feat(scripts): lerobot-rollout

src/lerobot/rollout/robot_wrapper.py

@@ -0,0 +1,79 @@
+# 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