PhysicalAI Trossen Plugin

Trossen WidowX AI robot drivers and Physical AI Studio catalog definitions for PhysicalAI.

Installation

uv add physicalai-trossen-plugin

The plugin depends on trossen-arm. That SDK does not currently publish wheels for Python 3.14+, so use Python 3.12 or 3.13 when controlling a robot.

Usage

from physicalai_trossen_plugin import WidowXAI

robot = WidowXAI(ip="192.168.1.100", role="follower")

For two arms, construct BimanualWidowXAI from left and right WidowXAI instances. Installing this distribution also registers the Trossen entries in the Physical AI Studio robot catalog.

URDF assets

This package vendors the generated URDFs and mesh assets required by its catalog entries from Trossen trossen_arm_description revision 21d8b360c211c2ad8a065d8f462cbec0207626e7. The source license is preserved at urdf/LICENSE.

from physicalai_trossen_plugin import get_urdf_path

urdf_root = get_urdf_path()
single_arm_follower = urdf_root / "urdf/generated/wxai/wxai_follower.urdf"
single_arm_leader = urdf_root / "urdf/generated/wxai/wxai_leader_left.urdf"
bimanual_follower = urdf_root / "urdf/generated/stationary_ai.urdf"
bimanual_leader = urdf_root / "urdf/generated/stationary_ai_leader.urdf"

The single-arm leader catalog entry uses the left-handed leader model. The bimanual leader model includes left- and right-handed leader arms.

Development

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