Galaxea A1 SO-Leader for LeRobot

A third-party LeRobot Teleoperator plugin for the modified A1 leader arm.

This package registers the LeRobot Teleoperator type galaxea_a1_so_leader. It owns the leader's serial bus, calibration, setup, action reads, optional feedback, and connection lifecycle. It does not import ROS, start an A1 Runtime, record datasets, or map leader values into robot coordinates.

Install

python -m pip install lerobot_teleoperator_galaxea_a1_so_leader

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.

Hardware contract

The seven-motor topology is fixed. The config supplies lifecycle identity, serial port, and write retries; it does not redefine motor IDs or units.

To calibrate the leader by itself:

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

This command opens the serial device. Run it only with the leader connected and its workspace clear.

Pairing with Galaxea A1

Leader outputs are not A1 commands. The leader reports degrees and its calibrated gripper range; the A1 Robot plugin accepts radians and a normalized 0..1 gripper target.

Use make_galaxea_a1_processors() from lerobot-robot-galaxea-a1 with LeRobot's programmatic APIs, or use the tracked Galaxea A1 Runtime workflow. Do not pair these devices 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