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feat(format): formatting third party list
This commit is contained in:
CarolinePascal
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# Third-Party Robots & Teleoperators
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# Third-Party Robots & Teleoperators
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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.
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> [!IMPORTANT]
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> [!IMPORTANT]
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> These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
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> These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
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@@ -17,163 +17,252 @@ lerobot-record \
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--dataset.num_episodes=5
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--dataset.num_episodes=5
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```
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```
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> [!TIP]
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> ⚠️ 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.
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## Industrial & Collaborative Arms
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## Industrial & Collaborative Arms
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**[lerobot-robot-xarm](https://github.com/SpesRobotics/lerobot-robot-xarm)** — by SpesRobotics
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<table width="100%" style="table-layout:fixed;">
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<colgroup>
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Integration bringing [UFACTORY](https://www.ufactory.cc/)'s popular xArm collaborative arm series into the LeRobot teleoperation and recording workflow.
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<col width="30%" />
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<col width="70%" />
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**[lerobot_lebai](https://github.com/lebai-robotics/lerobot_lebai)** — by Lebai Robotics
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</colgroup>
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<thead>
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Integration bringing [Lebai](https://lebai.ltd/en/)'s six-axis collaborative robot arms into the LeRobot teleoperation and recording workflow.
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<tr><th>Project</th><th>Description</th></tr>
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</thead>
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**[LeFranX](https://github.com/wengmister/LeFranX)** — by wengmister
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<tbody>
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<tr>
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> [!WARNING]
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<td><a href="https://github.com/SpesRobotics/lerobot-robot-xarm">lerobot-robot-xarm</a></td>
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> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install.
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<td>Plugin for the xArm collaborative arm series from <a href="https://www.ufactory.us/">UFACTORY</a>.</td>
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</tr>
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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).
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<tr>
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<td><a href="https://github.com/lebai-robotics/lerobot_lebai">lerobot_lebai</a></td>
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<td>Plugin for the six-axis collaborative arms from <a href="https://lebai.ltd/en/">Lebai</a>.</td>
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</tr>
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<tr>
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<td><a href="https://github.com/wengmister/LeFranX">LeFranX</a> ⚠️</td>
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<td>LeRobot extension for the <a href="https://franka.de/">Franka</a> research arm, paired with the <a href="https://www.robotera.com/">RobotEra XHand</a> hand for VR teleoperation.</td>
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</tr>
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</tbody>
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</table>
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### Universal Robots UR5e
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### Universal Robots UR5e
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**[UR5e-LeRobot](https://github.com/yechen056/UR5e-LeRobot)** — by yechen056
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<table width="100%" style="table-layout:fixed;">
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<colgroup>
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> [!WARNING]
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<col width="30%" />
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> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install.
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<col width="70%" />
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</colgroup>
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LeRobot extension for the [Universal Robots UR5e](https://www.universal-robots.com/), with both single-arm and bimanual support.
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<thead>
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<tr><th>Project</th><th>Description</th></tr>
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**[lerobot_ur5e_auto](https://github.com/scy-v/lerobot_ur5e_auto)** — by scy-v
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</thead>
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<tbody>
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> [!WARNING]
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<tr>
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> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install.
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<td><a href="https://github.com/yechen056/UR5e-LeRobot">UR5e-LeRobot</a> ⚠️</td>
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<td>LeRobot extension for the <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>, with single-arm and bimanual support.</td>
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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.
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</tr>
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<tr>
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**[lerobot_ur5e_gello — UR5e follower](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
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<td><a href="https://github.com/scy-v/lerobot_ur5e_auto">lerobot_ur5e_auto</a> ⚠️</td>
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<td>LeRobot extension for a mobile <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>, adding automated recording at scale with minimal supervision.</td>
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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)).
