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| { | |
| "openapi": "3.1.0", | |
| "info": { | |
| "title": "LeRobot Arena AI Server", | |
| "summary": "ACT Model Inference Server for Real-time Robot Control", | |
| "description": "\n ## LeRobot Arena AI Server\n\n This server provides **ACT (Action Chunking Transformer)** model inference for robotics applications.\n It uses the LeRobot Arena communication system with multiple rooms per session for:\n\n ### Core Features:\n - 🎥 **Multi-camera support**: Arbitrary number of camera streams with unique names\n - 🤖 **Joint control**: Normalized joint value handling (-100 to +100 range)\n - 🔄 **Real-time inference**: Optimized for robotics control loops\n - 📊 **Session management**: Multiple concurrent inference sessions\n - 🛠️ **Debug endpoints**: Comprehensive monitoring and debugging tools\n\n ### Communication Architecture:\n 1. **Camera rooms**: Receives video streams from robot cameras (supports multiple cameras)\n 2. **Joint input room**: Receives current robot joint positions (**NORMALIZED VALUES**)\n 3. **Joint output room**: Sends predicted joint commands (**NORMALIZED VALUES**)\n\n ### Supported Cameras:\n Each camera stream has a unique name (e.g., \"front\", \"wrist\", \"overhead\") \n and all streams are synchronized for inference.\n\n ### Joint Value Convention:\n - All joint inputs/outputs use **NORMALIZED VALUES**\n - Range: -100 to +100 for most joints, 0 to 100 for gripper\n - Matches training data format exactly\n\n ### Getting Started:\n 1. Create a session with your trained ACT model\n 2. Connect your robot to the generated rooms\n 3. Start inference to begin real-time control\n ", | |
| "version": "1.0.0", | |
| "contact": { | |
| "name": "LeRobot Arena Team", | |
| "url": "https://github.com/huggingface/lerobot" | |
| }, | |
| "license": { | |
| "name": "Apache 2.0", | |
| "url": "https://www.apache.org/licenses/LICENSE-2.0.html" | |
| }, | |
| "x-logo": { | |
| "url": "https://huggingface.co/datasets/huggingface/brand-assets/resolve/main/hf-logo.png", | |
| "altText": "LeRobot Logo" | |
| } | |
| }, | |
| "paths": { | |
| "/": { | |
| "get": { | |
| "tags": [ | |
| "Health" | |
| ], | |
| "summary": "Root", | |
| "description": "Health check endpoint.", | |
| "operationId": "root__get", | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/health": { | |
| "get": { | |
| "tags": [ | |
| "Health" | |
| ], | |
| "summary": "Health Check", | |
| "description": "Detailed health check.", | |
| "operationId": "health_check_health_get", | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/sessions": { | |
| "get": { | |
| "tags": [ | |
| "Sessions" | |
| ], | |
| "summary": "List Sessions", | |
| "description": "List all sessions.", | |
| "operationId": "list_sessions_sessions_get", | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "items": { | |
| "$ref": "#/components/schemas/SessionStatusResponse" | |
| }, | |
| "type": "array", | |
| "title": "Response List Sessions Sessions Get" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "post": { | |
| "tags": [ | |
| "Sessions" | |
| ], | |
| "summary": "Create Session", | |
| "description": "Create a new inference session.\n\nIf workspace_id is provided, all rooms will be created in that workspace.\nIf workspace_id is not provided, a new workspace will be generated automatically.\nAll rooms for a session (cameras + joints) are always created in the same workspace.", | |
| "operationId": "create_session_sessions_post", | |
| "requestBody": { | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/CreateSessionRequest" | |
| } | |
| } | |
| }, | |
| "required": true | |
| }, | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/CreateSessionResponse" | |
| } | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/sessions/{session_id}": { | |
| "get": { | |
| "tags": [ | |
| "Sessions" | |
| ], | |
| "summary": "Get Session Status", | |
| "description": "Get status of a specific session.", | |
