physicalai-runtime-adding-a-robot-integration

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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

机器人需满足

src/physicalai/robot/interface.py

中的结构化

Robot

协议——无需继承基类。参考示例：

src/physicalai/robot/so101/

、

src/physicalai/robot/trossen/

（WidowX机械臂）。连接辅助工具：

src/physicalai/robot/connect.py

；验证工具：

src/physicalai/robot/verify.py

。

Read
references/robot-protocol.md
and an existing integration (SO-101 for serial servos, WidowX for arms).
- Done when: required methods and observation shape are listed.
Implement connect lifecycle: idempotent
```
connect()
```
,
```
disconnect()
```
,
```
is_connected()
```
.
Observations: return a type exposing
```
joint_positions
```
,
```
timestamp
```
(
```
time.monotonic()
```
), optional
```
sensor_data
```
/
```
images
```
; implement
```
state
```
property when inference expects more than positions.
Actions:
```
send_action(action, *, goal_time=...)
```
with
```
action
```
shape matching training data conventions; document joint order via
```
joint_names
```
.

Optional extra in

pyproject.toml

(

physicalai[so101]

physicalai[trossen]

); lazy-import vendor SDKs.

Tests under

tests/unit/robot/

with mocked hardware.

Done when:

uv run pytest tests/unit/robot -k <name>

passes.

Verification CLI/docs — wire
```
verify.py
```
patterns if the robot supports automated checks.

isinstance(robot, Robot)

at runtime (

@runtime_checkable

protocol).

No action sent when disconnected.
Joint count and
```
joint_names
```
stay stable across connect/disconnect.
Security: validate user-supplied port/path strings; no shell invocation with unsanitized device paths.

运行时需检查

isinstance(robot, Robot)

（

@runtime_checkable

协议）。