diff --git a/docs/source/third_party_robots.mdx b/docs/source/third_party_robots.mdx index 28145d22f..adeeda779 100644 --- a/docs/source/third_party_robots.mdx +++ b/docs/source/third_party_robots.mdx @@ -1,6 +1,6 @@ # Third-Party Robots & Teleoperators -The LeRobot ecosystem extends far beyond its officially supported hardware. Thanks to LeRobot's plugin architecture, the community has built integrations for a wide range of robot arms and teleoperation devices — from industrial manipulators to affordable hobbyist platforms, VR headsets, haptic devices, and full arm-plus-leader kits. This page showcases community-maintained integrations you can use for teleoperation, data collection, and policy deployment. +The LeRobot ecosystem extends far beyond its officially supported hardware. Thanks to LeRobot's plugin architecture, the community has built integrations for a wide range of robot arms and teleoperation devices — from industrial manipulators to affordable hobbyist platforms, VR headsets, haptic devices, and full arm-plus-teleoperator kits. This page showcases community-maintained integrations you can use for teleoperation, data collection, and policy deployment. > [!IMPORTANT] > These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support. @@ -17,163 +17,252 @@ lerobot-record \ --dataset.num_episodes=5 ``` +> [!TIP] +> ⚠️ marks projects that are **forks/extensions of LeRobot** — they require custom setup rather than working with an unmodified install. All other entries are drop-in plugins. + ## Industrial & Collaborative Arms -**[lerobot-robot-xarm](https://github.com/SpesRobotics/lerobot-robot-xarm)** — by SpesRobotics - -Integration bringing [UFACTORY](https://www.ufactory.cc/)'s popular xArm collaborative arm series into the LeRobot teleoperation and recording workflow. - -**[lerobot_lebai](https://github.com/lebai-robotics/lerobot_lebai)** — by Lebai Robotics - -Integration bringing [Lebai](https://lebai.ltd/en/)'s six-axis collaborative robot arms into the LeRobot teleoperation and recording workflow. - -**[LeFranX](https://github.com/wengmister/LeFranX)** — by wengmister - -> [!WARNING] -> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install. - -LeRobot extension pairing the [Franka](https://franka.de/) research arm with the [RobotEra XHand](https://www.robotera.com/) dexterous hand for VR-based teleoperation (an instantiation of the LeVR framework). + + + + + + + + + + + + + + + + + + + + + + +
ProjectDescription
lerobot-robot-xarmPlugin for the xArm collaborative arm series from UFACTORY.
lerobot_lebaiPlugin for the six-axis collaborative arms from Lebai.
LeFranX ⚠️LeRobot extension for the Franka research arm, paired with the RobotEra XHand hand for VR teleoperation.
### Universal Robots UR5e -**[UR5e-LeRobot](https://github.com/yechen056/UR5e-LeRobot)** — by yechen056 - -> [!WARNING] -> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install. - -LeRobot extension for the [Universal Robots UR5e](https://www.universal-robots.com/), with both single-arm and bimanual support. - -**[lerobot_ur5e_auto](https://github.com/scy-v/lerobot_ur5e_auto)** — by scy-v - -> [!WARNING] -> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install. - -Automated data collection for a mobile [Universal Robots UR5e](https://www.universal-robots.com/) platform, built on LeRobot to scale up dataset creation with minimal supervision. - -**[lerobot_ur5e_gello — UR5e follower](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer - -The UR5e robot plugin from F-Fer's monorepo: RTDE control of the [Universal Robots UR5e](https://www.universal-robots.com/) with a [Robotiq](https://robotiq.com/) gripper, plus a matching GELLO leader (see [Teleoperators](#teleoperators)). + + + + + + + + + + + + + + + + + + + + + + +
ProjectDescription
UR5e-LeRobot ⚠️LeRobot extension for the Universal Robots UR5e, with single-arm and bimanual support.
lerobot_ur5e_auto ⚠️LeRobot extension for a mobile Universal Robots UR5e, adding automated recording at scale with minimal supervision.
lerobot_robot_ur5ePlugin for the Universal Robots UR5e with a Robotiq gripper, over RTDE control.
