PhysicalAI Star Arm Plugin

Fashion Star Arm 102 plugin for PhysicalAI. This package provides Star Arm 102-LD/102-HD leaders and a Star Arm 102-FL follower, and registers all variants with Physical AI Studio.

PyPI version Python versions

Features

  • Star Arm 102-LD leader driver (StarArm102LDLeader) for read-only teleoperation input
  • Star Arm 102-HD leader driver (StarArm102HDLeader) with passive mode (default) and optional assist mode for hold/action commands
  • Star Arm 102-FL follower driver (StarArm102FLFollower) for position control
  • Studio catalog plugin entries for LD leader, HD leader, and FL follower
  • Bundled stararm102 URDF package

Installation

uv add physicalai-stararm-plugin

Quick start

from physicalai.robot import connect
from physicalai_stararm_plugin import StarArm102FLFollower

robot = StarArm102FLFollower(port="/dev/ttyUSB1", baudrate=1_000_000)

with connect(robot) as arm:
    obs = arm.get_observation()
    arm.send_action(obs.joint_positions)

Run with the PhysicalAI CLI

uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/teleop-hd-to-fl.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/teleop-ld-to-fl.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-hd.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-ld.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-fl.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/move-joints-fl.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/hold-hd.yaml
uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/policy-follow-hd.yaml

URDF

from physicalai_stararm_plugin import get_urdf_path

urdf_dir = get_urdf_path()
hd_urdf = urdf_dir / "stararm102" / "urdf" / "stararm102_hd_description.urdf"

Development

uv sync
uv run pytest packages/physicalai-stararm-plugin/tests/

Project links

Data verified by PyPI on Sep 10, 2026
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  • Released:
Newer release available (0.3.0)

4 maintainers

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GitHub Statistics

Data verified by PyPI on Sep 10, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License expression

Apache-2.0
View SPDX License List

Requires

Python >=3.12

Provides Extra

tests

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