{
"schema_version": "1.0.0",
"license": "CC-BY-4.0",
"attribution": "CanIEmbody (https://caniembody.pages.dev)",
"dataset_version": "1.0.0-seed",
"generated": "2026-10-25",
"data": [
{
"id": "agilex-piper",
"name": "AgileX PiPER",
"maker": "AgileX Robotics",
"aliases": [
"PiPER",
"Piper",
"AgileX Piper",
"piper_follower"
],
"class": "arm",
"summary": "AgileX's lightweight 6-DoF desktop arm: 4.2 kg arm body, 1.5 kg payload, ±0.1 mm repeatability, CAN bus. LeRobot reaches it through third-party plugins. The listed drop-ins are from WeGo Robotics (PyPI lerobot_robot_wego_piper) and AgRobotics Research.",
"dof": 6,
"dof_note": "6 arm joints; the WeGo plugin describes it as 7-DOF counting the gripper.",
"payload_g": {
"max": 1500
},
"repeatability_mm": {
"max": 0.1
},
"specs_source_ref": "ev-agilex-piper",
"open_source": false,
"homepage": "https://global.agilex.ai/products/piper",
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"piper_follower"
],
"package": "lerobot_robot_wego_piper",
"repo_url": "https://github.com/WeGo-Robotics/lerobot_robot_piper",
"docs_url": "https://huggingface.co/docs/lerobot/third_party_robots",
"note": "WeGo Robotics plugin: follower type piper_follower, leader teleop piper_leader, uses piper_sdk over CAN. Its PyPI name is lerobot_robot_wego_piper, and the import name is lerobot_robot_piper. The second listed plugin (AgRoboticsResearch/lerobot_robot_piper) registers type `piper`. Its README says `pip install lerobot_robot_piper`, but WeGo states that the PyPI package of that name is an unrelated third-party project. A separate pipermate teleoperator plugin (FashionStar servos) also exists.",
"source_ref": "ev-wego-piper-readme"
}
},
"teleop_options": [
"Piper leader arm (piper_leader, WeGo plugin)",
"PiperMate (lerobot-teleoperator-pipermate plugin)"
],
"notes": "AgileX also sells PiPER on the SCOUT MINI mobile base (SCOUT MINI COBOT). That combination is not covered by the plugins here.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot third-party page lists two lerobot_robot_piper plugins (AgRobotics Research, WeGo Robotics).",
"quote": "lerobot_robot_piper (WeGo Robotics)"
},
{
"id": "ev-wego-piper-readme",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/WeGo-Robotics/lerobot_robot_piper/blob/ed387ed9502d4fb0451488bfc9c763c8d60a1e07/README.md",
"verified_on": "2026-10-24",
"summary": "WeGo README: pip install lerobot_robot_wego_piper; PyPI lerobot_robot_piper is unrelated; config registers piper_follower / piper_leader."
},
{
"id": "ev-agrobotics-piper",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/AgRoboticsResearch/lerobot_robot_piper/blob/abf721d9e88ac822b18cb3413a75bb8cc0e3b34f/lerobot_robot_piper/config_piper.py",
"verified_on": "2026-10-24",
"summary": "AgRobotics Research plugin registers robot type piper."
},
{
"id": "ev-agilex-piper",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://global.agilex.ai/products/piper",
"verified_on": "2026-10-24",
"summary": "AgileX: 6-DoF, 1.5 kg payload, 626 mm reach, ±0.1 mm repeatability, 4.2 kg arm.",
"quote": "The standard PiPER provides a 1.5kg payload, a 626mm working reach, ±0.1mm repeatability, and a 4.2kg arm body."
