Robot Overview

from lerobot.robots import Robot, RobotConfig
from lerobot.robots.utils import make_robot_from_config

# Load a robot from configuration
robot = make_robot_from_config(config)

# Or use context manager (auto connect/disconnect)
with robot:
    observation = robot.get_observation()
    robot.send_action(action)

from dataclasses import dataclass
from lerobot.robots import RobotConfig
from lerobot.cameras import CameraConfig

@RobotConfig.register_subclass("my_robot")
@dataclass
class MyRobotConfig(RobotConfig):
    # Robot-specific parameters
    port: str
    cameras: dict[str, CameraConfig]

from lerobot.cameras.opencv import OpenCVCameraConfig

config = RobotConfig(
    cameras={
        "top": OpenCVCameraConfig(
            index_or_path=0,
            fps=30,
            width=640,
            height=480
        )
    }
)

# Calibration is automatically prompted on first connection
with robot:
    pass  # Robot will guide you through calibration

# Or manually trigger calibration
robot.connect(calibrate=True)
robot.calibrate()

config = RobotConfig(
    # Limit maximum change per action for safety
    max_relative_target=10.0,  # degrees or normalized units
    
    # Disable torque when disconnecting
    disable_torque_on_disconnect=True
)