feat(hal): add Galaxea A1 real deployment path - #30
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Signed-off-by: PengYue <yp2841@nyu.edu>
Signed-off-by: PengYue <yp2841@nyu.edu>
Signed-off-by: PengYue <yp2841@nyu.edu>
Signed-off-by: PengYue <yp2841@nyu.edu>
Signed-off-by: PengYue <yp2841@nyu.edu>
Signed-off-by: PengYue <yp2841@nyu.edu>
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Signed-off-by: PengYue <yp2841@nyu.edu>
Signed-off-by: PengYue <yp2841@nyu.edu>
pengyue-polaron
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July 30, 2026 17:54
sim_bringup's unknown-scene error message does sorted(SCENES), but _Registry never implemented __iter__ — any unknown scene id crashed with "TypeError: '_Registry' object is not iterable" while formatting the typed ROSConfigError it was about to raise (masking the real diagnostic). The type-ignore at the call site claimed iterability that did not exist; both are fixed and the regression is pinned by a unit test. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Signed-off-by: Adrian Llopart <adrianllopart@gmail.com>
…tates through e-stop Review fixes on the Galaxea A1 deployment path: - The sidecar forwarded gripper setpoints to /gripper_position_control_host regardless of the LOCKED/ARMING/ACTIVE relay machine that gates arm joints. The gripper bypasses the tracker's staged-hold interpolation, so it now fails closed unless the relay is ACTIVE — matching the validated bring-up order (HIL streams the joint hold to ACTIVE before the first gripper setpoint). Covered for LOCKED, ARMING (including riding in a joint packet), and ACTIVE. - _publish_joint_state went dark for every HAL while the e-stop latch was set. Snapshot-backed (sim-attached) HALs now keep publishing the last post-step frame so operators retain joint visibility; only real HALs — whose transport may already be torn down — are skipped. - GalaxeaA1CameraBridgeReader.read_latest raised a bare RuntimeError for "reader closed" where the sibling session class raises ROSRuntimeError. - Docstrings: runnable Examples on the galaxea_a1 module and GalaxeaA1HAL (matching every sibling real-HW HAL), the estop() timeout comment now states the real 4 s bound (3 s SIGINT grace + 1 s SIGKILL wait), and _on_estop_cleared documents the per-HAL RESTART_REQUIRED / RESETTABLE recovery branching it implements. - deploy-sim of the real-only robot is pinned by a test: bare sim mode raises ROSCapabilityMismatch and the scene-attached path raises the typed unknown-scene ROSConfigError (not the TypeError fixed in the prior commit). Sidecar test fakes are hoisted to module scope and shared. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Signed-off-by: Adrian Llopart <adrianllopart@gmail.com>
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Ive made minor changes to the tests / docstrings and fixed a preexisting bug. Nothing should be have broken so please re-test with the HIL and if everything works correctly, feel free to merge |
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Thanks! I will merge it. |
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Summary
This adds a real-hardware Galaxea A1 HAL and the OpenRAL deployment path around
it. The HAL is policy-independent; the vendor ROS 1 SDK stays in an
operator-provided sidecar.
The LingBot-VA adapter is included as one concrete rSkill integration. OpenRAL
connects to versioned local camera and policy services provided by the A1
Runtime. It does not locate or import the Runtime checkout. Other rSkills can
use the same HAL without depending on the Runtime.
Hardware validation
Instruction:
put the lemon into the blue plateThe run completed a visible lemon pick-and-place on the real A1. The execution
path was:
ExecuteRskill -> rSkill -> safety kernel -> GalaxeaA1HAL -> ROS 1 sidecar -> official driver -> A1Design
galaxea_a1robot manifest and real-onlyGalaxeaA1HAL.checks.
policy gateway; no checkout lookup,
sys.pathmutation, or Runtime import.readers. Runtime remains the sole RealSense owner.
ordered joint envelope, while Runtime owns the exact model config, EEF
transforms, temporal-cache replay, and IK.
candidate-action, C++ safety-kernel, safe-action, and HAL path.
Validation
just lint: passed.42 passed, 1 skipped.just check:258 passed.command lease, jump rejection, deploy hold, and LingBot pick-and-place.
The skipped targeted test requires the optional GStreamer dependency.