diff --git a/lerobot/common/motors/__init__.py b/lerobot/common/motors/__init__.py
index 6c8699a1..a746ba96 100644
--- a/lerobot/common/motors/__init__.py
+++ b/lerobot/common/motors/__init__.py
@@ -1,3 +1,3 @@
-from .motors_bus import MotorsBus
+from .motors_bus import CalibrationMode, DriveMode, MotorsBus, TorqueMode
 
-__all__ = ["MotorsBus"]
+__all__ = ["CalibrationMode", "DriveMode", "MotorsBus", "TorqueMode"]
diff --git a/lerobot/common/motors/dynamixel/__init__.py b/lerobot/common/motors/dynamixel/__init__.py
index fbe65a27..77c4bd00 100644
--- a/lerobot/common/motors/dynamixel/__init__.py
+++ b/lerobot/common/motors/dynamixel/__init__.py
@@ -1,4 +1,4 @@
-from .dynamixel import DynamixelMotorsBus, TorqueMode, set_operating_mode
+from .dynamixel import DynamixelMotorsBus, set_operating_mode
 from .dynamixel_calibration import run_arm_calibration
 
-__all__ = ["DynamixelMotorsBus", "TorqueMode", "set_operating_mode", "run_arm_calibration"]
+__all__ = ["DynamixelMotorsBus", "set_operating_mode", "run_arm_calibration"]
diff --git a/lerobot/common/motors/feetech/__init__.py b/lerobot/common/motors/feetech/__init__.py
index a0c15dbf..0134b92d 100644
--- a/lerobot/common/motors/feetech/__init__.py
+++ b/lerobot/common/motors/feetech/__init__.py
@@ -1,9 +1,8 @@
-from .feetech import FeetechMotorsBus, TorqueMode
+from .feetech import FeetechMotorsBus
 from .feetech_calibration import apply_feetech_offsets_from_calibration, run_full_arm_calibration
 
 __all__ = [
     "FeetechMotorsBus",
-    "TorqueMode",
     "apply_feetech_offsets_from_calibration",
     "run_full_arm_calibration",
 ]
diff --git a/lerobot/common/motors/feetech/feetech_calibration.py b/lerobot/common/motors/feetech/feetech_calibration.py
index 262a5b6e..de4ed83f 100644
--- a/lerobot/common/motors/feetech/feetech_calibration.py
+++ b/lerobot/common/motors/feetech/feetech_calibration.py
@@ -13,11 +13,10 @@
 # limitations under the License.
 import numpy as np
 
-from ..motors_bus import MotorsBus
+from ..motors_bus import MotorsBus, TorqueMode
 from .feetech import (
     CalibrationMode,
     FeetechMotorsBus,
-    TorqueMode,
 )
 
 URL_TEMPLATE = (
diff --git a/lerobot/common/robots/koch/robot_koch.py b/lerobot/common/robots/koch/robot_koch.py
index 3c34bd7b..67008f5f 100644
--- a/lerobot/common/robots/koch/robot_koch.py
+++ b/lerobot/common/robots/koch/robot_koch.py
@@ -23,9 +23,9 @@ import numpy as np
 from lerobot.common.cameras.utils import make_cameras_from_configs
 from lerobot.common.constants import OBS_IMAGES, OBS_STATE
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.dynamixel import (
     DynamixelMotorsBus,
-    TorqueMode,
     run_arm_calibration,
     set_operating_mode,
 )
diff --git a/lerobot/common/robots/moss/robot_moss.py b/lerobot/common/robots/moss/robot_moss.py
index bc6fd2b1..0f7e5e77 100644
--- a/lerobot/common/robots/moss/robot_moss.py
+++ b/lerobot/common/robots/moss/robot_moss.py
@@ -23,9 +23,9 @@ import numpy as np
 from lerobot.common.cameras.utils import make_cameras_from_configs
 from lerobot.common.constants import OBS_IMAGES, OBS_STATE
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
-    TorqueMode,
     apply_feetech_offsets_from_calibration,
     run_full_arm_calibration,
 )
diff --git a/lerobot/common/robots/so100/robot_so100.py b/lerobot/common/robots/so100/robot_so100.py
index 3bef7042..13229709 100644
--- a/lerobot/common/robots/so100/robot_so100.py
+++ b/lerobot/common/robots/so100/robot_so100.py
@@ -23,9 +23,9 @@ import numpy as np
 from lerobot.common.cameras.utils import make_cameras_from_configs
 from lerobot.common.constants import OBS_IMAGES, OBS_STATE
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
-    TorqueMode,
     apply_feetech_offsets_from_calibration,
     run_full_arm_calibration,
 )
diff --git a/lerobot/common/robots/viperx/robot_viperx.py b/lerobot/common/robots/viperx/robot_viperx.py
index 058ac0ff..7dbc8d34 100644
--- a/lerobot/common/robots/viperx/robot_viperx.py
+++ b/lerobot/common/robots/viperx/robot_viperx.py
@@ -13,9 +13,9 @@ import numpy as np
 from lerobot.common.cameras.utils import make_cameras_from_configs
 from lerobot.common.constants import OBS_IMAGES, OBS_STATE
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.dynamixel import (
     DynamixelMotorsBus,
-    TorqueMode,
     run_arm_calibration,
 )
 
diff --git a/lerobot/common/teleoperators/koch/teleop_koch.py b/lerobot/common/teleoperators/koch/teleop_koch.py
index e5c3fc92..ad9745d5 100644
--- a/lerobot/common/teleoperators/koch/teleop_koch.py
+++ b/lerobot/common/teleoperators/koch/teleop_koch.py
@@ -21,9 +21,9 @@ import time
 import numpy as np
 
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.dynamixel import (
     DynamixelMotorsBus,
-    TorqueMode,
     run_arm_calibration,
     set_operating_mode,
 )
diff --git a/lerobot/common/teleoperators/so100/teleop_so100.py b/lerobot/common/teleoperators/so100/teleop_so100.py
index 13c928c3..90af62a8 100644
--- a/lerobot/common/teleoperators/so100/teleop_so100.py
+++ b/lerobot/common/teleoperators/so100/teleop_so100.py
@@ -21,9 +21,9 @@ import time
 import numpy as np
 
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
-    TorqueMode,
     apply_feetech_offsets_from_calibration,
     run_full_arm_calibration,
 )
diff --git a/lerobot/common/teleoperators/widowx/teleop_widowx.py b/lerobot/common/teleoperators/widowx/teleop_widowx.py
index fbb658e7..a661b003 100644
--- a/lerobot/common/teleoperators/widowx/teleop_widowx.py
+++ b/lerobot/common/teleoperators/widowx/teleop_widowx.py
@@ -21,9 +21,9 @@ import time
 import numpy as np
 
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.motors import TorqueMode
 from lerobot.common.motors.dynamixel import (
     DynamixelMotorsBus,
-    TorqueMode,
     run_arm_calibration,
 )