refactor(node): moved types around; removed unused comments and dead code

src/lerobot/node/calibrate.ts

@@ -1,15 +1,12 @@
 /**
  * Helper to recalibrate your device (robot or teleoperator).
  *
- * Direct port of Python lerobot calibrate.py
- *
  * Example:
  * ```
  * npx lerobot calibrate --robot.type=so100_follower --robot.port=COM4 --robot.id=my_follower_arm
  * ```
  */
 
-import type { CalibrateConfig } from "./robots/config.js";
 import { createSO100Follower } from "./robots/so100_follower.js";
 import { createSO100Leader } from "./teleoperators/so100_leader.js";
 import {
@@ -18,8 +15,9 @@ import {
   performInteractiveCalibration,
   setMotorLimits,
   verifyCalibration,
-  type CalibrationResults,
 } from "./common/calibration.js";
+import type { CalibrateConfig } from "./types/robot-config.js";
+import type { CalibrationResults } from "./types/calibration.js";
 import { getSO100Config } from "./common/so100_config.js";
 
 /**

src/lerobot/node/common/calibration.ts

@@ -53,49 +53,10 @@ function decodeSignMagnitude(
  * Despite the "SO100" name, this interface is now device-agnostic and configurable
  * for any robot using similar serial protocols (Feetech STS3215, etc.)
  */
-export interface SO100CalibrationConfig {
-  deviceType: "so100_follower" | "so100_leader";
-  port: SerialPort;
-  motorNames: string[];
-  motorIds: number[]; // Device-specific motor IDs (e.g., [1,2,3,4,5,6] for SO-100)
-  driveModes: number[];
-  calibModes: string[];
-
-  // Protocol-specific configuration
-  protocol: {
-    resolution: number; // Motor resolution (e.g., 4096 for STS3215)
-    homingOffsetAddress: number; // Register address for homing offset (e.g., 31 for STS3215)
-    homingOffsetLength: number; // Length in bytes for homing offset register
-    presentPositionAddress: number; // Register address for present position (e.g., 56 for STS3215)
-    presentPositionLength: number; // Length in bytes for present position register
-    minPositionLimitAddress: number; // Register address for min position limit (e.g., 9 for STS3215)
-    minPositionLimitLength: number; // Length in bytes for min position limit register
-    maxPositionLimitAddress: number; // Register address for max position limit (e.g., 11 for STS3215)
-    maxPositionLimitLength: number; // Length in bytes for max position limit register
-    signMagnitudeBit: number; // Sign bit index for homing offset encoding (e.g., 11 for STS3215)
-  };
-
-  limits: {
-    position_min: number[];
-    position_max: number[];
-    velocity_max: number[];
-    torque_max: number[];
-  };
-}
-
-/**
- * Calibration results structure matching Python lerobot format
- * This should match the MotorCalibration dataclass structure in Python
- */
-export interface CalibrationResults {
-  [motorName: string]: {
-    id: number;
-    drive_mode: number;
-    homing_offset: number;
-    range_min: number;
-    range_max: number;
-  };
-}
+import type {
+  SO100CalibrationConfig,
+  CalibrationResults,
+} from "../types/calibration.js";
 
 /**
  * Initialize device communication

src/lerobot/node/common/so100_config.ts

@@ -4,7 +4,7 @@
  * Mirrors Python lerobot device configuration approach
  */
 
-import type { SO100CalibrationConfig } from "./calibration.js";
+import type { SO100CalibrationConfig } from "../types/calibration.js";
 import { SerialPort } from "serialport";
 