}
]
},
{
"id": "aloha",
"name": "ALOHA (stationary)",
"maker": "Stanford (Tony Z. Zhao et al.); kits sold by Trossen Robotics",
"aliases": [
"ALOHA",
"ALOHA 2",
"Aloha stationary",
"aloha_static",
"viperx"
],
"class": "bimanual",
"summary": "Low-cost open-source bimanual teleoperation rig: two ViperX follower arms, two WidowX leader arms and four cameras. ACT was introduced on it. LeRobot hosts real and simulated ALOHA datasets and ACT checkpoints, but native robot control was removed in 0.4.0. Only a single-arm `viperx` type ever shipped in a release (0.3.2–0.3.3).",
"dof": 6,
"dof_note": "Per follower arm (ViperX): waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate + gripper. Shoulder and elbow each have a second \"shadow\" motor, so LeRobot's viperx type drives 9 motors.",
"arms": 2,
"actuators": "Dynamixel XM540-W270 (waist to wrist_angle) and XM430-W350 (wrist_rotate, gripper) on the ViperX follower",
"specs_source_ref": "ev-lerobot-viperx-motors",
"open_source": true,
"license": "MIT (ALOHA codebase)",
"homepage": "https://tonyzhaozh.github.io/aloha/",
"frameworks": {
"lerobot": {
"support": "removed",
"since": "0.3.2",
"until": "0.3.3",
"robot_type": [
"viperx"
],
"note": "On main a 4-arm `aloha` robot type existed from Sep 2024 (PR #316) until the Hardware API redesign (PR #777, 2025-06-05), but neither landed in a PyPI release. 0.3.2–0.3.3 shipped only the single-arm `viperx` follower (its README still showed the old --robot.type=aloha) plus a `widowx` teleoperator. Both were deprecated in 0.4.0 (PR #2205). LeRobot v0.6.1 has no ALOHA robot type. ALOHA-format datasets and ACT checkpoints remain usable for training. Trossen's lerobot_trossen plugin covers its newer WidowX AI \"ALOHA-style\" kits (see trossen-widowx), not the original ViperX/WidowX ALOHA.",
"source_ref": "ev-lerobot-v040-deprecate"
}
},
"sensors_builtin": [
"rgb-multi"
],
"teleop_options": [
"Two WidowX leader arms (original ALOHA puppeteering)"
],
"notes": "in_grid because large public LeRobot-format ALOHA data exists: lerobot/aloha_static_* (15 real-robot datasets listed on the Hub on 2026-10-24) and lerobot/aloha_sim_*. There are also official ACT checkpoints (lerobot/act_aloha_sim_transfer_cube_human, lerobot/act_aloha_sim_insertion_human). Rows for this robot reflect dataset/checkpoint compatibility, not live control in current LeRobot.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-v040-deprecate",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.0",
"date": "2025-10-23",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.0"
},
"summary": "LeRobot 0.4.0 deprecated the stretch, viperx and widowx devices (viperx/stretch3 dirs absent from v0.4.0).",
"quote": "chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2205"
},
{
"id": "ev-lerobot-viperx-config",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/viperx/config_viperx.py",
"date": "2025-08-06",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.3"
},
"summary": "Last release with the viperx robot type (single ViperX arm, ALOHA safety defaults).",
"quote": "@RobotConfig.register_subclass(\"viperx\")"
},
{
"id": "ev-lerobot-viperx-motors",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/viperx/viperx.py",
"date": "2025-08-06",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.3"
},
"summary": "ViperX motor map: 9 Dynamixel motors incl. shoulder/elbow shadows and gripper.",
"quote": "\"wrist_rotate\": Motor(8, \"xm430-w350\", MotorNormMode.RANGE_M100_100), \"gripper\": Motor(9, \"xm430-w350\", MotorNormMode.RANGE_0_100),"
},
{
"id": "ev-lerobot-viperx-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/viperx/README.md",
"date": "2025-08-06",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.3"
},
"summary": "The viperx README in 0.3.x documents ALOHA / ALOHA 2 stationary.",
"quote": "This tutorial explains how to use [Aloha and Aloha 2 stationary](https://www.trossenrobotics.com/aloha-stationary) with LeRobot."
},
{
"id": "ev-lerobot-pre-refactor-aloha",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57/lerobot/common/robot_devices/robots/configs.py",
"date": "2025-06-05",
"verified_on": "2026-10-24",
"summary": "Main just before the Hardware API redesign (parent of PR #777 merge) had an `aloha` robot type.",
"quote": "@RobotConfig.register_subclass(\"aloha\")"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "v0.3.2 notes include native ALOHA control (PR #316), real-world ALOHA datasets (PR #133) and the Hardware API redesign (PR #777).",
"quote": "Control aloha robot natively by @Cadene in https://github.com/huggingface/lerobot/pull/316"
},
{
"id": "ev-hub-aloha-static",
"tier": "community-reported",
"type": "hub-checkpoint",
"url": "https://huggingface.co/datasets/lerobot/aloha_static_coffee",
"verified_on": "2026-10-24",
"summary": "One of 15 lerobot/aloha_static_* real-robot datasets listed in the lerobot Hub org (Hub API search, 2026-10-24)."
