docs/articles_en/physical-ai/explanation/robots.md
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: ...
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
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.