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</tr>
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<tr>
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<td><a href="https://github.com/F-Fer/lerobot_ur5e_gello">lerobot_robot_ur5e</a></td>
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<td>Plugin for the <a href="https://www.universal-robots.com/">Universal Robots UR5e</a> with a <a href="https://robotiq.com/">Robotiq</a> gripper, over RTDE control.</td>
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</tr>
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</tbody>
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</table>
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## Research & Learning Arms
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## Research & Learning Arms
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**[lerobot_trossen](https://github.com/TrossenRobotics/lerobot_trossen)** — by Trossen Robotics
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<table width="100%" style="table-layout:fixed;">
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<colgroup>
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Official integrations for [Trossen Robotics](https://www.trossenrobotics.com/)' WidowX and ALOHA-style arms, widely used in low-cost robot-learning research.
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<col width="30%" />
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<col width="70%" />
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**[lerobot_robot_piper (AgRobotics Research)](https://github.com/AgRoboticsResearch/lerobot_robot_piper)** — by AgRoboticsResearch
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</colgroup>
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<thead>
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A compact, lightweight integration bringing the [AgileX Piper](https://global.agilex.ai/) arm into the LeRobot teleoperation and recording workflow.
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<tr><th>Project</th><th>Description</th></tr>
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</thead>
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**[lerobot_robot_piper (WeGo Robotics)](https://github.com/WeGo-Robotics/lerobot_robot_piper)** — by WeGo-Robotics
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<tbody>
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<tr>
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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.
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<td><a href="https://github.com/TrossenRobotics/lerobot_trossen">lerobot_trossen</a></td>
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<td>Plugin for the WidowX and ALOHA-style arms from <a href="https://www.trossenrobotics.com/">Trossen Robotics</a>.</td>
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</tr>
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<tr>
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<td><a href="https://github.com/AgRoboticsResearch/lerobot_robot_piper">lerobot_robot_piper (AgRobotics Research)</a></td>
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<td>Plugin for the <a href="https://global.agilex.ai/">AgileX Piper</a> arm.</td>
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</tr>
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<tr>
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<td><a href="https://github.com/WeGo-Robotics/lerobot_robot_piper">lerobot_robot_piper (WeGo Robotics)</a></td>
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<td>Plugin for the <a href="https://global.agilex.ai/">AgileX Piper</a> arm, with multi-arm teleoperation, safety limits, and GUI tools.</td>
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</tr>
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</tbody>
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</table>
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## Affordable & Hobbyist Arms
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## Affordable & Hobbyist Arms
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**[fashionstar-lerobot-robot-cello](https://github.com/servodevelop/fashionstar-lerobot-robot-cello)** — by servodevelop
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<table width="100%" style="table-layout:fixed;">
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<colgroup>
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LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Cello, a factory-ready 6+1-DoF follower arm for teleoperation and data collection.
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<col width="30%" />
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|
<col width="70%" />
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**[fashionstar-lerobot-robot-viola](https://github.com/servodevelop/fashionstar-lerobot-robot-viola)** — by servodevelop
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</colgroup>
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<thead>
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LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Viola, a compact 6+1-DoF sibling to the Cello follower arm above.
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<tr><th>Project</th><th>Description</th></tr>
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</thead>
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<tbody>
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<tr>
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<td><a href="https://github.com/servodevelop/fashionstar-lerobot-robot-cello">fashionstar-lerobot-robot-cello</a></td>
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<td>Plugin for the StarAI Cello 6+1 degrees of freedom arm from <a href="https://fashionstar.com.hk/">FashionStar</a>.</td>
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</tr>
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<tr>
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<td><a href="https://github.com/servodevelop/fashionstar-lerobot-robot-viola">fashionstar-lerobot-robot-viola</a></td>
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<td>Plugin for the compact StarAI Viola 6+1 degrees of freedom arm from <a href="https://fashionstar.com.hk/">FashionStar</a>.</td>
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</tr>
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</tbody>
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</table>
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|
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## Service, Mobile & Utility Robots
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## Service, Mobile & Utility Robots
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|
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**[lerobot-robot-ugo-pro](https://github.com/ugo-plus/lerobot-robot-ugo-pro)** — by ugo (ugo-plus)
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<table width="100%" style="table-layout:fixed;">
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<colgroup>
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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.
|
<col width="30%" />
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|
<col width="70%" />
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**[lerobot_robot_lekiwi_pincopen](https://github.com/zuoxingdong/lerobot_robot_lekiwi_pincopen)** — by zuoxingdong
|
</colgroup>
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|
<thead>
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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.