## Research & Learning Arms -**[lerobot_trossen](https://github.com/TrossenRobotics/lerobot_trossen)** — by Trossen Robotics - -Official integrations for [Trossen Robotics](https://www.trossenrobotics.com/)' WidowX and ALOHA-style arms, widely used in low-cost robot-learning research. - -**[lerobot_robot_piper (AgRobotics Research)](https://github.com/AgRoboticsResearch/lerobot_robot_piper)** — by AgRoboticsResearch - -A compact, lightweight integration bringing the [AgileX Piper](https://global.agilex.ai/) arm into the LeRobot teleoperation and recording workflow. - -**[lerobot_robot_piper (WeGo Robotics)](https://github.com/WeGo-Robotics/lerobot_robot_piper)** — by WeGo-Robotics - -A fuller-featured [AgileX Piper](https://global.agilex.ai/) plugin adding follower/leader interfaces, multi-arm teleoperation, safety limits, multi-camera support, and GUI setup/control tools. + + + + + + + + + + + + + + + + + + + + + + +
ProjectDescription
lerobot_trossenPlugin for the WidowX and ALOHA-style arms from Trossen Robotics.
lerobot_robot_piper (AgRobotics Research)Plugin for the AgileX Piper arm.
lerobot_robot_piper (WeGo Robotics)Plugin for the AgileX Piper arm, with multi-arm teleoperation, safety limits, and GUI tools.
## Affordable & Hobbyist Arms -**[fashionstar-lerobot-robot-cello](https://github.com/servodevelop/fashionstar-lerobot-robot-cello)** — by servodevelop - -LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Cello, a factory-ready 6+1-DoF follower arm for teleoperation and data collection. - -**[fashionstar-lerobot-robot-viola](https://github.com/servodevelop/fashionstar-lerobot-robot-viola)** — by servodevelop - -LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Viola, a compact 6+1-DoF sibling to the Cello follower arm above. + + + + + + + + + + + + + + + + + + +
ProjectDescription
fashionstar-lerobot-robot-celloPlugin for the StarAI Cello 6+1 degrees of freedom arm from FashionStar.
fashionstar-lerobot-robot-violaPlugin for the compact StarAI Viola 6+1 degrees of freedom arm from FashionStar.
## Service, Mobile & Utility Robots -**[lerobot-robot-ugo-pro](https://github.com/ugo-plus/lerobot-robot-ugo-pro)** — by ugo (ugo-plus) - -Integration bringing [ugo](https://ugo.plus/products/ugo-pro/)'s ugo Pro — a dual-arm service robot for security, inspection, and guidance — into the LeRobot ecosystem. - -**[lerobot_robot_lekiwi_pincopen](https://github.com/zuoxingdong/lerobot_robot_lekiwi_pincopen)** — by zuoxingdong - -A drop-in plugin letting unmodified LeRobot drive a LeKiwi mobile manipulator equiped with a [PincOpen](https://github.com/pollen-robotics/PincOpen) gripper, with tunable servo parameters. - -**[lerobot-robot-dummy](https://github.com/KillingJacky/lerobot-robot-dummy)** — by KillingJacky - -A virtual follower arm for debugging that drives no hardware and instead prints the actions it receives, handy for testing leaders and pipelines without a real robot. + + + + + + + + + + + + + + + + + + + + + + +
ProjectDescription
lerobot-robot-ugo-proPlugin for the ugo Pro dual-arm service robot from ugo.
lerobot_robot_lekiwi_pincopenPlugin for the LeKiwi mobile manipulator with a PincOpen gripper.
lerobot-robot-dummyPlugin simulating a virtual robot for recording without hardware, useful for debugging.
## Teleoperators -**[lerobot-teleoperator-teleop](https://github.com/SpesRobotics/lerobot-teleoperator-teleop)** — by SpesRobotics - -Turns a phone or a VR headset into a 6-DoF teleoperator via [WebXR](https://immersiveweb.dev) — no leader hardware required. Wraps SpesRobotics' [`teleop`](https://github.com/SpesRobotics/teleop) library. - -**[lerobot-teleoperator-spacemouse](https://github.com/Jas000n/lerobot-teleoperator-spacemouse)** — by Jas000n - -Turns a [3Dconnexion SpaceMouse](https://3dconnexion.com/) into a 6-DoF teleoperator, with built-in inverse kinematics for SO-101/SO-ARM followers, axis remapping, and custom-URDF profiles. - -**[vr-teleop-kit](https://github.com/Dream-Machines-Robotics/vr-teleop-kit)** — by Dream-Machines-Robotics - -An open-source VR teleoperation kit driving robot arms from a [Meta Quest](https://www.meta.com/quest/) (WebXR) headset via differential inverse kinematics (single-arm and bimanual). - -**[lerobot-teleoperator-pico4](https://github.com/xensedyl/lerobot-teleoperator-pico4)** — by xensedyl - -Teleoperation plugin driving LeRobot from a [PICO 4](https://www.picoxr.com/) VR headset, with a companion [hand-tracking variant](https://github.com/xensedyl/lerobot-teleoperator-pico4-hand). - -**[lerobot_ur5e_gello — GELLO leader](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer - -The GELLO leader plugin from F-Fer's monorepo: a Dynamixel-based 7-DoF [GELLO](https://wuphilipp.github.io/gello_site/) arm for teleoperating the UR5e follower (see [Universal Robots UR5e](#universal-robots-ur5e)). - -**[lerobot_teleoperator_yamactiveleader](https://github.com/uynitsuj/lerobot_teleoperator_yamactiveleader)** — by