsBus, OperatingMode
+from .dynamixel import DriveMode, DynamixelMotorsBus, OperatingMode, TorqueMode
 from .dynamixel_calibration import run_arm_calibration
 from .tables import *
diff --git a/lerobot/common/motors/dynamixel/dynamixel.py b/lerobot/common/motors/dynamixel/dynamixel.py
index 11094f60..5db015ef 100644
--- a/lerobot/common/motors/dynamixel/dynamixel.py
+++ b/lerobot/common/motors/dynamixel/dynamixel.py
@@ -65,6 +65,16 @@ class OperatingMode(Enum):
     PWM = 16
 
 
+class DriveMode(Enum):
+    NON_INVERTED = 0
+    INVERTED = 1
+
+
+class TorqueMode(Enum):
+    ENABLED = 1
+    DISABLED = 0
+
+
 class DynamixelMotorsBus(MotorsBus):
     """
     The Dynamixel implementation for a MotorsBus. It relies on the python dynamixel sdk to communicate with
diff --git a/lerobot/common/motors/feetech/__init__.py b/lerobot/common/motors/feetech/__init__.py
index 1f110e40..dbe9a08d 100644
--- a/lerobot/common/motors/feetech/__init__.py
+++ b/lerobot/common/motors/feetech/__init__.py
@@ -1,3 +1,3 @@
-from .feetech import FeetechMotorsBus, OperatingMode
+from .feetech import DriveMode, FeetechMotorsBus, OperatingMode, TorqueMode
 from .feetech_calibration import apply_feetech_offsets_from_calibration, run_full_arm_calibration
 from .tables import *
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index 188350af..54f86824 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -47,6 +47,16 @@ class OperatingMode(Enum):
     STEP = 3
 
 
+class DriveMode(Enum):
+    NON_INVERTED = 0
+    INVERTED = 1
+
+
+class TorqueMode(Enum):
+    ENABLED = 1
+    DISABLED = 0
+
+
 class FeetechMotorsBus(MotorsBus):
     """
     The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the
diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py
index d5265d8c..40cda4f6 100644
--- a/lerobot/common/motors/motors_bus.py
+++ b/lerobot/common/motors/motors_bus.py
@@ -78,16 +78,6 @@ def assert_same_address(model_ctrl_table: dict[str, dict], motor_models: list[st
         )
 
 
-class TorqueMode(Enum):
-    ENABLED = 1
-    DISABLED = 0
-
-
-class DriveMode(Enum):
-    NON_INVERTED = 0
-    INVERTED = 1
-
-
 class CalibrationMode(Enum):
     DEGREE = 0
     RANGE_0_100 = 1