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<tr><th>Project</th><th>Description</th></tr>
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|
</thead>
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**[lerobot-robot-dummy](https://github.com/KillingJacky/lerobot-robot-dummy)** — by KillingJacky
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<tbody>
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|
<tr>
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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.
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<td><a href="https://github.com/ugo-plus/lerobot-robot-ugo-pro">lerobot-robot-ugo-pro</a></td>
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|
<td>Plugin for the ugo Pro dual-arm service robot from <a href="https://ugo.plus/products/ugo-pro/">ugo</a>.</td>
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</tr>
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<tr>
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<td><a href="https://github.com/zuoxingdong/lerobot_robot_lekiwi_pincopen">lerobot_robot_lekiwi_pincopen</a></td>
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<td>Plugin for the LeKiwi mobile manipulator with a <a href="https://github.com/pollen-robotics/PincOpen">PincOpen</a> gripper.</td>
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</tr>
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<tr>
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<td><a href="https://github.com/KillingJacky/lerobot-robot-dummy">lerobot-robot-dummy</a></td>
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<td>Plugin simulating a virtual robot for recording without hardware, useful for debugging.</td>
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</tr>
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</tbody>
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</table>
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## Teleoperators
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## Teleoperators
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|
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**[lerobot-teleoperator-teleop](https://github.com/SpesRobotics/lerobot-teleoperator-teleop)** — by SpesRobotics
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<table width="100%" style="table-layout:fixed;">
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|
<colgroup>
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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.
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<col width="30%" />
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|
<col width="70%" />
|
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**[lerobot-teleoperator-spacemouse](https://github.com/Jas000n/lerobot-teleoperator-spacemouse)** — by Jas000n
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</colgroup>
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<thead>
|
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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.
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<tr><th>Project</th><th>Description</th></tr>
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|
</thead>
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**[vr-teleop-kit](https://github.com/Dream-Machines-Robotics/vr-teleop-kit)** — by Dream-Machines-Robotics
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<tbody>
|
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|
<tr>
|
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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).
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<td><a href="https://github.com/SpesRobotics/lerobot-teleoperator-teleop">lerobot-teleoperator-teleop</a></td>
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<td>Plugin turning a phone or VR headset into a teleoperator via <a href="https://immersiveweb.dev">WebXR</a>, wrapping the open-source <a href="https://github.com/SpesRobotics/teleop"><code>teleop</code></a> library.</td>
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**[lerobot-teleoperator-pico4](https://github.com/xensedyl/lerobot-teleoperator-pico4)** — by xensedyl
|
</tr>
|
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|
<tr>
|
||||||
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).
|
<td><a href="https://github.com/Jas000n/lerobot-teleoperator-spacemouse">lerobot-teleoperator-spacemouse</a></td>
|
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|
<td>Plugin for the <a href="https://3dconnexion.com/">3Dconnexion SpaceMouse</a>, with inverse kinematics for SO-arms robots.</td>
|
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**[lerobot_ur5e_gello — GELLO leader](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
|
</tr>
|
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|
<tr>
|
||||||
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)).
|
<td><a href="https://github.com/Dream-Machines-Robotics/vr-teleop-kit">vr-teleop-kit</a></td>
|
||||||
|
<td>Plugin for the <a href="https://www.meta.com/quest/">Meta Quest</a> (WebXR) headset, relying on URDF descriptions for inverse kinematics.</td>
|
||||||
**[lerobot_teleoperator_yamactiveleader](https://github.com/uynitsuj/lerobot_teleoperator_yamactiveleader)** — by uynitsuj
|
</tr>
|
||||||
|
<tr>
|
||||||
Integration for [I2RT](https://i2rt.com/)'s active YAM leader — a bilateral force-feedback teleoperation arm — bringing it into the LeRobot workflow.
