feat(format): improving robots and cameras page formatting

docs/source/_toctree.yml

@@ -166,11 +166,7 @@
   - local: rebot_b601
     title: reBot B601-DM
   - local: third_party_robots
-<<<<<<< Updated upstream
-    title: Third-Party Robots Packages
-=======
     title: Third-Party Robots & Teleoperators
->>>>>>> Stashed changes
   title: "Robots"
 - sections:
   - local: phone_teleop

docs/source/third_party_robots.mdx

@@ -2,169 +2,178 @@
 
 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.
 
-<Tip>
+> [!IMPORTANT]
-These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
+> These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
-</Tip>
+
+Drop-in plugins are auto-discovered by package name: LeRobot imports any installed package prefixed with `lerobot_robot_` or `lerobot_teleoperator_`. Once installed, reference the `type` the plugin registers (see its README — it may differ from the package name) directly from any LeRobot command:
+
+```bash
+pip install lerobot_robot_<name> lerobot_teleoperator_<name>
+
+lerobot-record \
+    --robot.type=<robot_name> \
+    --teleop.type=<teleoperator_name> \
+    --dataset.repo_id=${HF_USER}/my-dataset \
+    --dataset.num_episodes=5
+```
 
 ## Industrial & Collaborative Arms
 
 **[lerobot-robot-xarm](https://github.com/SpesRobotics/lerobot-robot-xarm)** — by SpesRobotics
 
-xArm integration for LeRobot, bringing UFACTORY's popular collaborative arm series into the LeRobot workflow.
+Integration bringing [UFACTORY](https://www.ufactory.cc/)'s popular xArm collaborative arm series into the LeRobot teleoperation and recording workflow.
-
-**[lerobot_trossen](https://github.com/TrossenRobotics/lerobot_trossen)** — by Trossen Robotics
-
-Official hardware integrations from Trossen Robotics, makers of the WidowX and ALOHA-style arms widely used in robot learning research.
 
 **[lerobot_lebai](https://github.com/lebai-robotics/lerobot_lebai)** — by Lebai Robotics
 
-Integration for Lebai collaborative robot arms, bringing them into the LeRobot teleoperation and recording workflow.
+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
 
-LeRobot extension for the Franka robot paired with the XHand dexterous hand. An instantiation of the LeVR framework, combining a research-grade arm with VR-based teleoperation.
+> [!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).
+
+### Universal Robots UR5e
 
 **[UR5e-LeRobot](https://github.com/yechen056/UR5e-LeRobot)** — by yechen056
 
-LeRobot extension for the Universal Robots UR5e, with both single-arm and bimanual support.
+> [!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
 
-Automated data collection for a mobile UR5e platform, built on LeRobot — great for scaling up dataset creation with minimal human supervision.
+> [!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_ur5e_gello](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
+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.
 
-Custom LeRobot plugins for a UR5e follower and GELLO leader arm, with ready-to-use scripts for data collection and VLA policy inference.
+**[lerobot_ur5e_gello — UR5e follower](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
 
-## Research & Learning Platforms
+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)).
 
-**[lerobot-arx5](https://github.com/villekuosmanen/lerobot-arx5)** — by villekuosmanen
+## Research & Learning Arms
 
-An ARX5 robot arm plugin for LeRobot, integrating this compact, learning-friendly manipulator into the ecosystem.
+**[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
 
-Integration of the AgileX Piper arm with LeRobot, developed in the context of agricultural robotics research.
+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
 
-Multi-arm teleoperation plugin for the AgileX Piper robot, integrating with LeRobot for data collection and policy deployment.
+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.
 
 ## Affordable & Hobbyist Arms
 
 **[fashionstar-lerobot-robot-cello](https://github.com/servodevelop/fashionstar-lerobot-robot-cello)** — by servodevelop
 
-LeRobot integration for the FashionStar Cello robot arm.
+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 the FashionStar Viola robot arm — a sibling to the Cello integration above.
+LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Viola, a compact 6+1-DoF sibling to the Cello follower arm above.
 
-**[lerobot-robot-seeed-b601](https://github.com/Seeed-Projects/lerobot-robot-seeed-b601)** — by Seeed Studio
+## Service, Mobile & Utility Robots
-
-Integration for Seeed Studio's reBot Arm B601, enabling the low-cost B601 to be used as a follower arm within LeRobot.
-
-## Multi-Device & Specialized Integrations
 
 **[lerobot-robot-ugo-pro](https://github.com/ugo-plus/lerobot-robot-ugo-pro)** — by ugo (ugo-plus)
 
-ugo Pro integration for LeRobot, bringing this service robot platform into the LeRobot ecosystem.
+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 that lets unmodified LeRobot drive a LeKiwi mobile manipulator built with STS3250 servos on the main arm joints and a PincOpen gripper, with tunable servo parameters exposed as config fields — no source edits required.
+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_ros2_zenoh](https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh)** — by ROBOTIS
-
-A ROS 2 (Zenoh-based) robot integration for LeRobot, letting you drive ROS 2 robots through the LeRobot interface.
 
