feat(hal): add Galaxea A1 real deployment path

Justfile

@@ -164,15 +164,16 @@ docker-build-x86:
 # (ros-tee / perception-tee / nvmm-source) moved to openral-pro with it.
 
 # GStreamer-free deploy smoke inside the open x86 image: asserts `import gi`
-# is absent, cv2 / feetech (scservo_sdk) / onnxruntime / omdet are present, and
-# `deploy run --config so101_bench.yaml --dry-run` resolves the launch. This is
-# what CI (`docker-build.yml`) runs on the built image. Exits non-zero on failure.
+# is absent, cv2 / feetech (scservo_sdk) / onnxruntime / omdet plus the LingBot
+# msgpack/websocket protocol dependencies are present, and `deploy run --config
+# so101_bench.yaml --dry-run` resolves the launch. This is what CI
+# (`docker-build.yml`) runs on the built image. Exits non-zero on failure.
 docker-smoke-x86-deploy: docker-build-x86
     docker run --rm --entrypoint /entrypoint.sh openral:x86 \
         bash -lc 'set -e; \
-          python -c "import cv2, scservo_sdk, onnxruntime; from transformers import AutoModelForZeroShotObjectDetection; \
+          python -c "import cv2, msgpack, scservo_sdk, onnxruntime, websockets.sync.client; from transformers import AutoModelForZeroShotObjectDetection; \
               import importlib.util as u; assert u.find_spec(\"gi\") is None, \"gi present — expected gstreamer-free\"; \
-              print(\"OK: cv2\", cv2.__version__, \"| feetech + onnxruntime + omdet present | gi absent\")"; \
+              print(\"OK: cv2\", cv2.__version__, \"| feetech + onnxruntime + omdet + LingBot protocol present | gi absent\")"; \
           openral deploy run --config scenes/deploy/so101_bench.yaml --dry-run | grep -q "hal_mode:=real" \
             && echo "OK: deploy run --dry-run resolves"'
 
@@ -395,6 +396,7 @@ ros2-build:
         --packages-select openral_msgs \
                           opentelemetry_cpp_vendor \
                           openral_hal_so100 \
+                          openral_hal_galaxea_a1 \
                           openral_hal_panda_mobile \
                           openral_hal_openarm \
                           openral_hal_franka \
@@ -494,6 +496,7 @@ ros2-test:
         --packages-select openral_msgs \
                           opentelemetry_cpp_vendor \
                           openral_hal_so100 \
+                          openral_hal_galaxea_a1 \
                           openral_hal_panda_mobile \
                           openral_hal_openarm \
                           openral_hal_franka \

README.md

@@ -46,7 +46,7 @@ We compose ROS 2, tf2, MoveIt 2 (with optional CUDA-accelerated **cuMotion** pla
 
 **Shipped today** (all workspace packages at `0.1.0`):
 - `openral_core` schemas + the `openral` CLI (bare `openral` drops into a REPL)
-- HAL adapters for [17 robot platforms](docs/reference/robots.md) — manipulators, mobile manipulators, bimanual arms, humanoids
+- HAL adapters for [18 robot platforms](docs/reference/robots.md) — manipulators, mobile manipulators, bimanual arms, humanoids
 - [Sensor catalog](docs/reference/sensors_landscape.md) — RGB-D, F/T, and USB-UVC adapters
 - `WorldStateAggregator` — 30 Hz tf2-aware snapshot with lifted object detections
 - [rSkill packages](docs/reference/rskills.md) spanning every kind — VLA policies (SmolVLA, π0.5, xVLA, MolmoAct2, ACT, Diffusion Policy, 3D Diffuser Actor, RLDX-1, OpenVLA-OFT, GR00T N1.7), open-vocabulary detectors (RT-DETR, OmDet-Turbo, LocateAnything), the Qwen3.5-4B scene VLM (`kind: vlm`), the Robometer-4B reward/progress monitor (`kind: reward`), MoveIt / Nav2 classical-control skills (`kind: ros_action`), and human-authored reasoner playbooks (`kind: playbook`)