|
<td><a href="https://github.com/xensedyl/lerobot-teleoperator-pico4">lerobot-teleoperator-pico4</a></td>
|
||||||
|
<td>Plugin for the <a href="https://www.picoxr.com/">PICO 4</a> VR headset, with a companion controller-free <a href="https://github.com/xensedyl/lerobot-teleoperator-pico4-hand">hand-tracking variant</a>.</td>
|
||||||
**[lerobot_teleoperator_omy](https://github.com/charlie8612/lerobot_teleoperator_omy)** — by charlie8612
|
</tr>
|
||||||
|
<tr>
|
||||||
LeRobot teleoperator plugin for [ROBOTIS](https://www.robotis.com/)' OMY-L100, a 6-DoF leader arm driven directly without requiring ROS 2.
|
<td><a href="https://github.com/F-Fer/lerobot_ur5e_gello">lerobot_teleoperator_gello</a></td>
|
||||||
|
<td>Plugin for the 7 degrees of freedom <a href="https://wuphilipp.github.io/gello_site/">GELLO</a> teleoperator.</td>
|
||||||
**[lerobot_teleoperator_inverse3](https://github.com/chohh7391/lerobot_teleoperator_inverse3)** — by chohh7391
|
</tr>
|
||||||
|
<tr>
|
||||||
Teleoperator plugin for the [Haply Inverse3](https://www.haply.co/) haptic device, bringing force-feedback control into the LeRobot workflow.
|
<td><a href="https://github.com/uynitsuj/lerobot_teleoperator_yamactiveleader">lerobot_teleoperator_yamactiveleader</a></td>
|
||||||
|
<td>Plugin for the active YAM teleoperator from <a href="https://i2rt.com/">I2RT</a>, a bilateral force-feedback arm.</td>
|
||||||
**[lerobot_teleoperator_omega7](https://github.com/hzhz112/lerobot_teleoperator_omega7)** — by hzhz112
|
</tr>
|
||||||
|
<tr>
|
||||||
Teleoperator plugin for the [Force Dimension omega.7](https://www.forcedimension.com/) haptic device, bringing force-feedback control into the LeRobot workflow.
|
<td><a href="https://github.com/charlie8612/lerobot_teleoperator_omy">lerobot_teleoperator_omy</a></td>
|
||||||
|
<td>Plugin for the OMY-L100 6 degrees of freedom teleoperator from <a href="https://www.robotis.com/">ROBOTIS</a>.</td>
|
||||||
**[lerobot-teleoperator-pipermate](https://pypi.org/project/lerobot-teleoperator-pipermate/)** — by Welt-liu
|
</tr>
|
||||||
|
<tr>
|
||||||
PiperMate leader teleoperator ([FashionStar](https://fashionstar.com.hk/) UART servos) built to drive the [AgileX Piper](https://global.agilex.ai/) arm.
|
<td><a href="https://github.com/chohh7391/lerobot_teleoperator_inverse3">lerobot_teleoperator_inverse3</a></td>
|
||||||
|
<td>Plugin for the <a href="https://www.haply.co/">Haply Inverse3</a> haptic device, adding force-feedback teleoperation.</td>
|
||||||
**[lerobot-teleoperator-livekit](https://pypi.org/project/lerobot-teleoperator-livekit/)** — by binhpham_lk
|
</tr>
|
||||||
|
<tr>
|
||||||
Robot-side teleoperator receiving commands over a [LiveKit](https://livekit.io/) Portal (WebRTC), enabling remote teleoperation across the network.
|
<td><a href="https://github.com/hzhz112/lerobot_teleoperator_omega7">lerobot_teleoperator_omega7</a></td>
|
||||||
|
<td>Plugin for the <a href="https://www.forcedimension.com/">Force Dimension omega.7</a> haptic device, adding 7-axis force-feedback teleoperation.</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://pypi.org/project/lerobot-teleoperator-pipermate/">lerobot-teleoperator-pipermate</a></td>
|
||||||
|
<td>Plugin for the PiperMate teleoperator (<a href="https://fashionstar.com.hk/">FashionStar</a> UART servos), driving the <a href="https://global.agilex.ai/">AgileX Piper</a> arm.</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://pypi.org/project/lerobot-teleoperator-livekit/">lerobot-teleoperator-livekit</a></td>
|
||||||
|
<td>Plugin receiving teleoperation commands over a <a href="https://livekit.io/">LiveKit</a> Portal (WebRTC) for remote control.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## Full Kits (Robot + Teleoperator)
|
## Full Kits (Robot + Teleoperator)
|
||||||
|
|
||||||
**[lerobot-arx5](https://github.com/villekuosmanen/lerobot-arx5)** — by villekuosmanen
|
<table width="100%" style="table-layout:fixed;">
|
||||||
|
<colgroup>
|
||||||
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.
