Fix TorqueMode imports

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"]

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"]

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",
 ]

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 = (

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,
 )

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,
 )

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,
 )

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,
 )
 

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,
 )

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,
 )

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,
 )