| "operationId": "get_session_status_sessions__session_id__get", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/SessionStatusResponse" | |
| } | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "delete": { | |
| "tags": [ | |
| "Sessions" | |
| ], | |
| "summary": "Delete Session", | |
| "description": "Delete a session.", | |
| "operationId": "delete_session_sessions__session_id__delete", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/sessions/{session_id}/start": { | |
| "post": { | |
| "tags": [ | |
| "Control" | |
| ], | |
| "summary": "Start Inference", | |
| "description": "Start inference for a session.", | |
| "operationId": "start_inference_sessions__session_id__start_post", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/sessions/{session_id}/stop": { | |
| "post": { | |
| "tags": [ | |
| "Control" | |
| ], | |
| "summary": "Stop Inference", | |
| "description": "Stop inference for a session.", | |
| "operationId": "stop_inference_sessions__session_id__stop_post", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/sessions/{session_id}/restart": { | |
| "post": { | |
| "tags": [ | |
| "Control" | |
| ], | |
| "summary": "Restart Inference", | |
| "description": "Restart inference for a session.", | |
| "operationId": "restart_inference_sessions__session_id__restart_post", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/debug/system": { | |
| "get": { | |
| "tags": [ | |
| "Debug" | |
| ], | |
| "summary": "Get System Info", | |
| "description": "Get system information for debugging.", | |
| "operationId": "get_system_info_debug_system_get", | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/debug/logs": { | |
| "get": { | |
| "tags": [ | |
| "Debug" | |
| ], | |
| "summary": "Get Recent Logs", | |
| "description": "Get recent log entries for debugging.", | |
| "operationId": "get_recent_logs_debug_logs_get", | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/debug/sessions/{session_id}/reset": { | |
| "post": { | |
| "tags": [ | |
| "Debug" | |
| ], | |
| "summary": "Debug Reset Session", | |
| "description": "Reset a session's internal state for debugging.", | |
| "operationId": "debug_reset_session_debug_sessions__session_id__reset_post", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "/debug/sessions/{session_id}/queue": { | |
| "get": { | |
| "tags": [ | |
| "Debug" | |
| ], | |
| "summary": "Get Session Queue Info", | |
| "description": "Get detailed information about a session's action queue.", | |
| "operationId": "get_session_queue_info_debug_sessions__session_id__queue_get", | |
| "parameters": [ | |
| { | |
| "name": "session_id", | |
| "in": "path", | |
| "required": true, | |
| "schema": { | |
| "type": "string", | |
| "title": "Session Id" | |
| } | |
| } | |
| ], | |
| "responses": { | |
| "200": { | |
| "description": "Successful Response", | |
| "content": { | |
| "application/json": { | |
| "schema": {} | |
| } | |
| } | |
| }, | |
| "422": { | |
| "description": "Validation Error", | |
| "content": { | |
| "application/json": { | |
| "schema": { | |
| "$ref": "#/components/schemas/HTTPValidationError" | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "components": { | |
| "schemas": { | |
| "CreateSessionRequest": { | |
| "properties": { | |
| "session_id": { | |
| "type": "string", | |
| "title": "Session Id" | |
| }, | |
| "policy_path": { | |
| "type": "string", | |
| "title": "Policy Path" | |
| }, | |
| "camera_names": { | |
| "items": { | |
| "type": "string" | |
| }, | |
| "type": "array", | |
| "title": "Camera Names", | |
| "default": [ | |
| "front" | |
| ] | |
| }, | |
| "arena_server_url": { | |
| "type": "string", | |
| "title": "Arena Server Url", | |
| "default": "http://localhost:8000" | |
| }, | |
| "workspace_id": { | |
| "anyOf": [ | |
| { | |
| "type": "string" | |
| }, | |
| { | |
| "type": "null" | |
| } | |
| ], | |
| "title": "Workspace Id" | |
| } | |
| }, | |
| "type": "object", | |
| "required": [ | |
| "session_id", | |
