diff --git a/docs/source/_toctree.yml b/docs/source/_toctree.yml index 7f7a34e6a..bf7486694 100644 --- a/docs/source/_toctree.yml +++ b/docs/source/_toctree.yml @@ -165,6 +165,8 @@ title: OpenArm - local: rebot_b601 title: reBot B601-DM + - local: third_party_robots + title: Third-Party Robots Packages title: "Robots" - sections: - local: phone_teleop diff --git a/docs/source/third_party_robots.mdx b/docs/source/third_party_robots.mdx new file mode 100644 index 000000000..7989a080e --- /dev/null +++ b/docs/source/third_party_robots.mdx @@ -0,0 +1,99 @@ +# Third-Party Robots + +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 — from industrial manipulators to affordable hobbyist platforms. This page showcases community-maintained robot integrations you can use for teleoperation, data collection, and policy deployment. + + +These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support. + + +## 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. + +### [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. + +### [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. + +### [UR5e-LeRobot](https://github.com/yechen056/UR5e-LeRobot) +**by yechen056** + +LeRobot extension for the Universal Robots UR5e, 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. + +### [lerobot_ur5e_gello](https://github.com/F-Fer/lerobot_ur5e_gello) +**by F-Fer** + +Custom LeRobot plugins for a UR5e follower and GELLO leader arm, with ready-to-use scripts for data collection and VLA policy inference. + +## Research & Learning Platforms + +### [lerobot-arx5](https://github.com/villekuosmanen/lerobot-arx5) +**by villekuosmanen** + +An ARX5 robot arm plugin for LeRobot, integrating this compact, learning-friendly manipulator into the ecosystem. + +### [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. + +### [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. + +### [lerobot_yam](https://github.com/pravsels/lerobot_yam) +**by pravsels** + +LeRobot plugin for the YAM arm paired with a GELLO leader for intuitive teleoperation. + +## 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. + +### [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-robot-dummy](https://github.com/KillingJacky/lerobot-robot-dummy) +**by KillingJacky** + +LeRobot integration for the Dummy robot arm, a popular open-source desktop manipulator. + +## Multi-Device & Specialized Integrations + +### [hex_lerobot_drivers](https://github.com/hexfellow/hex_lerobot_drivers) +**by hexfellow** + +Drivers integrating the Hex series of devices with LeRobot, covering multiple hardware products under one plugin. + +### [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. + +### [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. + +## Contributing + +Built your own LeRobot hardware integration? The plugin system makes it straightforward to add new robots — check out the [Bring Your Own Hardware](./integrate_hardware) guide to get started, and share your project with the community!