File size: 2,461 Bytes
0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 | # Copyright 2025 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.
"""Thread-safe robot wrapper for concurrent observation/action access."""
from __future__ import annotations
from threading import Lock
from typing import Any
from lerobot.robots import Robot
class ThreadSafeRobot:
"""Lock-protected wrapper around a :class:`Robot` for use with background threads.
When RTC inference runs in a background thread while the main loop
executes actions, both threads may access the robot concurrently.
This wrapper serialises ``get_observation`` and ``send_action`` calls.
Read-only properties are proxied without the lock since they don't
mutate hardware state.
"""
def __init__(self, robot: Robot) -> None:
self._robot = robot
self._lock = Lock()
# -- Lock-protected I/O --------------------------------------------------
def get_observation(self) -> dict[str, Any]:
with self._lock:
return self._robot.get_observation()
def send_action(self, action: dict[str, Any] | Any) -> Any:
with self._lock:
return self._robot.send_action(action)
# -- Read-only proxies (no lock needed) -----------------------------------
@property
def observation_features(self) -> dict:
return self._robot.observation_features
@property
def action_features(self) -> dict:
return self._robot.action_features
@property
def name(self) -> str:
return self._robot.name
@property
def robot_type(self) -> str:
return self._robot.robot_type
@property
def cameras(self):
return getattr(self._robot, "cameras", {})
@property
def is_connected(self) -> bool:
return self._robot.is_connected
@property
def inner(self) -> Robot:
"""Access the underlying robot (e.g. for connect/disconnect)."""
return self._robot
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