 **[lerobot-robot-dummy](https://github.com/KillingJacky/lerobot-robot-dummy)** — by KillingJacky
 
-A virtual follower arm for debugging: it drives no hardware and instead prints the actions it receives (with an optional silent mode), handy for testing leaders and pipelines. Defaults to Seeed B601 joint names, with configurable motor names for other leaders.
+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.
 
 ## Teleoperators
 
 **[lerobot-teleoperator-teleop](https://github.com/SpesRobotics/lerobot-teleoperator-teleop)** — by SpesRobotics
 
-Phone and VR teleoperation integration for LeRobot, one of the community plugins referenced in the official Bring Your Own Hardware guide.
+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 into a 6-DoF teleoperator, with built-in inverse kinematics for SO-101/SO-ARM followers, a direct end-effector mode, axis remapping, and custom-URDF profiles.
+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 that drives robot arms from a Meta Quest (WebXR) headset via differential inverse kinematics, exposed as a drop-in LeRobot `Teleoperator` (single-arm and bimanual).
+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 VR headset, with a companion [hand-tracking variant](https://github.com/xensedyl/lerobot-teleoperator-pico4-hand).
+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
 
-Active YAM teleop leader device integration for LeRobot.
+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 the ROBOTIS OMY-L100 6-DoF leader arm (no ROS 2 required).
+LeRobot teleoperator plugin for [ROBOTIS](https://www.robotis.com/)' OMY-L100, a 6-DoF leader arm driven directly without requiring ROS 2.
-
-**[lerobot-teleoperator-deltas-gamepad](https://github.com/jpizarrom/lerobot-teleoperator-deltas-gamepad)** — by jpizarrom
-
-Teleoperate LeRobot with a standard gamepad, sending incremental (delta) end-effector commands.
 
 **[lerobot_teleoperator_inverse3](https://github.com/chohh7391/lerobot_teleoperator_inverse3)** — by chohh7391
 
-Teleoperator plugin for the Haply Inverse3 haptic device.
+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 haptic device.
+Teleoperator plugin for the [Force Dimension omega.7](https://www.forcedimension.com/) haptic device, bringing force-feedback control into the LeRobot workflow.
-
-**[lerobot-teleoperator-arx5](https://pypi.org/project/lerobot-teleoperator-arx5/)** — by villekuosmanen
-
-ARX5 leader/teleoperator plugin — the leader counterpart to the ARX5 robot plugin listed above, from the same author.
-
-**[lerobot-teleoperator-seeed-b601](https://github.com/Seeed-Projects/lerobot-teleoperator-seeed-b601)** — by Seeed Studio
-
-Leader-arm teleoperator for the Seeed reBot Arm B601 (Damiao CAN motors), pairing with the B601 follower listed above.
-
-**[lerobot-teleoperator-rebot-arm-102](https://pypi.org/project/lerobot-teleoperator-rebot-arm-102/)** — by Seeed Studio
-
-reBot Arm 102 leader arm (FashionStar UART servos) designed to teleoperate the Seeed reBot B601 follower.
 
 **[lerobot-teleoperator-pipermate](https://pypi.org/project/lerobot-teleoperator-pipermate/)** — by Welt-liu
 
-PiperMate leader teleoperator (FashionStar UART servos) for the AgileX Piper arm.
+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 that receives commands over a LiveKit Portal (WebRTC), enabling remote teleoperation across the network.
+Robot-side teleoperator receiving commands over a [LiveKit](https://livekit.io/) Portal (WebRTC), enabling remote teleoperation across the network.
+
+## 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.
 
-## Robots + Teleoperators
 
 **[Nextis-AIRA-3D](https://github.com/robertorobotics/Nextis-AIRA-3D)** — by robertorobotics
 
-An open-source, 3D-printable 7-DoF arm that ships as a LeRobot plugin (not a fork), registering both a robot (`aira_follower`) and its Dynamixel leader teleoperator (`aira_leader`) for teleoperation, recording, and training.
+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 the YAM arm shipping both a follower robot (`yam_follower`, CAN-driven) and a GELLO leader teleoperator (`yam_leader`), plus shared utilities — installable together or component-by-component (e.g. follower-only for policy inference).
+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.
-
-**[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 the robot and teleoperator sides.
-
-**[lerobot_robot_bi_so101_follower](https://github.com/SIGRobotics-UIUC/lerobot_robot_bi_so101_follower)** — by SIGRobotics-UIUC
-
-A bimanual (dual-arm) SO-101 setup: a follower robot package paired with its [bi-so101 leader teleoperator](https://pypi.org/project/lerobot-teleoperator-bi-so101-leader/) for dual-arm manipulation.
 
