Bring Your Own Hardware
This tutorial will explain how to integrate your own robot design into the LeRobot ecosystem and have it access all of our tools.
- data collection
- control pipelines
- policy training
policy inference
# 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
import builtins
from pathlib import Path
import draccus
from lerobot.motors import MotorCalibration
from lerobot.types import RobotAction, RobotObservation
from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, ROBOTS
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 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.
"""
# Set these in ALL subclasses
config_class: builtins.type[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__}"
def __enter__(self):
"""
Context manager entry.
Automatically connects to the camera.
"""
self.connect()
return self
def __exit__(self, exc_type, exc_value, traceback) -> None:
"""
Context manager exit.
Automatically disconnects, ensuring resources are released even on error.
"""
self.disconnect()
def __del__(self) -> None:
"""
Destructor safety net.
Attempts to disconnect if the object is garbage collected without cleanup.
"""
try:
if self.is_connected:
self.disconnect()
except Exception: # nosec B110
pass
# TODO(aliberts): create a proper Feature class for this that links with datasets
@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, calibrate: bool = True) -> 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
@property
@abc.abstractmethod
def is_calibrated(self) -> bool:
"""Whether the robot is currently calibrated or not. Should be always `True` if not applicable"""
pass
@abc.abstractmethod
def calibrate(self) -> None:
"""
Calibrate the robot if applicable. If not, this should be a no-op.
This method should collect any necessary data (e.g., motor offsets) and update the
:pyattr:`calibration` dictionary accordingly.
"""
pass
def _load_calibration(self, fpath: Path | None = None) -> None:
"""
Helper to load calibration data from the specified file.
Args:
fpath (Path | None): Optional path to the calibration file. Defaults to `self.calibration_fpath`.
"""
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:
"""
Helper to save calibration data to the specified file.
Args:
fpath (Path | None): Optional path to save the calibration file. Defaults to `self.calibration_fpath`.
"""
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:
"""
Apply any one-time or runtime configuration to the robot.
This may include setting motor parameters, control modes, or initial state.
"""
pass
@abc.abstractmethod
def get_observation(self) -> RobotObservation:
"""
Retrieve the current observation from the robot.
Returns:
RobotObservation: A flat dictionary representing the robot's current sensory state. Its structure
should match :pymeth:`observation_features`.
"""
pass
@abc.abstractmethod
def send_action(self, action: RobotAction) -> RobotAction:
"""
Send an action command to the robot.
Args:
action (RobotAction): Dictionary representing the desired action. Its structure should match
:pymeth:`action_features`.
Returns:
RobotAction: 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
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