lerobot/docs/source/third_party_sensors.mdx

# Third-Party Cameras & Sensors

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.

> [!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_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:

```bash
pip install lerobot_camera_<name>

lerobot-record \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.cameras="{ front: {type: <name>, width: 640, height: 480, fps: 30} }" \
    --dataset.repo_id=${HF_USER}/my-dataset \
    --dataset.num_episodes=5
```

## Tactile Sensors

<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/xensedyl/lerobot-camera-xense">
          lerobot-camera-xense
        </a>
      </td>
      <td>
        Plugin for <a href="https://www.xenserobotics.com/">Xense</a>{" "}
        vision-based tactile sensors, exposing rectified/difference images,
        depth, and 2D markers.
      </td>
    </tr>
  </tbody>
</table>

## Depth Cameras

<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/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel">
          lerobot_camera_berxel
        </a>
      </td>
      <td>
        Plugin for the <a href="https://www.berxel.com/">Berxel</a> depth
        camera, part of the broader{" "}
        <a href="https://hexfellow.com/">HEXFELLOW</a> driver suite.
      </td>
    </tr>
  </tbody>
</table>

## Networked Cameras

<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/F-Fer/lerobot_ur5e_gello">
          lerobot_camera_zmq
        </a>
      </td>
      <td>
        Plugin streaming{" "}
        <a href="https://www.stereolabs.com/">Stereolabs ZED</a> and USB camera
        frames from a Raspberry Pi over the network.
      </td>
    </tr>
  </tbody>
</table>

## Virtual Cameras

<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/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_dummy">
          lerobot_camera_dummy
        </a>
      </td>
      <td>
        Plugin simulating a MuJoCo camera for recording without hardware, useful
        for debugging.
      </td>
    </tr>
  </tbody>
</table>

## Contributing

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!