 **[trlc-dk1](https://github.com/robot-learning-co/trlc-dk1)** — by The Robot Learning Company
 
-An open-source dev kit for AI-native robotics. The repo ships a `lerobot_robot_trlc_dk1` plugin (auto-detected via LeRobot's plugin conventions despite the repo name) registering single-arm `dk1_follower`/`dk1_leader` and bimanual `bi_dk1_follower`/`bi_dk1_leader` types.
+[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 devices, published individually on PyPI: Hex Arm robots (`hex_arm`, `hex_arm_double`, and a `hex_arm_sim` MuJoCo variant), matching leader teleoperators (`hello`, `hex_arm`, and their double-arm versions), and cameras (see the [Cameras & Sensors](./third_party_sensors) page).
+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.
+
+## 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.
 
 ## Contributing
 

docs/source/third_party_sensors.mdx

@@ -1,24 +1,46 @@
 # Third-Party Cameras & Sensors
 
-Beyond the cameras natively supported by LeRobot (OpenCV, Intel RealSense, ZMQ, Reachy 2), the community has published drop-in camera plugins using the `lerobot_camera_` package convention. Because LeRobot auto-discovers any installed package prefixed with `lerobot_camera_` and registers its `CameraConfig` subclass, these work with unmodified LeRobot — just `pip install` and reference the new camera `type` from the CLI. This page collects community-maintained camera and sensor integrations.
+The LeRobot ecosystem extends far beyond its natively supported cameras (OpenCV, Intel RealSense, ZMQ, Reachy 2). Thanks to LeRobot's plugin architecture, the community has built drop-in camera and sensor integrations — from depth cameras to vision-based tactile sensors. This page showcases community-maintained camera and sensor integrations you can use for teleoperation, data collection, and policy deployment.
 
-<Tip>
+> [!IMPORTANT]
-These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
+> These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
-</Tip>
 
-## Cameras & Vision Sensors
+Drop-in plugins are auto-discovered by package name: LeRobot imports any installed package prefixed with `lerobot_camera_`. Once installed, reference the camera `type` the plugin registers (see its README — it may differ from the package name) directly from any LeRobot command:
+
+```bash
+pip install lerobot_camera_<name>
+
+lerobot-record \
+    --robot.type=so101_follower \
+    --robot.port=/dev/ttyACM0 \
+    --robot.cameras="{ front: {type: <name>, width: 640, height: 480, fps: 30} }" \
+    --dataset.repo_id=${HF_USER}/my-dataset \
+    --dataset.num_episodes=5
+```
+
+## Tactile Sensors
 
 **[lerobot-camera-xense](https://github.com/xensedyl/lerobot-camera-xense)** — by xensedyl
 
-A drop-in camera plugin (registers the `xense` camera type) for Xense vision-based tactile sensors via `xensesdk>=2.0.0`. Exposes rectified/difference images for the standard image observation path, plus richer outputs — depth, 2D markers, force fields, force resultants, and 3D mesh — with a per-sensor process backend for multi-sensor setups.
+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.
 
-**[hex_lerobot_drivers cameras](https://github.com/hexfellow/hex_lerobot_drivers)** — by hexfellow
+## Depth Cameras
 
-Part of HEXFELLOW's LeRobot plugin suite, providing two camera plugins published on PyPI: [`lerobot_camera_berxel`](https://pypi.org/project/lerobot-camera-berxel/) for Berxel (depth) cameras, and [`lerobot_camera_dummy`](https://pypi.org/project/lerobot-camera-dummy/), a simulated MuJoCo camera for the Hex Arm useful for teleoperation and recording without physical camera hardware. (The same repo also ships Hex Arm robots and leader teleoperators — see the [Robots & Teleoperators](./third_party_robots) page.)
+**[lerobot_camera_berxel](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel)** — by hexfellow
 
-**[lerobot_camera_imageclient](https://github.com/CoNG-harvard/lerobot_camera_imageclient)** — by CoNG-harvard
+[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).
 
-A LeRobot camera plugin that sources frames from an external image client, following the `lerobot_camera_` auto-discovery convention.
+## 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.
+
+## 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.
 
 ## Contributing