Robots

Robots implement a structural interface, so inheritance is not required.

class MyRobot:
    joint_names = ["shoulder", "elbow", "wrist"]

    def connect(self) -> None: ...
    def disconnect(self) -> None: ...
    def get_observation(self) -> MyObservation: ...
    def send_action(self, action, *, goal_time: float = 0.1) -> None: ...
    def is_connected(self) -> bool: ...

Observation

A robot observation should expose at least the following fields.

joint_positions: np.ndarray
timestamp: float
sensor_data: dict[str, np.ndarray] | None
images: dict[str, Frame] | None

Action Contract

send_action() receives a single action vector whose order matches joint_names.

action.shape == (len(robot.joint_names),)

Robot implementations are responsible for leaving the hardware in a safe state on disconnect.