diff --git a/docs/source/third_party_robots.mdx b/docs/source/third_party_robots.mdx index ed4e08896..e40fe8e67 100644 --- a/docs/source/third_party_robots.mdx +++ b/docs/source/third_party_robots.mdx @@ -18,532 +18,318 @@ lerobot-record \ ``` > [!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. +> ⚠️ marks projects that are forks/extensions of LeRobot. They may require custom setup rather than working with an unmodified install. All other entries are drop-in plugins. ## Industrial & Collaborative Arms - + +
- - - - + - - + + - - + + - - + +
ProjectDescription
ProjectDescription
- - lerobot-robot-xarm - - - Plugin for the xArm collaborative arm series from{" "} - UFACTORY. - lerobot-robot-xarmPlugin for the xArm collaborative arm series from UFACTORY.
- - lerobot_lebai - - - Plugin for the six-axis collaborative arms from{" "} - Lebai. - 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. - LeFranX ⚠️LeRobot extension for the Franka research arm, paired with the RobotEra XHand hand for VR teleoperation.
-### Universal Robots UR5e +#### Universal Robots UR5e - + +
- - - - + - - + + - - + + - - + +
ProjectDescription
ProjectDescription
- UR5e-LeRobot ⚠️ - - LeRobot extension for the{" "} - Universal Robots UR5e, - with single-arm and bimanual support. - 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_ur5e_auto ⚠️LeRobot extension for a mobile Universal Robots UR5e, adding automated recording at scale with minimal supervision.
- - lerobot_robot_ur5e - - - Plugin for the{" "} - Universal Robots UR5e{" "} - with a Robotiq gripper, over RTDE - control. - lerobot_robot_ur5ePlugin for the Universal Robots UR5e with a Robotiq gripper, over RTDE control.
## Research & Learning Arms - + +
- - - - + - - + + + + +
ProjectDescription
ProjectDescription
- - lerobot_trossen - - - Plugin for the WidowX and ALOHA-style arms from{" "} - Trossen Robotics. - lerobot_trossenPlugin for the WidowX and ALOHA-style arms from Trossen Robotics.
+ +#### AgileX Piper + + + + + + + + + + + + + + - - - - - - + +
ProjectDescription
lerobot_robot_piper (AgRobotics Research)Plugin for the AgileX Piper arm.
- - 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. - lerobot_robot_piper (WeGo Robotics)Plugin for the AgileX Piper arm, with multi-arm teleoperation, safety limits, and GUI tools.
## Affordable & Hobbyist Arms - + +
- - - - + - - + + - - + +
ProjectDescription
ProjectDescription
- - fashionstar-lerobot-robot-cello - - - Plugin for the StarAI Cello 6+1 degrees of freedom arm from{" "} - FashionStar. - fashionstar-lerobot-robot-celloPlugin for the StarAI Cello 6+1 degrees of freedom robot arm from FashionStar.
- - fashionstar-lerobot-robot-viola - - - Plugin for the compact StarAI Viola 6+1 degrees of freedom arm from{" "} - FashionStar. - fashionstar-lerobot-robot-violaPlugin for the compact StarAI Viola 6+1 degrees of freedom robot arm from FashionStar.
## Service, Mobile & Utility Robots - + +
- - - - + - - + + - - + + - - + +
ProjectDescription
ProjectDescription
- - lerobot-robot-ugo-pro - - - Plugin for the ugo Pro dual-arm service robot from{" "} - ugo. - lerobot-robot-ugo-proPlugin for the ugo Pro dual-arm service robot from ugo.
- - lerobot_robot_lekiwi_pincopen - - - Plugin for the LeKiwi mobile manipulator with a{" "} - PincOpen{" "} - gripper. - lerobot_robot_lekiwi_pincopenPlugin for a LeKiwi mobile manipulator with a PincOpen gripper.
- - lerobot-robot-dummy - - - Plugin simulating a virtual robot for recording without hardware, useful - for debugging. - lerobot-robot-dummyPlugin simulating a robot for recording without hardware. Useful for debugging !
## Teleoperators - +### VR & Motion Controllers + + +
- - - - + - - + + - - + + - - + + - - + + + + +
ProjectDescription
ProjectDescription
- - lerobot-teleoperator-teleop - - - Plugin turning a phone or VR headset into a teleoperator via{" "} - WebXR, wrapping the open-source{" "} - - teleop - {" "} - library. - lerobot-teleoperator-teleopPlugin turning a phone or VR headset into a teleoperator via WebXR, wrapping the open-source teleop library.
- - lerobot-teleoperator-spacemouse - - - Plugin for the{" "} - 3Dconnexion SpaceMouse, with - inverse kinematics for SO-arms robots. - lerobot-teleoperator-spacemousePlugin for the 3Dconnexion SpaceMouse, with inverse kinematics for SO-ARMS robots.
- - vr-teleop-kit - - - Plugin for the Meta Quest{" "} - (WebXR) headset, relying on URDF descriptions for inverse kinematics. - vr-teleop-kitPlugin teleoperating arms from a Meta Quest (WebXR), relying on URDF descriptions for inverse kinematics.
- - lerobot-teleoperator-pico4 - - - Plugin for the PICO 4 VR headset, - with a companion controller-free{" "} - - hand-tracking variant - - . - lerobot-teleoperator-pico4Plugin for the PICO 4 VR headset, with a companion controller-free hand-tracking variant.
+ +### Leader Arms + + + + + + + + + + + + + + - - + + - - + + - - + + + + +
ProjectDescription
lerobot_teleoperator_gelloPlugin for the 7 degrees of freedom GELLO teleoperator.
