LeRobot Teleoperator plugin for the Galaxea A1 SO-Leader

This package provides the auto-discovered LeRobot teleoperator type galaxea_a1_so_leader for the Galaxea A1 tabletop leader arm.

The hardware topology is intentionally fixed:

joint0 .. joint5  Feetech STS3215 IDs 0..5, output in degrees
gripper           Feetech STS3215 ID 6, calibrated RANGE_0_100 output

The plugin owns only the serial bus, calibration, setup, truthful raw actions, optional feedback, and connection lifecycle. It does not import ROS, start an A1 runtime, map leader values to robot coordinates, record datasets, or publish robot commands.

Install

python -m pip install lerobot_teleoperator_galaxea_a1_so_leader

LeRobot discovers the exact lerobot_teleoperator_ distribution prefix:

lerobot-teleoperate \
  --teleop.type=galaxea_a1_so_leader \
  --teleop.id=a1-leader \
  --teleop.port=/dev/serial/by-id/your-device

Pairing with Galaxea A1

Raw leader actions are not valid A1 robot commands. The joints use degrees and the gripper reports its calibrated leader range, while the A1 Robot plugin accepts absolute radians and a normalized 0..1 gripper target.

Use make_galaxea_a1_processors() from lerobot-robot-galaxea-a1 with LeRobot's programmatic teleoperate or record API. The processor anchors leader deltas to the startup A1 pose and applies the explicit tracked sign, scale, bias, limit, and gripper range contract.

Do not use the raw leader and A1 Robot together through the identity processor in the generic LeRobot 0.6 CLI.

Development

uv sync --dev
uv run pytest
uv run ruff check .
uv run ruff format --check .
uv build

CI replaces the Feetech bus with a fake and never opens a serial device.

License

Apache-2.0