| import abc |
| from pathlib import Path |
| from typing import Any, Type |
|
|
| import draccus |
|
|
| from .config import RobotConfig |
|
|
|
|
| |
| |
| class Robot(abc.ABC): |
| """ |
| The base abstract class for all LeRobot-compatible robots. |
| |
| This class provides a standardized interface for interacting with physical robots. |
| Subclasses must implement all abstract methods and properties to be usable. |
| |
| Attributes: |
| config_class (RobotConfig): The expected configuration class for this robot. |
| name (str): The unique robot name used to identify this robot type. |
| """ |
|
|
| |
| config_class: Type[RobotConfig] |
| name: str |
|
|
| def __init__(self, config: RobotConfig): |
| self.robot_type = self.name |
| self.id = config.id |
|
|
| def __str__(self) -> str: |
| return f"{self.id} {self.__class__.__name__}" |
|
|
| |
| @property |
| @abc.abstractmethod |
| def observation_features(self) -> dict: |
| """ |
| A dictionary describing the structure and types of the observations produced by the robot. |
| Its structure (keys) should match the structure of what is returned by :pymeth:`get_observation`. |
| Values for the dict should either be: |
| - The type of the value if it's a simple value, e.g. `float` for single proprioceptive value (a joint's position/velocity) |
| - A tuple representing the shape if it's an array-type value, e.g. `(height, width, channel)` for images |
| |
| Note: this property should be able to be called regardless of whether the robot is connected or not. |
| """ |
| pass |
|
|
| @property |
| @abc.abstractmethod |
| def action_features(self) -> dict: |
| """ |
| A dictionary describing the structure and types of the actions expected by the robot. Its structure |
| (keys) should match the structure of what is passed to :pymeth:`send_action`. Values for the dict |
| should be the type of the value if it's a simple value, e.g. `float` for single proprioceptive value |
| (a joint's goal position/velocity) |
| |
| Note: this property should be able to be called regardless of whether the robot is connected or not. |
| """ |
| pass |
|
|
| @property |
| @abc.abstractmethod |
| def is_connected(self) -> bool: |
| """ |
| Whether the robot is currently connected or not. If `False`, calling :pymeth:`get_observation` or |
| :pymeth:`send_action` should raise an error. |
| """ |
| pass |
|
|
| @abc.abstractmethod |
| def connect(self) -> None: |
| """ |
| Establish communication with the robot. |
| |
| Args: |
| calibrate (bool): If True, automatically calibrate the robot after connecting if it's not |
| calibrated or needs calibration (this is hardware-dependant). |
| """ |
| pass |
|
|
| @abc.abstractmethod |
| def get_observation(self) -> dict[str, Any]: |
| """ |
| Retrieve the current observation from the robot. |
| |
| Returns: |
| dict[str, Any]: A flat dictionary representing the robot's current sensory state. Its structure |
| should match :pymeth:`observation_features`. |
| """ |
|
|
| pass |
|
|
| @abc.abstractmethod |
| def get_action(self) -> dict[str, Any]: |
| """ |
| Retrieve the last action sent to the robot. |
| |
| Returns: |
| dict[str, Any]: A flat dictionary representing the last action sent to the robot. Its structure |
| should match :pymeth:`action_features`. |
| """ |
| pass |
|
|
| @abc.abstractmethod |
| def send_action(self, action: dict[str, Any]) -> dict[str, Any]: |
| """ |
| Send an action command to the robot. |
| |
| Args: |
| action (dict[str, Any]): Dictionary representing the desired action. Its structure should match |
| :pymeth:`action_features`. |
| |
| Returns: |
| dict[str, Any]: The action actually sent to the motors potentially clipped or modified, e.g. by |
| safety limits on velocity. |
| """ |
| pass |
|
|
| @abc.abstractmethod |
| def disconnect(self) -> None: |
| """Disconnect from the robot and perform any necessary cleanup.""" |
| pass |
|
|
