diff --git a/ufactory_lerobot/__init__.py b/src/ufactory_lerobot/__init__.py
similarity index 100%
rename from ufactory_lerobot/__init__.py
rename to src/ufactory_lerobot/__init__.py
diff --git a/ufactory_lerobot/cameras/__init__.py b/src/ufactory_lerobot/cameras/__init__.py
similarity index 100%
rename from ufactory_lerobot/cameras/__init__.py
rename to src/ufactory_lerobot/cameras/__init__.py
diff --git a/ufactory_lerobot/cameras/umi_camera/__init__.py b/src/ufactory_lerobot/cameras/umi_camera/__init__.py
similarity index 100%
rename from ufactory_lerobot/cameras/umi_camera/__init__.py
rename to src/ufactory_lerobot/cameras/umi_camera/__init__.py
diff --git a/ufactory_lerobot/cameras/umi_camera/camera_umi.py b/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py
similarity index 100%
rename from ufactory_lerobot/cameras/umi_camera/camera_umi.py
rename to src/ufactory_lerobot/cameras/umi_camera/camera_umi.py
diff --git a/ufactory_lerobot/cameras/umi_camera/configuration_umi.py b/src/ufactory_lerobot/cameras/umi_camera/configuration_umi.py
similarity index 100%
rename from ufactory_lerobot/cameras/umi_camera/configuration_umi.py
rename to src/ufactory_lerobot/cameras/umi_camera/configuration_umi.py
diff --git a/ufactory_lerobot/cameras/utils.py b/src/ufactory_lerobot/cameras/utils.py
similarity index 100%
rename from ufactory_lerobot/cameras/utils.py
rename to src/ufactory_lerobot/cameras/utils.py
diff --git a/ufactory_lerobot/devices/__init__.py b/src/ufactory_lerobot/devices/__init__.py
similarity index 100%
rename from ufactory_lerobot/devices/__init__.py
rename to src/ufactory_lerobot/devices/__init__.py
diff --git a/ufactory_lerobot/devices/pika/__init__.py b/src/ufactory_lerobot/devices/pika/__init__.py
similarity index 100%
rename from ufactory_lerobot/devices/pika/__init__.py
rename to src/ufactory_lerobot/devices/pika/__init__.py
diff --git a/ufactory_lerobot/devices/pika/pika_device.py b/src/ufactory_lerobot/devices/pika/pika_device.py
similarity index 100%
rename from ufactory_lerobot/devices/pika/pika_device.py
rename to src/ufactory_lerobot/devices/pika/pika_device.py
diff --git a/ufactory_lerobot/devices/umi/__init__.py b/src/ufactory_lerobot/devices/umi/__init__.py
similarity index 100%
rename from ufactory_lerobot/devices/umi/__init__.py
rename to src/ufactory_lerobot/devices/umi/__init__.py
diff --git a/ufactory_lerobot/devices/umi/vive_tracker/__init__.py b/src/ufactory_lerobot/devices/umi/vive_tracker/__init__.py
similarity index 100%
rename from ufactory_lerobot/devices/umi/vive_tracker/__init__.py
rename to src/ufactory_lerobot/devices/umi/vive_tracker/__init__.py
diff --git a/ufactory_lerobot/devices/umi/vive_tracker/transformations.py b/src/ufactory_lerobot/devices/umi/vive_tracker/transformations.py
similarity index 100%
rename from ufactory_lerobot/devices/umi/vive_tracker/transformations.py
rename to src/ufactory_lerobot/devices/umi/vive_tracker/transformations.py
diff --git a/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py b/src/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py
similarity index 100%
rename from ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py
rename to src/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py
diff --git a/ufactory_lerobot/devices/umi/xvlib/__init__.py b/src/ufactory_lerobot/devices/umi/xvlib/__init__.py
similarity index 100%
rename from ufactory_lerobot/devices/umi/xvlib/__init__.py
rename to src/ufactory_lerobot/devices/umi/xvlib/__init__.py
diff --git a/ufactory_lerobot/devices/umi/xvlib/xvlib.py b/src/ufactory_lerobot/devices/umi/xvlib/xvlib.py
similarity index 100%
rename from ufactory_lerobot/devices/umi/xvlib/xvlib.py
rename to src/ufactory_lerobot/devices/umi/xvlib/xvlib.py
diff --git a/ufactory_lerobot/robots/__init__.py b/src/ufactory_lerobot/robots/__init__.py
similarity index 100%
rename from ufactory_lerobot/robots/__init__.py
rename to src/ufactory_lerobot/robots/__init__.py
diff --git a/ufactory_lerobot/robots/uf_mock_robot/__init__.py b/src/ufactory_lerobot/robots/uf_mock_robot/__init__.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_mock_robot/__init__.py
rename to src/ufactory_lerobot/robots/uf_mock_robot/__init__.py
diff --git a/ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot.py b/src/ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot.py
rename to src/ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot.py
diff --git a/ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot_config.py b/src/ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot_config.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot_config.py
rename to src/ufactory_lerobot/robots/uf_mock_robot/multiple_uf_mock_robot_config.py
diff --git a/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py b/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py
rename to src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py