- - lerobot_teleoperator_gello - - - Plugin 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_yamactiveleader - - - Plugin 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_omy - - - Plugin for the OMY-L100 6 degrees of freedom teleoperator from{" "} - ROBOTIS. - lerobot-teleoperator-pipermatePlugin for the PiperMate teleoperator (FashionStar UART servos), driving the AgileX Piper arm.
+ +### Haptic Devices + + + + + + + + + + + + + + - - + + + +
ProjectDescription
lerobot_teleoperator_inverse3Plugin for the Haply Inverse3 haptic device, adding force-feedback teleoperation.
- - lerobot_teleoperator_inverse3 - - - Plugin for the Haply Inverse3 haptic - device, adding force-feedback teleoperation. - lerobot_teleoperator_omega7Plugin for the Force Dimension omega.7 haptic device, adding force-feedback teleoperation.
+ +### Networked & Remote + + + + + + + + + + + - - - - - - - - - - + +
ProjectDescription
- - lerobot_teleoperator_omega7 - - - Plugin for the{" "} - Force Dimension omega.7{" "} - haptic device, adding force-feedback teleoperation. -
- - lerobot-teleoperator-pipermate - - - Plugin for the PiperMate teleoperator ( - FashionStar UART servos), - driving the AgileX Piper arm. -
- - lerobot-teleoperator-livekit - - - Plugin receiving teleoperation commands over a{" "} - LiveKit Portal (WebRTC) for remote - control. - lerobot-teleoperator-livekitPlugin receiving teleoperation commands over a LiveKit Portal (WebRTC) for remote control.
## Full Kits (Robot + Teleoperator) - + +
- - - - + - - + + - - + + - - + + - - + + - - + + - - + +
ProjectDescription
ProjectDescription
- - lerobot-arx5 - - - Plugin for the ARX5 arm:{" "} - - lerobot-arx5 - {" "} - robot with its{" "} - - lerobot-teleoperator-arx5 - {" "} - teleoperator. - lerobot-arx5Plugin for the ARX5 arm: lerobot-arx5 robot arm with its lerobot-teleoperator-arx5 teleoperator arm.
- - Nextis-AIRA-3D - - - Plugin for a 3D-printable 7 degrees of freedom arm from{" "} - Nextis: robot{" "} - aira_follower and teleoperator aira_leader. - Nextis-AIRA-3DPlugin for the 7 degrees of freedom arm from Nextis: robot arm aira_follower and teleoperator arm aira_leader.
- lerobot_yam - - Plugin suite for the YAM arm from I2RT: - robot yam_follower and teleoperator yam_leader - . - lerobot_yamPlugin suite for the YAM arm from I2RT: robot arm yam_follower and teleoperator arm yam_leader.
- trlc-dk1 - - Plugin for the development kit from{" "} - The Robot Learning Company: - single-arm and bimanual robot/teleoperator types. - trlc-dk1Plugin for the development kit from The Robot Learning Company: single and bimanual arms follower/teleoperator types.
- - hex_lerobot_drivers - - - Plugin suite for HEXFELLOW devices: - Hex Arm robots, teleoperators, and cameras (see{" "} - Cameras & Sensors). - hex_lerobot_driversPlugin suite for HEXFELLOW devices: robots, teleoperators, and cameras (see Cameras & Sensors).
- - lerobot-robot-nexarm-follower - - - Plugin for the NexArm from{" "} - Hiwonder: the{" "} - - robot - {" "} - and its matching{" "} - - teleoperator - - . - lerobot-robot-nexarm-followerPlugin for the NexArm from Hiwonder: the robot arm and its matching teleoperator arm.
## ROS 2 Bridges - + +
- - - - + - - + + - - + +
ProjectDescription
ProjectDescription
- leros2 - - Plugin bridging ROS 2 topics and actions to LeRobot robots and - teleoperators. - leros2Plugin bridging ROS 2 topics and actions to LeRobot robots and teleoperators.
- - lerobot_robot_ros2_zenoh - - - Plugin bridging ROS 2 robots to LeRobot over{" "} - Zenoh pub/sub transport. - lerobot_robot_ros2_zenohPlugin bridging ROS 2 robots to LeRobot over Zenoh pub/sub transport.
diff --git a/docs/source/third_party_sensors.mdx b/docs/source/third_party_sensors.mdx index f97006747..ebe3cb702 100644 --- a/docs/source/third_party_sensors.mdx +++ b/docs/source/third_party_sensors.mdx @@ -20,115 +20,76 @@ lerobot-record \ ## Tactile Sensors - + +
- - - - + - - + +
ProjectDescription
ProjectDescription
- - lerobot-camera-xense - - - Plugin for Xense{" "} - vision-based tactile sensors, exposing rectified/difference images, - depth, and 2D markers. - lerobot-camera-xensePlugin for Xense vision-based tactile sensors, exposing rectified/difference images, depth, and 2D markers.
## Depth Cameras - + +
- - - - + - - + +
ProjectDescription
ProjectDescription
- - lerobot_camera_berxel - - - Plugin for the Berxel depth - camera, part of the broader{" "} - HEXFELLOW driver suite. - lerobot_camera_berxelPlugin for the Berxel depth camera, part of the broader HEXFELLOW driver suite.
## Networked Cameras - + +
- - - - + - - + +
ProjectDescription
ProjectDescription
- - lerobot_camera_zmq - - - Plugin streaming{" "} - Stereolabs ZED and USB camera - frames from a Raspberry Pi over the network. - lerobot_camera_zmqPlugin streaming Stereolabs ZED and USB camera frames from a Raspberry Pi over the network.
## Virtual Cameras - + +
- - - - + - - + +
ProjectDescription
ProjectDescription
- - lerobot_camera_dummy - - - Plugin simulating a MuJoCo camera for recording without hardware, useful - for debugging. - lerobot_camera_dummyPlugin simulating a camera for recording without hardware. Useful for debugging !