Move & organize motors, add base class

lerobot/common/motors/motors_bus.py

@@ -0,0 +1,46 @@
+import abc
+
+
+class MotorsBus(abc.ABC):
+    """The main LeRobot class for implementing motors buses."""
+
+    def __init__(
+        self,
+        motors: dict[str, tuple[int, str]],
+    ):
+        self.motors = motors
+
+    def __len__(self):
+        return len(self.motors)
+
+    @abc.abstractmethod
+    def connect(self):
+        pass
+
+    @abc.abstractmethod
+    def reconnect(self):
+        pass
+
+    @abc.abstractmethod
+    def set_calibration(self, calibration: dict[str, list]):
+        pass
+
+    @abc.abstractmethod
+    def apply_calibration(self):
+        pass
+
+    @abc.abstractmethod
+    def revert_calibration(self):
+        pass
+
+    @abc.abstractmethod
+    def read(self):
+        pass
+
+    @abc.abstractmethod
+    def write(self):
+        pass
+
+    @abc.abstractmethod
+    def disconnect(self):
+        pass