uynitsuj - -Integration for [I2RT](https://i2rt.com/)'s active YAM leader — a bilateral force-feedback teleoperation arm — bringing it into the LeRobot workflow. - -**[lerobot_teleoperator_omy](https://github.com/charlie8612/lerobot_teleoperator_omy)** — by charlie8612 - -LeRobot teleoperator plugin for [ROBOTIS](https://www.robotis.com/)' OMY-L100, a 6-DoF leader arm driven directly without requiring ROS 2. - -**[lerobot_teleoperator_inverse3](https://github.com/chohh7391/lerobot_teleoperator_inverse3)** — by chohh7391 - -Teleoperator plugin for the [Haply Inverse3](https://www.haply.co/) haptic device, bringing force-feedback control into the LeRobot workflow. - -**[lerobot_teleoperator_omega7](https://github.com/hzhz112/lerobot_teleoperator_omega7)** — by hzhz112 - -Teleoperator plugin for the [Force Dimension omega.7](https://www.forcedimension.com/) haptic device, bringing force-feedback control into the LeRobot workflow. - -**[lerobot-teleoperator-pipermate](https://pypi.org/project/lerobot-teleoperator-pipermate/)** — by Welt-liu - -PiperMate leader teleoperator ([FashionStar](https://fashionstar.com.hk/) UART servos) built to drive the [AgileX Piper](https://global.agilex.ai/) arm. - -**[lerobot-teleoperator-livekit](https://pypi.org/project/lerobot-teleoperator-livekit/)** — by binhpham_lk - -Robot-side teleoperator receiving commands over a [LiveKit](https://livekit.io/) Portal (WebRTC), enabling remote teleoperation across the network. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ProjectDescription
lerobot-teleoperator-teleopPlugin turning a phone or VR headset into a teleoperator via WebXR, wrapping the open-source teleop library.
lerobot-teleoperator-spacemousePlugin for the 3Dconnexion SpaceMouse, with inverse kinematics for SO-arms robots.
vr-teleop-kitPlugin for the Meta Quest (WebXR) headset, relying on URDF descriptions for inverse kinematics.
lerobot-teleoperator-pico4Plugin for the PICO 4 VR headset, with a companion controller-free hand-tracking variant.
lerobot_teleoperator_gelloPlugin for the 7 degrees of freedom GELLO teleoperator.
lerobot_teleoperator_yamactiveleaderPlugin for the active YAM teleoperator from I2RT, a bilateral force-feedback arm.
lerobot_teleoperator_omyPlugin for the OMY-L100 6 degrees of freedom teleoperator from ROBOTIS.
lerobot_teleoperator_inverse3Plugin for the Haply Inverse3 haptic device, adding force-feedback teleoperation.
lerobot_teleoperator_omega7Plugin for the Force Dimension omega.7 haptic device, adding 7-axis force-feedback teleoperation.
lerobot-teleoperator-pipermatePlugin for the PiperMate teleoperator (FashionStar UART servos), driving the AgileX Piper arm.
lerobot-teleoperator-livekitPlugin receiving teleoperation commands over a LiveKit Portal (WebRTC) for remote control.
## Full Kits (Robot + Teleoperator) -**[lerobot-arx5](https://github.com/villekuosmanen/lerobot-arx5)** — by villekuosmanen - -An [ARX5](https://www.arx-x.com/) kit from a single author: the [`lerobot-arx5`](https://github.com/villekuosmanen/lerobot-arx5) robot plugin paired with its [`lerobot-teleoperator-arx5`](https://pypi.org/project/lerobot-teleoperator-arx5/) leader/teleoperator counterpart. - - -**[Nextis-AIRA-3D](https://github.com/robertorobotics/Nextis-AIRA-3D)** — by robertorobotics - -An open-source, 3D-printable 7-DoF arm from [Nextis](https://www.nextis.tech) shipping as a LeRobot plugin, registering a robot (`aira_follower`) and Dynamixel leader (`aira_leader`) for teleoperation and training. - -**[lerobot_yam](https://github.com/pravsels/lerobot_yam)** — by pravsels - -A plugin suite for [I2RT](https://i2rt.com/)'s YAM arm shipping a follower (`yam_follower`) and GELLO leader (`yam_leader`), installable together or component-by-component. - -**[trlc-dk1](https://github.com/robot-learning-co/trlc-dk1)** — by The Robot Learning Company - -[The Robot Learning Company](https://www.robot-learning.co/)'s open-source dev kit for AI-native robotics, shipping a `lerobot_robot_trlc_dk1` plugin with single-arm `dk1_follower`/`dk1_leader` and bimanual `bi_dk1_follower`/`bi_dk1_leader` types. - -**[hex_lerobot_drivers](https://github.com/hexfellow/hex_lerobot_drivers)** — by hexfellow - -A full suite of drop-in plugins for [HEXFELLOW](https://hexfellow.com/) devices on PyPI: Hex Arm robots, matching leader teleoperators, and cameras (see [Cameras & Sensors](./third_party_sensors)). - -**[lerobot-robot-nexarm-follower](https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower)** — by Hiwonder - -A LeRobot plugin pair for [Hiwonder](https://www.hiwonder.com/)'s NexArm: a follower robot and its matching [leader teleoperator](https://github.com/Hiwonder-official/lerobot-teleoperator-nexarm-leader) for recording and deployment. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ProjectDescription
lerobot-arx5Plugin for the ARX5 arm: lerobot-arx5 robot with its lerobot-teleoperator-arx5 teleoperator.
