LeRobot documentation
Third-Party Cameras & Sensors
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.
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:
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=5Tactile Sensors
| Project | Description |
|---|---|
| lerobot-camera-xense | Plugin for Xense vision-based tactile sensors, exposing rectified/difference images, depth, and 2D markers. |
Depth Cameras
| Project | Description |
|---|---|
| lerobot_camera_berxel | Plugin for the Berxel depth camera, part of the broader HEXFELLOW driver suite. |
Networked Cameras
| Project | Description |
|---|---|
| lerobot_camera_zmq | Plugin streaming Stereolabs ZED and USB camera frames from a Raspberry Pi over the network. |
Virtual Cameras
| Project | Description |
|---|---|
| lerobot_camera_dummy | Plugin simulating a camera for recording without hardware. Useful for debugging ! |
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 guide and the Cameras reference to get started, then share your project with the community!