docker/galaxea_a1_sidecar/Dockerfile

@@ -0,0 +1,40 @@
+FROM ros:noetic-ros-base-focal
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+
+# The vendor SDK is never copied into this image. Operators mount a separately
+# obtained, already-built A1_SDK tree read-only at run time.
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libconsole-bridge0.4 \
+    libassimp5 \
+    liboctomap-dev \
+    liborocos-kdl1.4 \
+    python3-serial \
+    ros-noetic-controller-interface \
+    ros-noetic-controller-manager \
+    ros-noetic-joint-state-controller \
+    ros-noetic-interactive-markers \
+    ros-noetic-kdl-parser \
+    ros-noetic-pluginlib \
+    ros-noetic-robot-state-publisher \
+    ros-noetic-ros-control \
+    ros-noetic-ros-controllers \
+    ros-noetic-tf \
+    ros-noetic-tf-conversions \
+    ros-noetic-tf2-ros \
+    ros-noetic-trac-ik-lib \
+    ros-noetic-urdf \
+    ros-noetic-urdf-parser-plugin \
+    ros-noetic-xacro \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV ROS_MASTER_URI=http://127.0.0.1:11311
+ENV ROS_HOSTNAME=127.0.0.1
+
+COPY entrypoint.sh /usr/local/bin/openral-a1-entrypoint
+RUN chmod 0755 /usr/local/bin/openral-a1-entrypoint
+
+ENTRYPOINT ["/usr/local/bin/openral-a1-entrypoint"]
+CMD ["bash"]

docker/galaxea_a1_sidecar/entrypoint.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck disable=SC1091
+source /opt/ros/noetic/setup.bash
+
+if [[ -z "${A1_SDK_ROOT:-}" || ! -f "${A1_SDK_ROOT}/install/setup.bash" ]]; then
+  echo "A1_SDK_ROOT must point to a mounted, built Galaxea A1 SDK" >&2
+  exit 2
+fi
+
+# shellcheck disable=SC1090
+source "${A1_SDK_ROOT}/install/setup.bash"
+exec "$@"

docker/inference/Dockerfile.x86

@@ -137,6 +137,8 @@ COPY python/ python/
 #           load time (needed on REAL hardware too).
 #   omdet — the open-vocabulary object detector (omdet-turbo, transformers-based)
 #           the ros_image_detector_node runs when enable_object_detector is on.
+#   lingbot — the msgpack + synchronous-websocket protocol dependencies used by
+#           the out-of-process LingBot policy adapters, including Galaxea A1.
 # The `opencv_thread` camera path needs cv2 (opencv-python). It is a per-member
 # EXTRA (openral-runner `opencv`), NOT pulled by `uv sync --all-packages`, so it
 # is installed explicitly post-sync alongside onnxruntime (which lives only in
@@ -147,7 +149,7 @@ COPY python/ python/
 # uv.lock. TensorRT (`--group tensorrt`) is an OpenRAL Pro plugin — never here.
 RUN --mount=type=cache,target=/root/.cache/uv \
     uv sync --frozen --all-packages \
-        --group sim --group omdet \
+        --group sim --group omdet --group lingbot \
     && uv pip install --python /workspace/.venv/bin/python onnxruntime opencv-python
 
 # Copy the colcon-buildable trees AFTER the venv resolve so a packages/ tweak
@@ -185,6 +187,7 @@ RUN bash -lc 'set -eo pipefail \
         --packages-select openral_msgs \
                           opentelemetry_cpp_vendor \
                           openral_hal_so100 \
+                          openral_hal_galaxea_a1 \
                           openral_hal_openarm \
                           openral_world_state \
                           openral_reasoner_ros \

