Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>

examples/lekiwi/teleoperate.py

@@ -0,0 +1,32 @@
+from lerobot.common.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
+from lerobot.common.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
+from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
+
+robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi")
+
+teleop__arm_config = SO100LeaderConfig(
+    port="/dev/tty.usbmodem58760431551",
+    id="my_awesome_leader_arm",
+)
+
+teleop_keyboard_config = KeyboardTeleopConfig(
+    id="my_laptop_keyboard",
+)
+
+robot = LeKiwiClient(robot_config)
+teleop_arm = SO100Leader(teleop__arm_config)
+telep_keyboard = KeyboardTeleop(teleop_keyboard_config)
+robot.connect()
+teleop_arm.connect()
+telep_keyboard.connect()
+
+while True:
+    observation = robot.get_observation()
+
+    arm_action = teleop_arm.get_action()
+    arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
+
+    keyboard_keys = telep_keyboard.get_action()
+    base_action = robot._from_keyboard_to_base_action(keyboard_keys)
+
+    robot.send_action(arm_action | base_action)