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.
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
stararm102URDF 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/
4 maintainers
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