diff --git a/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py b/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py
rename to src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py
diff --git a/ufactory_lerobot/robots/uf_robot/__init__.py b/src/ufactory_lerobot/robots/uf_robot/__init__.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_robot/__init__.py
rename to src/ufactory_lerobot/robots/uf_robot/__init__.py
diff --git a/ufactory_lerobot/robots/uf_robot/multiple_uf_robot.py b/src/ufactory_lerobot/robots/uf_robot/multiple_uf_robot.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_robot/multiple_uf_robot.py
rename to src/ufactory_lerobot/robots/uf_robot/multiple_uf_robot.py
diff --git a/ufactory_lerobot/robots/uf_robot/multiple_uf_robot_config.py b/src/ufactory_lerobot/robots/uf_robot/multiple_uf_robot_config.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_robot/multiple_uf_robot_config.py
rename to src/ufactory_lerobot/robots/uf_robot/multiple_uf_robot_config.py
diff --git a/ufactory_lerobot/robots/uf_robot/uf_robot.py b/src/ufactory_lerobot/robots/uf_robot/uf_robot.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_robot/uf_robot.py
rename to src/ufactory_lerobot/robots/uf_robot/uf_robot.py
diff --git a/ufactory_lerobot/robots/uf_robot/uf_robot_config.py b/src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py
similarity index 100%
rename from ufactory_lerobot/robots/uf_robot/uf_robot_config.py
rename to src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py
diff --git a/ufactory_lerobot/robots/utils.py b/src/ufactory_lerobot/robots/utils.py
similarity index 100%
rename from ufactory_lerobot/robots/utils.py
rename to src/ufactory_lerobot/robots/utils.py
diff --git a/ufactory_lerobot/scripts/uf_lerobot_eval.py b/src/ufactory_lerobot/scripts/uf_lerobot_eval.py
similarity index 100%
rename from ufactory_lerobot/scripts/uf_lerobot_eval.py
rename to src/ufactory_lerobot/scripts/uf_lerobot_eval.py
diff --git a/ufactory_lerobot/scripts/uf_lerobot_record.py b/src/ufactory_lerobot/scripts/uf_lerobot_record.py
similarity index 100%
rename from ufactory_lerobot/scripts/uf_lerobot_record.py
rename to src/ufactory_lerobot/scripts/uf_lerobot_record.py
diff --git a/ufactory_lerobot/scripts/uf_robot_teleop.py b/src/ufactory_lerobot/scripts/uf_robot_teleop.py
similarity index 100%
rename from ufactory_lerobot/scripts/uf_robot_teleop.py
rename to src/ufactory_lerobot/scripts/uf_robot_teleop.py
diff --git a/src/ufactory_lerobot/scripts/vive_calibrate.py b/src/ufactory_lerobot/scripts/vive_calibrate.py
new file mode 100644
index 0000000..7e4eaf5
--- /dev/null
+++ b/src/ufactory_lerobot/scripts/vive_calibrate.py
@@ -0,0 +1,33 @@
+import os
+import sys
+import time
+import pysurvive
+
+argv = sys.argv.copy()
+if '--force-calibrate' not in argv:
+    argv.append('--force-calibrate')
+if '--v' not in argv:
+    argv.append('--v')
+    argv.append('100')
+
+config_path = os.path.join(os.path.expanduser('~'), '.config', 'libsurvive', 'config.json')
+if os.path.exists(config_path):
+    print('Remove config: {}'.format(config_path))
+    os.remove(config_path)
+ctx = pysurvive.SimpleContext(argv)
+
+for obj in ctx.Objects():
+    print("*device:", obj.Name())
+
+next_print_time = time.monotonic()
+while ctx.Running():
+    updated = ctx.NextUpdated()
+    if updated:
+        pose, ts = updated.Pose()
+        name = updated.Name().decode("utf-8")
+        serial_number = None
+        if hasattr(pysurvive, "simple_serial_number"):
+            serial_number = pysurvive.simple_serial_number(updated.ptr).decode("utf-8")
+        pos = [pose.Pos[0], pose.Pos[1], pose.Pos[2]]
+        rot = [pose.Rot[0], pose.Rot[1], pose.Rot[2], pose.Rot[3]]
+        print('[{}][{}] POS: {}, ROT: {}'.format(name, serial_number, pos, rot))
diff --git a/ufactory_lerobot/teleoperators/__init__.py b/src/ufactory_lerobot/teleoperators/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/__init__.py
rename to src/ufactory_lerobot/teleoperators/__init__.py
diff --git a/ufactory_lerobot/teleoperators/base_teleop/__init__.py b/src/ufactory_lerobot/teleoperators/base_teleop/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/base_teleop/__init__.py
rename to src/ufactory_lerobot/teleoperators/base_teleop/__init__.py
diff --git a/ufactory_lerobot/teleoperators/base_teleop/base_teleop.py b/src/ufactory_lerobot/teleoperators/base_teleop/base_teleop.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/base_teleop/base_teleop.py
rename to src/ufactory_lerobot/teleoperators/base_teleop/base_teleop.py
diff --git a/ufactory_lerobot/teleoperators/gello_teleop/__init__.py b/src/ufactory_lerobot/teleoperators/gello_teleop/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/gello_teleop/__init__.py
rename to src/ufactory_lerobot/teleoperators/gello_teleop/__init__.py
