physicalai-lerobot-plugin
An adapter plugin that wraps LeRobot-compatible robots into the PhysicalAI Robot protocol so they can be driven from Physical AI Studio.
Installation
uv add physicalai-lerobot-plugin
Usage
The plugin registers LeRobot_Follower and LeRobot_Leader catalog entries with Studio.
Configure a robot by providing its type, serial port, and joint order in the Studio UI payload.
Supported robot types
so100_follower— SO-100 arm (6-DOF shoulder+elbow+wrist+gripper)so101_follower— SO-101 arm (6-DOF shoulder+elbow+wrist+gripper)
Payload fields
| Field | Type | Required | Default | Description |
|---|---|---|---|---|
robot_type |
str |
Yes | — | LeRobot robot name (e.g. "so100_follower") |
port |
str |
Yes | — | Serial port path (e.g. "/dev/ttyACM0") |
joint_order |
list[str] |
Yes | — | Joint names in PhysicalAI order |
obs_position_keys |
list[str] |
No | ["{name}.pos", ...] |
Keys in the LeRobot observation dict |
act_position_keys |
list[str] |
No | same as obs_position_keys |
Keys in the LeRobot action dict |
disable_torque_on_disconnect |
bool |
No | True |
Whether to disable torque on disconnect |
serial_number |
str |
No | "" |
Serial number for port discovery |
Development
uv sync
uv run pytest
See docs/creating-a-studio-plugin.md for the full plugin development guide.
1 maintainer
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