lerobot/docs/source/third_party_robots.mdx

# 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.

> [!IMPORTANT]
> These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.

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

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).

### 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)).

## 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.

## 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.

## 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.

## 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.

## 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.

## 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

Built your own LeRobot hardware integration? The plugin system makes it straightforward to add new robots and teleoperators — check out the [Bring Your Own Hardware](./integrate_hardware) guide to get started, and share your project with the community!