docs/architecture/repo-state-map.html

@@ -700,6 +700,15 @@ <h2 style="margin-top: 22px;">Schemas registry</h2>
         outputs: ["JointTrajectory", "/error_recovery/goal"],
         schemas: ["RobotDescription", "JointState", "Action"],
       },
+      {
+        title: "HAL · Galaxea A1 (real-HW)",
+        pkg: "python/hal · galaxea_a1.py · tools/galaxea_a1_ros1_sidecar.py · docker/galaxea_a1_sidecar · packages/openral_hal_galaxea_a1",
+        status: "yellow",
+        desc: "Real-only six-axis A1 HAL over an isolated ROS 1 Noetic sidecar. The operator provides the official SDK; OpenRAL bundles no vendor code. A background transport accepts only literal IPv4 loopback endpoints and keeps network I/O off the HAL hot path. The sidecar owns roscore + official serial driver + joint tracker and stops the full process group on command-lease expiry, disconnect, motor fault, or e-stop. Its locked staged-command relay blocks the tracker's compiled startup pose until it aligns with fresh measured feedback. The manifest at robots/galaxea_a1/robot.yaml includes the official URDF's joint axes and transforms; collision primitives remain uncommitted pending cleared lowering provenance. Unit, socket, ROS lifecycle, and read-only preflight coverage are complete. Real HIL has passed observation, current hold, a bounded 0.01 rad joint round trip, a 10 mm gripper round trip, and current hold through candidate_action → the C++ kernel → safe_action → the real HAL. The LingBot-VA A1 rSkill consumes the external A1 Runtime's paired-camera/model/EEF-IK contracts, explicitly subdivides IK solutions by its own policy_extras bound under the independent HAL ceiling, and returns typed joint + gripper actions to the same OpenRAL safety path.",
+        inputs: ["Action (6-D + gripper)", "/joint_states_host", "/arm_status_host"],
+        outputs: ["/arm_joint_target_position", "/gripper_position_control_host", "JointState"],
+        schemas: ["RobotDescription", "JointState", "Action"],
+      },
       {
         title: "HAL · Sawyer (real-HW)",
         pkg: "python/hal · sawyer_real.py",
@@ -1569,7 +1578,7 @@ <h2 style="margin-top: 22px;">Schemas registry</h2>
     title: "Tests · HIL",
     pkg: "tests/hil",
     status: "yellow",
-    desc: "7 files: test_ur5e, test_ur10e, test_franka_panda, test_sawyer, test_aloha (real-hardware HALs gated by self-hosted [lab-<robot>] runner labels + UR{5,10}E_HOST / *_FCI_HOST env vars), plus test_detect_jetson_live for the auto-provisioning probe. SO-100 / SO-101 / RealSense HIL gates were removed until matching lab hardware exists. The shared rclpy bridge lives in _ros_control_transport.py (RosControlHILTransport) and _aloha_ros_transport.py (4-way ALOHA fan-out). The L4T HIL workflow (`hil-l4t.yml`) that PR #93 added was removed by the 2026-05-14 single-Dockerfile consolidation amendment — L4T returns when the `[self-hosted, l4t]` runner pool is online.",
+    desc: "8 files: test_ur5e, test_ur10e, test_franka_panda, test_sawyer, test_aloha (real-hardware HALs gated by self-hosted [lab-<robot>] runner labels + UR{5,10}E_HOST / *_FCI_HOST env vars), test_galaxea_a1 (direct HAL observation/hold/joint/gripper gates), test_galaxea_a1_deploy (full candidate_action → C++ kernel → safe_action → real HAL → ROS 1 relay hold + mandatory e-stop), plus test_detect_jetson_live for the auto-provisioning probe. SO-100 / SO-101 / RealSense HIL gates were removed until matching lab hardware exists. The shared rclpy bridge lives in _ros_control_transport.py (RosControlHILTransport) and _aloha_ros_transport.py (4-way ALOHA fan-out). The L4T HIL workflow (`hil-l4t.yml`) that PR #93 added was removed by the 2026-05-14 single-Dockerfile consolidation amendment — L4T returns when the `[self-hosted, l4t]` runner pool is online.",
   },
   {
     title: "CI · Docker image build",