| "policy_path" | |
| ], | |
| "title": "CreateSessionRequest" | |
| }, | |
| "CreateSessionResponse": { | |
| "properties": { | |
| "workspace_id": { | |
| "type": "string", | |
| "title": "Workspace Id" | |
| }, | |
| "camera_room_ids": { | |
| "additionalProperties": { | |
| "type": "string" | |
| }, | |
| "type": "object", | |
| "title": "Camera Room Ids" | |
| }, | |
| "joint_input_room_id": { | |
| "type": "string", | |
| "title": "Joint Input Room Id" | |
| }, | |
| "joint_output_room_id": { | |
| "type": "string", | |
| "title": "Joint Output Room Id" | |
| } | |
| }, | |
| "type": "object", | |
| "required": [ | |
| "workspace_id", | |
| "camera_room_ids", | |
| "joint_input_room_id", | |
| "joint_output_room_id" | |
| ], | |
| "title": "CreateSessionResponse" | |
| }, | |
| "HTTPValidationError": { | |
| "properties": { | |
| "detail": { | |
| "items": { | |
| "$ref": "#/components/schemas/ValidationError" | |
| }, | |
| "type": "array", | |
| "title": "Detail" | |
| } | |
| }, | |
| "type": "object", | |
| "title": "HTTPValidationError" | |
| }, | |
| "SessionStatusResponse": { | |
| "properties": { | |
| "session_id": { | |
| "type": "string", | |
| "title": "Session Id" | |
| }, | |
| "status": { | |
| "type": "string", | |
| "title": "Status" | |
| }, | |
| "policy_path": { | |
| "type": "string", | |
| "title": "Policy Path" | |
| }, | |
| "camera_names": { | |
| "items": { | |
| "type": "string" | |
| }, | |
| "type": "array", | |
| "title": "Camera Names" | |
| }, | |
| "workspace_id": { | |
| "type": "string", | |
| "title": "Workspace Id" | |
| }, | |
| "rooms": { | |
| "additionalProperties": true, | |
| "type": "object", | |
| "title": "Rooms" | |
| }, | |
| "stats": { | |
| "additionalProperties": true, | |
| "type": "object", | |
| "title": "Stats" | |
| }, | |
| "inference_stats": { | |
| "anyOf": [ | |
| { | |
| "additionalProperties": true, | |
| "type": "object" | |
| }, | |
| { | |
| "type": "null" | |
| } | |
| ], | |
| "title": "Inference Stats" | |
| }, | |
| "error_message": { | |
| "anyOf": [ | |
| { | |
| "type": "string" | |
| }, | |
| { | |
| "type": "null" | |
| } | |
| ], | |
| "title": "Error Message" | |
| } | |
| }, | |
| "type": "object", | |
| "required": [ | |
| "session_id", | |
| "status", | |
| "policy_path", | |
| "camera_names", | |
| "workspace_id", | |
| "rooms", | |
| "stats" | |
| ], | |
| "title": "SessionStatusResponse" | |
| }, | |
| "ValidationError": { | |
| "properties": { | |
| "loc": { | |
| "items": { | |
| "anyOf": [ | |
| { | |
| "type": "string" | |
| }, | |
| { | |
| "type": "integer" | |
| } | |
| ] | |
| }, | |
| "type": "array", | |
| "title": "Location" | |
| }, | |
| "msg": { | |
| "type": "string", | |
| "title": "Message" | |
| }, | |
| "type": { | |
| "type": "string", | |
| "title": "Error Type" | |
| } | |
| }, | |
| "type": "object", | |
| "required": [ | |
| "loc", | |
| "msg", | |
| "type" | |
| ], | |
| "title": "ValidationError" | |
| } | |
| }, | |
| "securitySchemes": { | |
| "BearerAuth": { | |
| "type": "http", | |
| "scheme": "bearer", | |
| "bearerFormat": "JWT" | |
| }, | |
| "ApiKeyAuth": { | |
| "type": "apiKey", | |
| "in": "header", | |
| "name": "X-API-Key" | |
| } | |
| } | |
| }, | |
| "servers": [ | |
| { | |
| "url": "http://localhost:8001", | |
| "description": "Development server" | |
| }, | |
| { | |
| "url": "https://your-production-server.com", | |
| "description": "Production server" | |
| } | |
| ], | |
| "tags": [ | |
| { | |
| "name": "Health", | |
| "description": "Health check and server status endpoints" | |
| }, | |
| { | |
| "name": "Sessions", | |
| "description": "Inference session management - create, control, and monitor AI sessions" | |
| }, | |
| { | |
| "name": "Control", | |
| "description": "Session control operations - start, stop, restart inference" | |
| }, | |
| { | |
| "name": "Debug", | |
| "description": "Debug and monitoring endpoints for system diagnostics" | |
| } | |
| ] | |
| } |