chore: move errors to utils (#2017)

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/utils/errors.py

@@ -0,0 +1,43 @@
+# Copyright 2024 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.
+
+
+class DeviceNotConnectedError(ConnectionError):
+    """Exception raised when the device is not connected."""
+
+    def __init__(self, message="This device is not connected. Try calling `connect()` first."):
+        self.message = message
+        super().__init__(self.message)
+
+
+class DeviceAlreadyConnectedError(ConnectionError):
+    """Exception raised when the device is already connected."""
+
+    def __init__(
+        self,
+        message="This device is already connected. Try not calling `connect()` twice.",
+    ):
+        self.message = message
+        super().__init__(self.message)
+
+
+class InvalidActionError(ValueError):
+    """Exception raised when an action is already invalid."""
+
+    def __init__(
+        self,
+        message="The action is invalid. Check the value follows what it is expected from the action space.",
+    ):
+        self.message = message
+        super().__init__(self.message)