Galaxea A1 Robot for LeRobot

A third-party LeRobot Robot plugin for the Galaxea A1 Runtime.

This package registers the LeRobot Robot type galaxea_a1. It talks to the separately supervised Galaxea A1 Runtime over a local Unix socket; ROS, vendor drivers, cameras, process supervision, and motor publication remain in the Runtime. The transport is an A1 implementation detail, not a generic robot API.

Install

python -m pip install lerobot_robot_galaxea_a1

The Galaxea A1 Runtime must be installed and supervised separately.

LeRobot integration

The distribution prefix, module layout, config registration, class names, and package exports follow LeRobot's third-party hardware conventions. LeRobot CLI entrypoints discover the plugin after installation.

GalaxeaA1Config requires an absolute unix:/// Runtime endpoint. Creating the config and Robot does not connect to the service, and both LeRobot feature properties remain available while it is offline.

Device contract

The plugin owns the fixed control feature names below. At connection time it requires the Runtime manifest to match them exactly; the Runtime remains the source of truth for configured joint limits.

joint_1_rad ... joint_6_rad  absolute radians
gripper_normalized           continuous 0..1

connect() opens a Runtime session without moving the arm. send_action() validates and submits six named joint targets plus the gripper target, then returns the action accepted by the Runtime. disconnect() releases the command lease; it does not home the arm or open the gripper.

Only one command session may hold the A1 control lease. Session heartbeats keep the connection alive but do not extend the command-inactivity deadline; an idle or failed command session loses control. If command-resource cleanup fails, the service stops instead of admitting another owner. The endpoint directory and socket are restricted to the Runtime user (0700 and 0600 respectively), and a pre-existing endpoint is never removed implicitly. Calibration and reset remain explicit Runtime workflows and are not remote Robot operations.

Pairing with the A1 SO-Leader

The modified leader reports degrees; the A1 accepts radians. Do not connect them through the identity processors used by the generic LeRobot 0.6 lerobot-teleoperate and lerobot-record commands.

Use make_galaxea_a1_processors() with LeRobot's programmatic APIs, or use the tracked A1 Runtime workflow. The supplied processor anchors leader deltas to the A1 startup pose and applies explicit degree conversion, sign, scale, bias, joint limits, and gripper normalization.

Recording boundary

This plugin exposes control observations: six measured joints and normalized gripper state. It does not reopen Runtime-owned cameras or make joint control depend on EEF tracking.

The A1 Runtime combines this control path with EEF feedback and paired cameras, then commits the canonical LeRobotDataset v3.0 dataset. Synchronization, provenance, atomic episode commit, and safety lifecycle belong there.

Development

uv venv --python 3.12
uv pip install -e . pytest ruff build
uv run --no-project pytest
uv run --no-project ruff check .
uv run --no-project ruff format --check .
uv build