diff --git a/ufactory_lerobot/teleoperators/gello_teleop/gello_teleop.py b/src/ufactory_lerobot/teleoperators/gello_teleop/gello_teleop.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/gello_teleop/gello_teleop.py
rename to src/ufactory_lerobot/teleoperators/gello_teleop/gello_teleop.py
diff --git a/ufactory_lerobot/teleoperators/gello_teleop/gello_teleop_config.py b/src/ufactory_lerobot/teleoperators/gello_teleop/gello_teleop_config.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/gello_teleop/gello_teleop_config.py
rename to src/ufactory_lerobot/teleoperators/gello_teleop/gello_teleop_config.py
diff --git a/ufactory_lerobot/teleoperators/pika_teleop/__init__.py b/src/ufactory_lerobot/teleoperators/pika_teleop/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/pika_teleop/__init__.py
rename to src/ufactory_lerobot/teleoperators/pika_teleop/__init__.py
diff --git a/ufactory_lerobot/teleoperators/pika_teleop/pika_teleop.py b/src/ufactory_lerobot/teleoperators/pika_teleop/pika_teleop.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/pika_teleop/pika_teleop.py
rename to src/ufactory_lerobot/teleoperators/pika_teleop/pika_teleop.py
diff --git a/ufactory_lerobot/teleoperators/pika_teleop/pika_teleop_config.py b/src/ufactory_lerobot/teleoperators/pika_teleop/pika_teleop_config.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/pika_teleop/pika_teleop_config.py
rename to src/ufactory_lerobot/teleoperators/pika_teleop/pika_teleop_config.py
diff --git a/ufactory_lerobot/teleoperators/space_mouse/__init__.py b/src/ufactory_lerobot/teleoperators/space_mouse/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/space_mouse/__init__.py
rename to src/ufactory_lerobot/teleoperators/space_mouse/__init__.py
diff --git a/ufactory_lerobot/teleoperators/space_mouse/space_mouse.py b/src/ufactory_lerobot/teleoperators/space_mouse/space_mouse.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/space_mouse/space_mouse.py
rename to src/ufactory_lerobot/teleoperators/space_mouse/space_mouse.py
diff --git a/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py b/src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py
rename to src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py
diff --git a/ufactory_lerobot/teleoperators/uf_mock_teleop/__init__.py b/src/ufactory_lerobot/teleoperators/uf_mock_teleop/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/uf_mock_teleop/__init__.py
rename to src/ufactory_lerobot/teleoperators/uf_mock_teleop/__init__.py
diff --git a/ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop.py b/src/ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop.py
rename to src/ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop.py
diff --git a/ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop_config.py b/src/ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop_config.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop_config.py
rename to src/ufactory_lerobot/teleoperators/uf_mock_teleop/uf_mock_teleop_config.py
diff --git a/ufactory_lerobot/teleoperators/umi_teleop/__init__.py b/src/ufactory_lerobot/teleoperators/umi_teleop/__init__.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/umi_teleop/__init__.py
rename to src/ufactory_lerobot/teleoperators/umi_teleop/__init__.py
diff --git a/ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop.py b/src/ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop.py
rename to src/ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop.py
diff --git a/ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop_config.py b/src/ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop_config.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop_config.py
rename to src/ufactory_lerobot/teleoperators/umi_teleop/multiple_umi_teleop_config.py
diff --git a/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py b/src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py
rename to src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py
diff --git a/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop_config.py b/src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop_config.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/umi_teleop/umi_teleop_config.py
rename to src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop_config.py
diff --git a/ufactory_lerobot/teleoperators/utils.py b/src/ufactory_lerobot/teleoperators/utils.py
similarity index 100%
rename from ufactory_lerobot/teleoperators/utils.py
rename to src/ufactory_lerobot/teleoperators/utils.py
diff --git a/ufactory_lerobot/utils/__init__.py b/src/ufactory_lerobot/utils/__init__.py
similarity index 100%
rename from ufactory_lerobot/utils/__init__.py
rename to src/ufactory_lerobot/utils/__init__.py
diff --git a/ufactory_lerobot/utils/utils.py b/src/ufactory_lerobot/utils/utils.py
similarity index 100%
rename from ufactory_lerobot/utils/utils.py
rename to src/ufactory_lerobot/utils/utils.py