|
<col width="30%" />
|
||||||
|
<col width="70%" />
|
||||||
|
</colgroup>
|
||||||
**[Nextis-AIRA-3D](https://github.com/robertorobotics/Nextis-AIRA-3D)** — by robertorobotics
|
<thead>
|
||||||
|
<tr><th>Project</th><th>Description</th></tr>
|
||||||
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.
|
</thead>
|
||||||
|
<tbody>
|
||||||
**[lerobot_yam](https://github.com/pravsels/lerobot_yam)** — by pravsels
|
<tr>
|
||||||
|
<td><a href="https://github.com/villekuosmanen/lerobot-arx5">lerobot-arx5</a></td>
|
||||||
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.
|
<td>Plugin for the <a href="https://www.arx-x.com/">ARX5</a> arm: <a href="https://pypi.org/project/lerobot-robot-arx5/"><code>lerobot-arx5</code></a> robot with its <a href="https://pypi.org/project/lerobot-teleoperator-arx5/"><code>lerobot-teleoperator-arx5</code></a> teleoperator.</td>
|
||||||
|
</tr>
|
||||||
**[trlc-dk1](https://github.com/robot-learning-co/trlc-dk1)** — by The Robot Learning Company
|
<tr>
|
||||||
|
<td><a href="https://github.com/robertorobotics/Nextis-AIRA-3D">Nextis-AIRA-3D</a></td>
|
||||||
[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.
|
<td>Plugin for a 3D-printable 7 degrees of freedom arm from <a href="https://www.nextis.tech">Nextis</a>: robot <code>aira_follower</code> and teleoperator <code>aira_leader</code>.</td>
|
||||||
|
</tr>
|
||||||
**[hex_lerobot_drivers](https://github.com/hexfellow/hex_lerobot_drivers)** — by hexfellow
|
<tr>
|
||||||
|
<td><a href="https://github.com/pravsels/lerobot_yam">lerobot_yam</a></td>
|
||||||
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)).
|
<td>Plugin suite for the YAM arm from <a href="https://i2rt.com/">I2RT</a>: robot <code>yam_follower</code> and teleoperator <code>yam_leader</code>.</td>
|
||||||
|
</tr>
|
||||||
**[lerobot-robot-nexarm-follower](https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower)** — by Hiwonder
|
<tr>
|
||||||
|
<td><a href="https://github.com/robot-learning-co/trlc-dk1">trlc-dk1</a></td>
|
||||||
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.
|
<td>Plugin for the development kit from <a href="https://www.robot-learning.co/">The Robot Learning Company</a>: single-arm and bimanual robot/teleoperator types.</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/hexfellow/hex_lerobot_drivers">hex_lerobot_drivers</a></td>
|
||||||
|
<td>Plugin suite for <a href="https://hexfellow.com/">HEXFELLOW</a> devices: Hex Arm robots, teleoperators, and cameras (see <a href="./third_party_sensors">Cameras & Sensors</a>).</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower">lerobot-robot-nexarm-follower</a></td>
|
||||||
|
<td>Plugin for the NexArm from <a href="https://www.hiwonder.com/">Hiwonder</a>: the <a href="https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower">robot</a> and its matching <a href="https://github.com/Hiwonder-official/lerobot-teleoperator-nexarm-leader">teleoperator</a>.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## ROS 2 Bridges
|
## ROS 2 Bridges
|
||||||
|
|
||||||
**[leros2](https://github.com/ngres/leros2)** — by ngres
|
<table width="100%" style="table-layout:fixed;">
|
||||||
|
<colgroup>
|
||||||
Maps ROS 2 topics and actions to LeRobot robots and teleoperators, bridging existing ROS 2 hardware into the LeRobot interface on both sides.
