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-teleoperator 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
```

> [!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.

## Industrial & Collaborative Arms

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/SpesRobotics/lerobot-robot-xarm">
          lerobot-robot-xarm
        </a>
      </td>
      <td>
        Plugin for the xArm collaborative arm series from{" "}
        <a href="https://www.ufactory.us/">UFACTORY</a>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/lebai-robotics/lerobot_lebai">
          lerobot_lebai
        </a>
      </td>
      <td>
        Plugin for the six-axis collaborative arms from{" "}
        <a href="https://lebai.ltd/en/">Lebai</a>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/wengmister/LeFranX">LeFranX</a> ⚠️
      </td>
      <td>
        LeRobot extension for the <a href="https://franka.de/">Franka</a>{" "}
        research arm, paired with the{" "}
        <a href="https://www.robotera.com/">RobotEra XHand</a> hand for VR
        teleoperation.
      </td>
    </tr>
  </tbody>
</table>

### Universal Robots UR5e

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/yechen056/UR5e-LeRobot">UR5e-LeRobot</a> ⚠️
      </td>
      <td>
        LeRobot extension for the{" "}
        <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>,
        with single-arm and bimanual support.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/scy-v/lerobot_ur5e_auto">
          lerobot_ur5e_auto
        </a>{" "}
        ⚠️
      </td>
      <td>
        LeRobot extension for a mobile{" "}
        <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>,
        adding automated recording at scale with minimal supervision.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/F-Fer/lerobot_ur5e_gello">
          lerobot_robot_ur5e
        </a>
      </td>
      <td>
        Plugin for the{" "}
        <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>{" "}
        with a <a href="https://robotiq.com/">Robotiq</a> gripper, over RTDE
        control.
      </td>
    </tr>
  </tbody>
</table>

## Research & Learning Arms

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/TrossenRobotics/lerobot_trossen">
          lerobot_trossen
        </a>
      </td>
      <td>
        Plugin for the WidowX and ALOHA-style arms from{" "}
        <a href="https://www.trossenrobotics.com/">Trossen Robotics</a>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/AgRoboticsResearch/lerobot_robot_piper">
          lerobot_robot_piper (AgRobotics Research)
        </a>
      </td>
      <td>
        Plugin for the <a href="https://global.agilex.ai/">AgileX Piper</a> arm.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/WeGo-Robotics/lerobot_robot_piper">
          lerobot_robot_piper (WeGo Robotics)
        </a>
      </td>
      <td>
        Plugin for the <a href="https://global.agilex.ai/">AgileX Piper</a> arm,
        with multi-arm teleoperation, safety limits, and GUI tools.
      </td>
    </tr>
  </tbody>
</table>

## Affordable & Hobbyist Arms

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/servodevelop/fashionstar-lerobot-robot-cello">
          fashionstar-lerobot-robot-cello
        </a>
      </td>
      <td>
        Plugin for the StarAI Cello 6+1 degrees of freedom arm from{" "}
        <a href="https://fashionstar.com.hk/">FashionStar</a>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/servodevelop/fashionstar-lerobot-robot-viola">
          fashionstar-lerobot-robot-viola
        </a>
      </td>
      <td>
        Plugin for the compact StarAI Viola 6+1 degrees of freedom arm from{" "}
        <a href="https://fashionstar.com.hk/">FashionStar</a>.
      </td>
    </tr>
  </tbody>
</table>

## Service, Mobile & Utility Robots

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/ugo-plus/lerobot-robot-ugo-pro">
          lerobot-robot-ugo-pro
        </a>
      </td>
      <td>
        Plugin for the ugo Pro dual-arm service robot from{" "}
        <a href="https://ugo.plus/products/ugo-pro/">ugo</a>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/zuoxingdong/lerobot_robot_lekiwi_pincopen">
          lerobot_robot_lekiwi_pincopen
        </a>
      </td>
      <td>
        Plugin for the LeKiwi mobile manipulator with a{" "}
        <a href="https://github.com/pollen-robotics/PincOpen">PincOpen</a>{" "}
        gripper.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/KillingJacky/lerobot-robot-dummy">
          lerobot-robot-dummy
        </a>
      </td>
      <td>
        Plugin simulating a virtual robot for recording without hardware, useful
        for debugging.
      </td>
    </tr>
  </tbody>
</table>

## Teleoperators

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/SpesRobotics/lerobot-teleoperator-teleop">
          lerobot-teleoperator-teleop
        </a>
      </td>
      <td>
        Plugin turning a phone or VR headset into a teleoperator via{" "}
        <a href="https://immersiveweb.dev">WebXR</a>, wrapping the open-source{" "}
        <a href="https://github.com/SpesRobotics/teleop">
          <code>teleop</code>
        </a>{" "}
        library.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/Jas000n/lerobot-teleoperator-spacemouse">
          lerobot-teleoperator-spacemouse
        </a>
      </td>
      <td>
        Plugin for the{" "}
        <a href="https://3dconnexion.com/">3Dconnexion SpaceMouse</a>, with
        inverse kinematics for SO-arms robots.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/Dream-Machines-Robotics/vr-teleop-kit">
          vr-teleop-kit
        </a>
      </td>
      <td>
        Plugin for the <a href="https://www.meta.com/quest/">Meta Quest</a>{" "}
        (WebXR) headset, relying on URDF descriptions for inverse kinematics.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/xensedyl/lerobot-teleoperator-pico4">
          lerobot-teleoperator-pico4
        </a>
      </td>
      <td>
        Plugin for the <a href="https://www.picoxr.com/">PICO 4</a> VR headset,
        with a companion controller-free{" "}
        <a href="https://github.com/xensedyl/lerobot-teleoperator-pico4-hand">
          hand-tracking variant
        </a>
        .
