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CarolinePascal
100 lines
4.0 KiB
Plaintext
100 lines
4.0 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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<!-- prettier-ignore -->
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<table width="100%" style="display:table; width:100%; table-layout:fixed;">
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<colgroup>
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<col width="30%" />
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<col width="70%" />
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</colgroup>
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<thead style="border:0">
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<tr style="border:0"><th>Project</th><th>Description</th></tr>
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</thead>
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<tbody>
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<tr style="border:0">
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<td><a href="https://github.com/xensedyl/lerobot-camera-xense">lerobot-camera-xense</a></td>
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<td>Plugin for <a href="https://www.xenserobotics.com/">Xense</a> vision-based tactile sensors, exposing rectified/difference images, depth, and 2D markers.</td>
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</tr>
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</tbody>
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</table>
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## Depth Cameras
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<!-- prettier-ignore -->
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<table width="100%" style="display:table; width:100%; table-layout:fixed;">
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<colgroup>
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<col width="30%" />
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<col width="70%" />
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</colgroup>
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<thead style="border:0">
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<tr style="border:0"><th>Project</th><th>Description</th></tr>
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</thead>
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<tbody>
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<tr style="border:0">
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<td><a href="https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_berxel">lerobot_camera_berxel</a></td>
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<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>
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</tr>
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</tbody>
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</table>
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## Networked Cameras
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<!-- prettier-ignore -->
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<table width="100%" style="display:table; width:100%; table-layout:fixed;">
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<colgroup>
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<col width="30%" />
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<col width="70%" />
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</colgroup>
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<thead style="border:0">
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<tr style="border:0"><th>Project</th><th>Description</th></tr>
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</thead>
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<tbody>
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<tr style="border:0">
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<td><a href="https://github.com/F-Fer/lerobot_ur5e_gello">lerobot_camera_zmq</a></td>
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<td>Plugin streaming <a href="https://www.stereolabs.com/">Stereolabs ZED</a> and USB camera frames from a Raspberry Pi over the network.</td>
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</tr>
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</tbody>
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</table>
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## Virtual Cameras
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<!-- prettier-ignore -->
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<table width="100%" style="display:table; width:100%; table-layout:fixed;">
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<colgroup>
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<col width="30%" />
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<col width="70%" />
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</colgroup>
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<thead style="border:0">
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<tr style="border:0"><th>Project</th><th>Description</th></tr>
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</thead>
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<tbody>
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<tr style="border:0">
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<td><a href="https://github.com/hexfellow/hex_lerobot_drivers/tree/main/lerobot_camera_dummy">lerobot_camera_dummy</a></td>
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<td>Plugin simulating a camera for recording without hardware. Useful for debugging !</td>
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</tr>
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</tbody>
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</table>
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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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