|
<col width="30%" />
|
||||||
|
<col width="70%" />
|
||||||
**[lerobot_robot_ros2_zenoh](https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh)** — by ROBOTIS
|
</colgroup>
|
||||||
|
<thead>
|
||||||
A ROS 2 [Zenoh](https://zenoh.io)-based integration for LeRobot, letting you drive ROS 2 robots through the LeRobot interface.
|
<tr><th>Project</th><th>Description</th></tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/ngres/leros2">leros2</a></td>
|
||||||
|
<td>Plugin bridging ROS 2 topics and actions to LeRobot robots and teleoperators.</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh">lerobot_robot_ros2_zenoh</a></td>
|
||||||
|
<td>Plugin bridging ROS 2 robots to LeRobot over <a href="https://zenoh.io">Zenoh</a> pub/sub transport.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## Contributing
|
## Contributing
|
||||||
|
|
||||||
|
|||||||
@@ -20,27 +20,75 @@ lerobot-record \
|
|||||||
|
|
||||||
## Tactile Sensors
|
## Tactile Sensors
|
||||||
|
|
||||||
**[lerobot-camera-xense](https://github.com/xensedyl/lerobot-camera-xense)** — by xensedyl
|
<table width="100%" style="table-layout:fixed;">
|
||||||
|
<colgroup>
|
||||||
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.
|
<col width="30%" />
|
||||||
|
<col width="70%" />
|
||||||
|
</colgroup>
|
||||||
|
<thead>
|
||||||
|
<tr><th>Project</th><th>Description</th></tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/xensedyl/lerobot-camera-xense">lerobot-camera-xense</a></td>
|
||||||
|
<td>Plugin for <a href="https://www.xenserobotics.com/">Xense</a> vision-based tactile sensors, exposing rectified/difference images, depth, and 2D markers.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## Depth Cameras
|
## Depth Cameras
|
||||||
|
|
||||||
**[lerobot_camera_berxel](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel)** — by hexfellow
|
<table width="100%" style="table-layout:fixed;">
|
||||||
|
<colgroup>
|
||||||
[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).
|
<col width="30%" />
|
||||||
|
<col width="70%" />
|
||||||
|
</colgroup>
|
||||||
|
<thead>
|
||||||
|
<tr><th>Project</th><th>Description</th></tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel">lerobot_camera_berxel</a></td>
|
||||||
|
<td>Plugin for the <a href="https://www.berxel.com/">Berxel</a> depth camera, part of the broader <a href="https://hexfellow.com/">HEXFELLOW</a> driver suite.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## Networked Cameras
|
## Networked Cameras
|
||||||
|
|
||||||
**[lerobot_camera_zmq (UR5e/GELLO)](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
|
<table width="100%" style="table-layout:fixed;">
|
||||||
|
<colgroup>
|
||||||
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.
|
<col width="30%" />
|
||||||
|
<col width="70%" />
|
||||||
|
</colgroup>
|
||||||
|
<thead>
|
||||||
|
<tr><th>Project</th><th>Description</th></tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/F-Fer/lerobot_ur5e_gello">lerobot_camera_zmq</a></td>
|
||||||
|
<td>Plugin streaming <a href="https://www.stereolabs.com/">Stereolabs ZED</a> and USB camera frames from a Raspberry Pi over the network.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## Virtual Cameras
|
## Virtual Cameras
|
||||||
|
|
||||||
**[lerobot_camera_dummy](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_dummy)** — by hexfellow
|
<table width="100%" style="table-layout:fixed;">
|
||||||
|
<colgroup>
|
||||||
A simulated MuJoCo camera for the Hex Arm from [HEXFELLOW](https://hexfellow.com/)'s LeRobot suite, for teleoperation and recording without physical camera hardware.
|
<col width="30%" />
|
||||||
|
<col width="70%" />
|
||||||
|
</colgroup>
|
||||||
|
<thead>
|
||||||
|
<tr><th>Project</th><th>Description</th></tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td><a href="https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_dummy">lerobot_camera_dummy</a></td>
|
||||||
|
<td>Plugin simulating a MuJoCo camera for recording without hardware, useful for debugging.</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
## Contributing
|
## Contributing
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user