Nextis-AIRA-3DPlugin for a 3D-printable 7 degrees of freedom arm from Nextis: robot aira_follower and teleoperator aira_leader.
lerobot_yamPlugin suite for the YAM arm from I2RT: robot yam_follower and teleoperator yam_leader.
trlc-dk1Plugin for the development kit from The Robot Learning Company: single-arm and bimanual robot/teleoperator types.
hex_lerobot_driversPlugin suite for HEXFELLOW devices: Hex Arm robots, teleoperators, and cameras (see Cameras & Sensors).
lerobot-robot-nexarm-followerPlugin for the NexArm from Hiwonder: the robot and its matching teleoperator.
## ROS 2 Bridges -**[leros2](https://github.com/ngres/leros2)** — by ngres - -Maps ROS 2 topics and actions to LeRobot robots and teleoperators, bridging existing ROS 2 hardware into the LeRobot interface on both sides. - -**[lerobot_robot_ros2_zenoh](https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh)** — by ROBOTIS - -A ROS 2 [Zenoh](https://zenoh.io)-based integration for LeRobot, letting you drive ROS 2 robots through the LeRobot interface. + + + + + + + + + + + + + + + + + + +
ProjectDescription
leros2Plugin bridging ROS 2 topics and actions to LeRobot robots and teleoperators.
lerobot_robot_ros2_zenohPlugin bridging ROS 2 robots to LeRobot over Zenoh pub/sub transport.
## Contributing diff --git a/docs/source/third_party_sensors.mdx b/docs/source/third_party_sensors.mdx index e16121ecc..5aa0776cd 100644 --- a/docs/source/third_party_sensors.mdx +++ b/docs/source/third_party_sensors.mdx @@ -20,27 +20,75 @@ lerobot-record \ ## Tactile Sensors -**[lerobot-camera-xense](https://github.com/xensedyl/lerobot-camera-xense)** — by xensedyl - -A drop-in plugin registering the `xense` camera type for [Xense](https://www.xenserobotics.com/) vision-based tactile sensors, exposing rectified/difference images plus depth, 2D markers, and distributed force fields. + + + + + + + + + + + + + + +
ProjectDescription
lerobot-camera-xensePlugin for Xense vision-based tactile sensors, exposing rectified/difference images, depth, and 2D markers.
## Depth Cameras -**[lerobot_camera_berxel](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel)** — by hexfellow - -[Berxel](https://www.berxel.com/) depth camera plugin from [HEXFELLOW](https://hexfellow.com/)'s LeRobot suite on PyPI (the same repo also ships Hex Arm robots and teleoperators). + + + + + + + + + + + + + + +
ProjectDescription
lerobot_camera_berxelPlugin for the Berxel depth camera, part of the broader HEXFELLOW driver suite.
## Networked Cameras -**[lerobot_camera_zmq (UR5e/GELLO)](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer - -The `lerobot_camera_zmq` plugin from F-Fer's UR5e/GELLO monorepo: streams [Stereolabs ZED](https://www.stereolabs.com/) and USB camera frames from a Raspberry Pi over the network. + + + + + + + + + + + + + + +
ProjectDescription
lerobot_camera_zmqPlugin streaming Stereolabs ZED and USB camera frames from a Raspberry Pi over the network.
## Virtual Cameras -**[lerobot_camera_dummy](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_dummy)** — by hexfellow - -A simulated MuJoCo camera for the Hex Arm from [HEXFELLOW](https://hexfellow.com/)'s LeRobot suite, for teleoperation and recording without physical camera hardware. + + + + + + + + + + + + + + +
ProjectDescription
lerobot_camera_dummyPlugin simulating a MuJoCo camera for recording without hardware, useful for debugging.
## Contributing