feat: add first party robot plugins - #263
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MarkRedeman
added this pull request to stack #264
September 10, 2026 10:18
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🟡 Changes recommended
The new URDF locator helpers can silently return non-existent paths (contradicting their docstrings) and the new motion helpers include unused parameters likely to fail repo linting.
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Pull request overview
This PR vendors three robot plugins into the main repo (Star Arm 102, ReBot B601, and Bimanual SO-101), including their Runtime robot drivers, Physical AI Studio catalog registrations, motion helpers, example runtime configs, and bundled URDF/mesh assets. It also wires these packages into release-please so they can be versioned and released from this monorepo.
Changes:
- Added three new first-party plugin packages under
packages/(drivers, Studio catalog definitions, and tests). - Added bundled URDF descriptions and mesh assets (via Git LFS pointers) plus
physicalai run --configYAML examples. - Updated release-please configuration/manifest to include the new packages.
File summaries
| File | Description |
|---|---|
.github/release-please-config.json |
Adds release-please entries for the three new plugin packages. |
.github/.release-please-manifest.json |
Tracks initial versions for the three new plugin packages. |
packages/physicalai-stararm-plugin/pyproject.toml |
Defines Star Arm plugin package metadata, deps, and URDF packaging. |
packages/physicalai-stararm-plugin/src/physicalai_stararm_plugin/* |
Star Arm robot drivers, Studio catalog plugin, URDF locator, constants, and motion helpers. |
packages/physicalai-stararm-plugin/examples/runtime/* |
Star Arm Runtime YAML configs (teleop/read-joints/move/hold/policy-follow). |
packages/physicalai-stararm-plugin/tests/* |
Unit tests for Star Arm drivers and motion helpers. |
packages/physicalai-stararm-plugin/urdf/** |
Star Arm URDFs and mesh assets (Git LFS pointers). |
packages/physicalai-rebot-b601-plugin/pyproject.toml |
Defines ReBot plugin package metadata, deps, and URDF packaging. |
packages/physicalai-rebot-b601-plugin/src/physicalai_rebot_b601_plugin/* |
ReBot DM/RS drivers, Studio catalog plugin, URDF locator, constants, and motion helpers. |
packages/physicalai-rebot-b601-plugin/examples/runtime/* |
ReBot Runtime YAML configs (teleop/read-joints/move-joints, incl. MIT gain example). |
packages/physicalai-rebot-b601-plugin/tests/* |
Unit tests for ReBot drivers, Studio catalog, and motion helpers. |
packages/physicalai-rebot-b601-plugin/urdf/** |
ReBot URDFs and mesh assets (Git LFS pointers). |
packages/physicalai-bimanual-so101-plugin/pyproject.toml |
Defines bimanual SO-101 plugin package metadata, deps, and URDF packaging. |
packages/physicalai-bimanual-so101-plugin/src/physicalai_bimanual_so101_plugin/* |
Bimanual SO-101 driver, Studio catalog plugin, URDF locator, and constants. |
packages/physicalai-bimanual-so101-plugin/examples/* |
Bimanual SO-101 calibration JSONs and Runtime teleop YAML. |
packages/physicalai-bimanual-so101-plugin/tests/* |
Unit tests for the bimanual driver and Studio catalog. |
packages/physicalai-bimanual-so101-plugin/urdf/** |
Dual-arm URDF and mesh assets (Git LFS pointers). |
Review details
- Files reviewed: 232/234 changed files
- Comments generated: 4
- Review effort level: Lite
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| candidates = (p.parent / "urdf", p.parent.parent / "urdf") | ||
| for candidate in candidates: | ||
| if candidate.exists(): | ||
| return candidate | ||
| return candidates[1] |
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| def connect(self, *, bus: _CallbackBus, session_id: str) -> None: | ||
| """No resources to set up; part of the ``ActionSource`` protocol.""" | ||
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| candidates = (p.parent / "urdf", p.parent.parent / "urdf") | ||
| for candidate in candidates: | ||
| if candidate.exists(): | ||
| return candidate | ||
| return candidates[1] |
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| def connect(self, *, bus: _CallbackBus, session_id: str) -> None: | ||
| """No resources to set up; part of the ``ActionSource`` protocol.""" | ||
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This PR adds three first party plugins (moved from my https://github.com/MarkRedeman/physicalai-plugins repo):
I've updated the OIDC configuration of each package and invited others as maintainers.