 /**

src/lerobot/node/find_port.ts

@@ -1,8 +1,6 @@
 /**
  * Helper to find the USB port associated with your MotorsBus.
  *
- * Direct port of Python lerobot find_port.py
- *
  * Example:
  * ```
  * npx lerobot find-port

src/lerobot/node/robots/robot.ts

@@ -8,8 +8,8 @@ import { SerialPort } from "serialport";
 import { mkdir, writeFile } from "fs/promises";
 import { existsSync, readFileSync, mkdirSync } from "fs";
 import { join } from "path";
-import type { RobotConfig } from "./config.js";
-import { getCalibrationDir, ROBOTS } from "../constants.js";
+import type { RobotConfig } from "../types/robot-config.js";
+import { getCalibrationDir, ROBOTS } from "../utils/constants.js";
 
 export abstract class Robot {
   protected port: SerialPort | null = null;

src/lerobot/node/robots/so100_follower.ts

@@ -4,7 +4,7 @@
  */
 
 import { Robot } from "./robot.js";
-import type { RobotConfig } from "./config.js";
+import type { RobotConfig } from "../types/robot-config.js";
 import * as readline from "readline";
 
 export class SO100Follower extends Robot {

src/lerobot/node/teleoperate.ts

@@ -1,33 +1,15 @@
 /**
  * Robot teleoperation using keyboard control
  *
- * Direct port of Python lerobot teleoperate.py (keyboard portion)
- *
  * Example:
  * ```
  * npx lerobot teleoperate --robot.type=so100_follower --robot.port=COM4 --teleop.type=keyboard
  * ```
  */
 
-import type { RobotConfig } from "./robots/config.js";
 import { createSO100Follower } from "./robots/so100_follower.js";
-import { KeyboardController } from "./keyboard_teleop.js";
-
-/**
- * Teleoperate configuration interface
- * Matches Python lerobot teleoperate argument structure
- */
-export interface TeleoperateConfig {
-  robot: RobotConfig;
-  teleop: TeleoperatorConfig;
-  fps?: number; // Default: 60
-  step_size?: number; // Default: 10 (motor position units)
-  duration_s?: number | null; // Default: null (infinite)
-}
-
-export interface TeleoperatorConfig {
-  type: "keyboard"; // Only keyboard for now, expandable later
-}
+import { KeyboardController } from "./utils/keyboard-teleop.js";
+import type { TeleoperateConfig } from "./types/teleoperation.js";
 
 /**
  * Main teleoperate function
@@ -43,7 +25,6 @@ export async function teleoperate(config: TeleoperateConfig): Promise<void> {
     throw new Error("Only keyboard teleoperation is currently supported");
   }
 
-  const fps = config.fps || 60;
   const stepSize = config.step_size || 25;
   const duration = config.duration_s;
 
@@ -106,7 +87,7 @@ export async function teleoperate(config: TeleoperateConfig): Promise<void> {
     console.log("");
 
     // Start teleoperation control loop
-    await teleoperationLoop(keyboardController, robot, fps, duration || null);
+    await teleoperationLoop(keyboardController, robot, duration || null);
   } catch (error) {
     // Ensure we disconnect even if there's an error
     if (keyboardController) {
@@ -129,12 +110,10 @@ export async function teleoperate(config: TeleoperateConfig): Promise<void> {
 
 /**
  * Main teleoperation control loop
- * Provides real-time position feedback and performance metrics
  */
 async function teleoperationLoop(
   keyboardController: KeyboardController,
   robot: any,
-  fps: number,
   duration: number | null
 ): Promise<void> {
   console.log("Initializing teleoperation...");
@@ -143,7 +122,6 @@ async function teleoperationLoop(
   await keyboardController.start();
 
   const startTime = performance.now();
-  let loopCount = 0;
 
   // Set up graceful shutdown
   let running = true;
@@ -172,36 +150,6 @@ async function teleoperationLoop(
   }
 }
 
-/**
- * Display current robot status
- * Shows positions, ranges, and performance metrics
- */
-function displayStatus(
-  positions: Record<string, number>,
-  loopCount: number,
-  avgLoopTime: number
-): void {
-  // Clear screen and show current status
-  console.clear();
-  console.log("=== KEYBOARD TELEOPERATION ===");
-  console.log("");
-
-  console.log("Current Positions:");
-  for (const [motor, position] of Object.entries(positions)) {
-    console.log(`${motor}: ${Math.round(position)}`);
-  }
-
-  console.log("");
-  const fps = loopCount > 0 ? 1000 / avgLoopTime : 0;
-  console.log(
-    `Loop: ${avgLoopTime.toFixed(2)}ms (${fps.toFixed(
-      0
-    )} Hz) | Status: Connected`
-  );
-  console.log("");
-  console.log("Use arrow keys, WASD, Q/E, Space to control. ESC to stop.");
-}
-
 /**
  * Parse command line arguments in Python argparse style
  * Handles --robot.type=so100_follower --teleop.type=keyboard format

src/lerobot/node/teleoperators/so100_leader.ts

@@ -6,7 +6,7 @@
  */
 
 import { Teleoperator } from "./teleoperator.js";
