菜单
Adds or modifies robot hardware integrations under physicalai.robot. Use when implementing the Robot protocol, SO101 or Trossen WidowX drivers, robot connect helpers, verify.py checks, optional extras so101 or trossen, or tests in tests/unit/robot.
用 Codex 或 Claude 帮你安装 复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。
基于 SOC 职业分类
Adds or modifies a camera backend under physicalai.capture. Use when implementing a new Camera type, extending create_camera in src/physicalai/capture/factory.py, discovery helpers, optional pip extras for vendor SDKs, SharedCamera transport, or tests under tests/unit/capture with fake devices.
Configures preprocessors, postprocessors, and runners around InferenceModel via manifest specs and ComponentRegistry. Use when editing physicalai.inference.preprocessors or postprocessors, manifest preprocessor/postprocessor lists, instantiate_component, registered type names, or class_path init_args for inference pipeline components.
Loads and validates policies exported from Physical AI Studio for Runtime deployment. Use when working on InferenceModel, InferenceModel.from_pretrained, manifest.json, adapter auto-detection (onnx, openvino), backend/device kwargs, Hugging Face Hub policy packages, or the Runtime side of the export/load contract that Studio produces with physicalai export.
Runs exported policies on hardware with PolicyRuntime, execution modes, and physicalai run. Use when wiring PolicyRuntime, SyncExecution or RTC execution, runtime YAML configs, action queues, runtime callbacks, or docs/how-to/runtime run-policy-on-robot and execution modes.
| name | physicalai-runtime-adding-a-robot-integration |
| description | Adds or modifies robot hardware integrations under physicalai.robot. Use when implementing the Robot protocol, SO101 or Trossen WidowX drivers, robot connect helpers, verify.py checks, optional extras so101 or trossen, or tests in tests/unit/robot. |
| license | Apache-2.0 |
Robots satisfy the structural Robot protocol in src/physicalai/robot/interface.py — no base class inheritance required. References: src/physicalai/robot/so101/, src/physicalai/robot/trossen/ (WidowX). Connection helpers: src/physicalai/robot/connect.py; validation: src/physicalai/robot/verify.py.
references/robot-protocol.md and an existing integration (SO-101 for serial servos, WidowX for arms).
connect(), disconnect(), is_connected().joint_positions, timestamp (time.monotonic()), optional sensor_data / images; implement state property when inference expects more than positions.send_action(action, *, goal_time=...) with action shape matching training data conventions; document joint order via joint_names.pyproject.toml (physicalai[so101], physicalai[trossen]); lazy-import vendor SDKs.physicalai.robot when user-facing.tests/unit/robot/ with mocked hardware.
uv run pytest tests/unit/robot -k <name> passes.verify.py patterns if the robot supports automated checks.isinstance(robot, Robot) at runtime (@runtime_checkable protocol).joint_names stay stable across connect/disconnect.references/robot-protocol.mddocs/explanation/robots.md