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CarolinePascal
48 lines
2.8 KiB
Plaintext
48 lines
2.8 KiB
Plaintext
# Third-Party Cameras & Sensors
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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.
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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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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:
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```bash
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pip install lerobot_camera_<name>
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lerobot-record \
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--robot.type=so101_follower \
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--robot.port=/dev/ttyACM0 \
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--robot.cameras="{ front: {type: <name>, width: 640, height: 480, fps: 30} }" \
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--dataset.repo_id=${HF_USER}/my-dataset \
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--dataset.num_episodes=5
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```
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## Tactile Sensors
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**[lerobot-camera-xense](https://github.com/xensedyl/lerobot-camera-xense)** — by xensedyl
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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.
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## Depth Cameras
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**[lerobot_camera_berxel](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel)** — by hexfellow
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[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).
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## Networked Cameras
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**[lerobot_camera_zmq (UR5e/GELLO)](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
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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.
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## Virtual Cameras
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**[lerobot_camera_dummy](https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_dummy)** — by hexfellow
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A simulated MuJoCo camera for the Hex Arm from [HEXFELLOW](https://hexfellow.com/)'s LeRobot suite, for teleoperation and recording without physical camera hardware.
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## Contributing
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Built your own LeRobot camera or sensor integration? Package it as an installable `lerobot_camera_<name>` plugin and it will be auto-discovered by the LeRobot CLI — see the [Bring Your Own Hardware](./integrate_hardware) guide and the [Cameras](./cameras) reference to get started, then share your project with the community!
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