-import type { TeleoperatorConfig } from "./config.js";
+import type { TeleoperatorConfig } from "../types/teleoperator-config.js";
 
 export class SO100Leader extends Teleoperator {
   constructor(config: TeleoperatorConfig) {

src/lerobot/node/teleoperators/teleoperator.ts

@@ -7,8 +7,8 @@
 import { SerialPort } from "serialport";
 import { mkdir, writeFile } from "fs/promises";
 import { join } from "path";
-import type { TeleoperatorConfig } from "./config.js";
-import { getCalibrationDir, TELEOPERATORS } from "../constants.js";
+import type { TeleoperatorConfig } from "../types/teleoperator-config.js";
+import { getCalibrationDir, TELEOPERATORS } from "../utils/constants.js";
 
 export abstract class Teleoperator {
   protected port: SerialPort | null = null;

src/lerobot/node/types/calibration.ts

@@ -0,0 +1,45 @@
+/**
+ * Calibration types for Node.js implementation
+ */
+
+import type { SerialPort } from "serialport";
+
+export interface SO100CalibrationConfig {
+  deviceType: "so100_follower" | "so100_leader";
+  port: SerialPort;
+  motorNames: string[];
+  motorIds: number[]; // Device-specific motor IDs (e.g., [1,2,3,4,5,6] for SO-100)
+  driveModes: number[];
+  calibModes: string[];
+
+  // Protocol-specific configuration
+  protocol: {
+    resolution: number; // Motor resolution (e.g., 4096 for STS3215)
+    homingOffsetAddress: number; // Register address for homing offset (e.g., 31 for STS3215)
+    homingOffsetLength: number; // Length in bytes for homing offset register
+    presentPositionAddress: number; // Register address for present position (e.g., 56 for STS3215)
+    presentPositionLength: number; // Length in bytes for present position register
+    minPositionLimitAddress: number; // Register address for min position limit (e.g., 9 for STS3215)
+    minPositionLimitLength: number; // Length in bytes for min position limit register
+    maxPositionLimitAddress: number; // Register address for max position limit (e.g., 11 for STS3215)
+    maxPositionLimitLength: number; // Length in bytes for max position limit register
+    signMagnitudeBit: number; // Sign bit index for homing offset encoding (e.g., 11 for STS3215)
+  };
+
+  limits: {
+    position_min: number[];
+    position_max: number[];
+    velocity_max: number[];
+    torque_max: number[];
+  };
+}
+
+export interface CalibrationResults {
+  [motorName: string]: {
+    id: number;
+    drive_mode: number;
+    homing_offset: number;
+    range_min: number;
+    range_max: number;
+  };
+}

src/lerobot/node/{robots/config.ts → types/robot-config.ts}

@@ -1,10 +1,7 @@
 /**
- * Robot configuration types
- * Shared between Node.js and Web implementations
+ * Robot configuration types for Node.js implementation
  */
 
-import type { TeleoperatorConfig } from "../teleoperators/config.js";
-
 export interface RobotConfig {
   type: "so100_follower";
   port: string;
@@ -20,3 +17,7 @@ export interface CalibrateConfig {
   robot?: RobotConfig;
   teleop?: TeleoperatorConfig;
 }
+
+// Re-export from teleoperator-config for convenience
+import type { TeleoperatorConfig } from "./teleoperator-config.js";
+export type { TeleoperatorConfig };

src/lerobot/node/types/teleoperation.ts

@@ -0,0 +1,17 @@
+/**
+ * Teleoperation types for Node.js implementation
+ */
+
+import type { RobotConfig } from "./robot-config.js";
+
+export interface TeleoperateConfig {
+  robot: RobotConfig;
+  teleop: KeyboardTeleoperationConfig;
+  fps?: number; // Default: 60
+  step_size?: number; // Default: 10 (motor position units)
+  duration_s?: number | null; // Default: null (infinite)
+}
+
+export interface KeyboardTeleoperationConfig {
+  type: "keyboard"; // Only keyboard for now, expandable later
+}

src/lerobot/node/{teleoperators/config.ts → types/teleoperator-config.ts}

@@ -1,6 +1,5 @@
 /**
- * Teleoperator configuration types
- * Shared between Node.js and Web implementations
+ * Teleoperator configuration types for Node.js implementation
  */
 
 export interface TeleoperatorConfig {

src/lerobot/node/{keyboard_teleop.ts → utils/keyboard-teleop.ts}

@@ -4,7 +4,7 @@
  */
 
 import * as readline from "readline";
-import { SO100Follower } from "./robots/so100_follower.js";
+import { SO100Follower } from "../robots/so100_follower.js";
 
 /**
  * Keyboard controller for robot teleoperation

src/lerobot/web/robots/robot.ts

@@ -3,7 +3,7 @@
  * Uses Web Serial API for serial communication
  */
 
-import type { RobotConfig } from "../../node/robots/config.js";
+import type { RobotConfig } from "../../node/types/robot-config.js";
 
 // Web Serial API type declarations (minimal for our needs)
 declare global {