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>

lerobot/common/robots/robot.py

@@ -0,0 +1,109 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import abc
+from pathlib import Path
+from typing import Any
+
+import draccus
+
+from lerobot.common.constants import HF_LEROBOT_CALIBRATION, ROBOTS
+from lerobot.common.motors import MotorCalibration
+
+from .config import RobotConfig
+
+
+# TODO(aliberts): action/obs typing such as Generic[ObsType, ActType] similar to gym.Env ?
+# https://github.com/Farama-Foundation/Gymnasium/blob/3287c869f9a48d99454306b0d4b4ec537f0f35e3/gymnasium/core.py#L23
+class Robot(abc.ABC):
+    """The main LeRobot class for implementing robots."""
+
+    # Set these in ALL subclasses
+    config_class: RobotConfig
+    name: str
+
+    def __init__(self, config: RobotConfig):
+        self.robot_type = self.name
+        self.id = config.id
+        self.calibration_dir = (
+            config.calibration_dir if config.calibration_dir else HF_LEROBOT_CALIBRATION / ROBOTS / self.name
+        )
+        self.calibration_dir.mkdir(parents=True, exist_ok=True)
+        self.calibration_fpath = self.calibration_dir / f"{self.id}.json"
+        self.calibration: dict[str, MotorCalibration] = {}
+        if self.calibration_fpath.is_file():
+            self._load_calibration()
+
+    def __str__(self) -> str:
+        return f"{self.id} {self.__class__.__name__}"
+
+    # TODO(aliberts): create a proper Feature class for this that links with datasets
+    @property
+    @abc.abstractmethod
+    def observation_features(self) -> dict:
+        pass
+
+    @property
+    @abc.abstractmethod
+    def action_features(self) -> dict:
+        pass
+
+    @property
+    @abc.abstractmethod
+    def is_connected(self) -> bool:
+        pass
+
+    @abc.abstractmethod
+    def connect(self, calibrate: bool = True) -> None:
+        """Connects to the robot."""
+        pass
+
+    @property
+    @abc.abstractmethod
+    def is_calibrated(self) -> bool:
+        pass
+
+    @abc.abstractmethod
+    def calibrate(self) -> None:
+        """Calibrates the robot."""
+        pass
+
+    def _load_calibration(self, fpath: Path | None = None) -> None:
+        fpath = self.calibration_fpath if fpath is None else fpath
+        with open(fpath) as f, draccus.config_type("json"):
+            self.calibration = draccus.load(dict[str, MotorCalibration], f)
+
+    def _save_calibration(self, fpath: Path | None = None) -> None:
+        fpath = self.calibration_fpath if fpath is None else fpath
+        with open(fpath, "w") as f, draccus.config_type("json"):
+            draccus.dump(self.calibration, f, indent=4)
+
+    @abc.abstractmethod
+    def configure(self) -> None:
+        pass
+
+    @abc.abstractmethod
+    def get_observation(self) -> dict[str, Any]:
+        """Gets observation from the robot."""
+        pass
+
+    @abc.abstractmethod
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+        """Sends actions to the robot."""
+        pass
+
+    @abc.abstractmethod
+    def disconnect(self) -> None:
+        """Disconnects from the robot."""
+        pass