# 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_ lerobot_teleoperator_ lerobot-record \ --robot.type= \ --teleop.type= \ --dataset.repo_id=${HF_USER}/my-dataset \ --dataset.num_episodes=5 ``` > [!TIP] > ⚠️ marks projects that are forks/extensions of LeRobot. They may require custom setup rather than working with an unmodified install. All other entries are drop-in plugins. ## Industrial & Collaborative Arms ProjectDescription lerobot-robot-xarm Plugin for the xArm collaborative arm series from UFACTORY. lerobot_lebai Plugin for the six-axis collaborative arms from Lebai. LeFranX ⚠️ LeRobot extension for the Franka research arm, paired with the RobotEra XHand hand for VR teleoperation. #### Universal Robots UR5e ProjectDescription UR5e-LeRobot ⚠️ LeRobot extension for the Universal Robots UR5e, with single-arm and bimanual support. lerobot_ur5e_auto ⚠️ LeRobot extension for a mobile Universal Robots UR5e, adding automated recording at scale with minimal supervision. lerobot_robot_ur5e Plugin for the Universal Robots UR5e with a Robotiq gripper, over RTDE control. ## Research & Learning Arms ProjectDescription lerobot_trossen Plugin for the WidowX and ALOHA-style arms from Trossen Robotics. #### AgileX Piper ProjectDescription lerobot_robot_piper (AgRobotics Research) Plugin for the AgileX Piper arm. lerobot_robot_piper (WeGo Robotics) Plugin for the AgileX Piper arm, with multi-arm teleoperation, safety limits, and GUI tools. ## Affordable & Hobbyist Arms ProjectDescription fashionstar-lerobot-robot-cello Plugin for the StarAI Cello 6+1 degrees of freedom robot arm from FashionStar. fashionstar-lerobot-robot-viola Plugin for the compact StarAI Viola 6+1 degrees of freedom robot arm from FashionStar. ## Service, Mobile & Utility Robots ProjectDescription lerobot-robot-ugo-pro Plugin for the ugo Pro dual-arm service robot from ugo. lerobot_robot_lekiwi_pincopen Plugin for a LeKiwi mobile manipulator with a PincOpen gripper. lerobot-robot-dummy Plugin simulating a robot for recording without hardware. Useful for debugging ! ## Teleoperators ### VR & Motion Controllers ProjectDescription lerobot-teleoperator-teleop Plugin turning a phone or VR headset into a teleoperator via WebXR, wrapping the open-source teleop library. lerobot-teleoperator-spacemouse Plugin for the 3Dconnexion SpaceMouse, with inverse kinematics for SO-ARMS robots. vr-teleop-kit Plugin teleoperating arms from a Meta Quest (WebXR), relying on URDF descriptions for inverse kinematics. lerobot-teleoperator-pico4 Plugin for the PICO 4 VR headset, with a companion controller-free hand-tracking variant. ### Leader Arms ProjectDescription lerobot_teleoperator_gello Plugin for the 7 degrees of freedom GELLO teleoperator. lerobot_teleoperator_yamactiveleader Plugin for the active YAM teleoperator from I2RT, a bilateral force-feedback arm. lerobot_teleoperator_omy Plugin for the OMY-L100 6 degrees of freedom teleoperator from ROBOTIS. lerobot-teleoperator-pipermate Plugin for the PiperMate teleoperator (FashionStar UART servos), driving the AgileX Piper arm. ### Haptic Devices ProjectDescription lerobot_teleoperator_inverse3 Plugin for the Haply Inverse3 haptic device, adding force-feedback teleoperation. lerobot_teleoperator_omega7 Plugin for the Force Dimension omega.7 haptic device, adding force-feedback teleoperation. ### Networked & Remote ProjectDescription lerobot-teleoperator-livekit Plugin receiving teleoperation commands over a LiveKit Portal (WebRTC) for remote control. ## Full Kits (Robot + Teleoperator) ProjectDescription lerobot-arx5 Plugin for the ARX5 arm: lerobot-arx5 robot arm with its lerobot-teleoperator-arx5 teleoperator arm. Nextis-AIRA-3D Plugin for the 7 degrees of freedom arm from Nextis: robot arm aira_follower and teleoperator arm aira_leader. lerobot_yam Plugin suite for the YAM arm from I2RT: robot arm yam_follower and teleoperator arm yam_leader. trlc-dk1 Plugin for the development kit from The Robot Learning Company: single and bimanual arms follower/teleoperator types. hex_lerobot_drivers Plugin suite for HEXFELLOW devices: robots, teleoperators, and cameras (see Cameras & Sensors). lerobot-robot-nexarm-follower Plugin for the NexArm from Hiwonder: the robot arm and its matching teleoperator arm. ## ROS 2 Bridges ProjectDescription leros2 Plugin bridging ROS 2 topics and actions to LeRobot robots and teleoperators. lerobot_robot_ros2_zenoh Plugin bridging ROS 2 robots to LeRobot over Zenoh pub/sub transport. ## 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!