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/F-Fer/lerobot_ur5e_gello">
          lerobot_teleoperator_gello
        </a>
      </td>
      <td>
        Plugin for the 7 degrees of freedom{" "}
        <a href="https://wuphilipp.github.io/gello_site/">GELLO</a>{" "}
        teleoperator.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/uynitsuj/lerobot_teleoperator_yamactiveleader">
          lerobot_teleoperator_yamactiveleader
        </a>
      </td>
      <td>
        Plugin for the active YAM teleoperator from{" "}
        <a href="https://i2rt.com/">I2RT</a>, a bilateral force-feedback arm.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/charlie8612/lerobot_teleoperator_omy">
          lerobot_teleoperator_omy
        </a>
      </td>
      <td>
        Plugin for the OMY-L100 6 degrees of freedom teleoperator from{" "}
        <a href="https://www.robotis.com/">ROBOTIS</a>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/chohh7391/lerobot_teleoperator_inverse3">
          lerobot_teleoperator_inverse3
        </a>
      </td>
      <td>
        Plugin for the <a href="https://www.haply.co/">Haply Inverse3</a> haptic
        device, adding force-feedback teleoperation.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/hzhz112/lerobot_teleoperator_omega7">
          lerobot_teleoperator_omega7
        </a>
      </td>
      <td>
        Plugin for the{" "}
        <a href="https://www.forcedimension.com/">Force Dimension omega.7</a>{" "}
        haptic device, adding force-feedback teleoperation.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://pypi.org/project/lerobot-teleoperator-pipermate/">
          lerobot-teleoperator-pipermate
        </a>
      </td>
      <td>
        Plugin for the PiperMate teleoperator (
        <a href="https://fashionstar.com.hk/">FashionStar</a> UART servos),
        driving the <a href="https://global.agilex.ai/">AgileX Piper</a> arm.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://pypi.org/project/lerobot-teleoperator-livekit/">
          lerobot-teleoperator-livekit
        </a>
      </td>
      <td>
        Plugin receiving teleoperation commands over a{" "}
        <a href="https://livekit.io/">LiveKit</a> Portal (WebRTC) for remote
        control.
      </td>
    </tr>
  </tbody>
</table>

## Full Kits (Robot + Teleoperator)

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/villekuosmanen/lerobot-arx5">
          lerobot-arx5
        </a>
      </td>
      <td>
        Plugin for the <a href="https://www.arx-x.com/">ARX5</a> arm:{" "}
        <a href="https://pypi.org/project/lerobot-robot-arx5/">
          <code>lerobot-arx5</code>
        </a>{" "}
        robot with its{" "}
        <a href="https://pypi.org/project/lerobot-teleoperator-arx5/">
          <code>lerobot-teleoperator-arx5</code>
        </a>{" "}
        teleoperator.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/robertorobotics/Nextis-AIRA-3D">
          Nextis-AIRA-3D
        </a>
      </td>
      <td>
        Plugin for a 3D-printable 7 degrees of freedom arm from{" "}
        <a href="https://www.nextis.tech">Nextis</a>: robot{" "}
        <code>aira_follower</code> and teleoperator <code>aira_leader</code>.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/pravsels/lerobot_yam">lerobot_yam</a>
      </td>
      <td>
        Plugin suite for the YAM arm from <a href="https://i2rt.com/">I2RT</a>:
        robot <code>yam_follower</code> and teleoperator <code>yam_leader</code>
        .
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/robot-learning-co/trlc-dk1">trlc-dk1</a>
      </td>
      <td>
        Plugin for the development kit from{" "}
        <a href="https://www.robot-learning.co/">The Robot Learning Company</a>:
        single-arm and bimanual robot/teleoperator types.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/hexfellow/hex_lerobot_drivers">
          hex_lerobot_drivers
        </a>
      </td>
      <td>
        Plugin suite for <a href="https://hexfellow.com/">HEXFELLOW</a> devices:
        Hex Arm robots, teleoperators, and cameras (see{" "}
        <a href="./third_party_sensors">Cameras &amp; Sensors</a>).
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower">
          lerobot-robot-nexarm-follower
        </a>
      </td>
      <td>
        Plugin for the NexArm from{" "}
        <a href="https://www.hiwonder.com/">Hiwonder</a>: the{" "}
        <a href="https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower">
          robot
        </a>{" "}
        and its matching{" "}
        <a href="https://github.com/Hiwonder-official/lerobot-teleoperator-nexarm-leader">
          teleoperator
        </a>
        .
      </td>
    </tr>
  </tbody>
</table>

## ROS 2 Bridges

<table width="100%" style="table-layout:fixed;">
  <colgroup>
    <col width="30%" />
    <col width="70%" />
  </colgroup>
  <thead>
    <tr>
      <th>Project</th>
      <th>Description</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td>
        <a href="https://github.com/ngres/leros2">leros2</a>
      </td>
      <td>
        Plugin bridging ROS 2 topics and actions to LeRobot robots and
        teleoperators.
      </td>
    </tr>
    <tr>
      <td>
        <a href="https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh">
          lerobot_robot_ros2_zenoh
        </a>
      </td>
      <td>
        Plugin bridging ROS 2 robots to LeRobot over{" "}
        <a href="https://zenoh.io">Zenoh</a> pub/sub transport.
      </td>
    </tr>
  </tbody>
</table>

## 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!