},
{
"id": "ev-hub-act-aloha",
"tier": "community-reported",
"type": "hub-checkpoint",
"url": "https://huggingface.co/lerobot/act_aloha_sim_transfer_cube_human",
"verified_on": "2026-10-24",
"summary": "Official LeRobot ACT checkpoint trained on ALOHA sim transfer-cube data."
},
{
"id": "ev-aloha-repo",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/tonyzhaozh/aloha/blob/06369f03cd8e0a47e16d3a90167853fd33af7557/README.md",
"verified_on": "2026-10-24",
"summary": "Original ALOHA repo: 4 robots, 4 cameras, ROS-based teleop and data collection (MIT).",
"quote": "# ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation"
}
]
},
{
"id": "arx5",
"name": "ARX5",
"maker": "ARX Robotics",
"aliases": [
"ARX-5",
"ARX X5",
"arx5_follower",
"bi_arx5_follower"
],
"class": "arm",
"summary": "ARX Robotics' ARX5 research arm. LeRobot reaches it through a third-party plugin suite (lerobot-arx5 by Ville Kuosmanen) that provides single-arm and bimanual follower types and matching leader-arm teleoperators.",
"open_source": false,
"homepage": "https://arx-x.com/",
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"arx5_follower",
"bi_arx5_follower"
],
"package": "lerobot_robot_arx5",
"repo_url": "https://github.com/villekuosmanen/lerobot-arx5",
"docs_url": "https://huggingface.co/docs/lerobot/third_party_robots",
"note": "Third-party plugin (MIT), on PyPI as lerobot_robot_arx5. Teleop plugin: lerobot_teleoperator_arx5 (types arx5_leader, bi_arx5_leader). Shared low-level control lives in arx5-common.",
"source_ref": "ev-arx5-plugin-readme"
}
},
"teleop_options": [
"ARX5 leader arm (arx5_leader / bi_arx5_leader)"
],
"notes": "DoF, payload, price and open_source status are not recorded: ARX's website is JavaScript-rendered and its specs could not be read from a primary source today. open_source is set to false only because no open hardware license was found. ARX publishes software at github.com/ARXroboticsX.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot third-party page lists lerobot-arx5 (robot + teleoperator) under Full Kits.",
"quote": "lerobot-arx5 robot arm with its"
},
{
"id": "ev-arx5-plugin-readme",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/villekuosmanen/lerobot-arx5/blob/d87b5f1d8bba052abf4182cbd27f20a7cc66f76f/README.md",
"verified_on": "2026-10-24",
"summary": "README: lerobot_robot_arx5 provides arx5_follower and bi_arx5_follower; pip install lerobot_robot_arx5."
}
]
},
{
"id": "bi-so",
"name": "Bimanual SO-100/SO-101",
"maker": "TheRobotStudio (arm design); bimanual configuration by Hugging Face LeRobot",
"aliases": [
"bi_so_follower",
"bi_so100_follower",
"Bimanual SO-100",
"Bimanual SO-101",
"bi-SO100",
"bi-SO101"
],
"class": "bimanual",
"summary": "Two SO-100 or SO-101 follower arms driven as one robot by LeRobot. Each arm's observation and action keys get a left_ or right_ prefix. It is a software configuration of two standard SO arms, not a separate hardware product.",
"dof": 5,
"dof_note": "Per arm: five joints + gripper (six STS3215 servos); 2 arms.",
"arms": 2,
"actuators": "Feetech STS3215 serial bus servos (6 per arm)",
"specs_source_ref": "ev-lerobot-bi-so-src",
"open_source": true,
"license": "Apache-2.0",
"homepage": "https://github.com/TheRobotStudio/SO-ARM100",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.3.2",
"robot_type": [
"bi_so_follower"
],
"note": "0.3.2 to 0.4.2 used the type bi_so100_follower (added in PR #1509, merged 2025-07-16). v0.4.3 renamed it to bi_so_follower when the bimanual SO setups were consolidated (PR #2780). Each side takes an SOFollowerConfig, so SO-100 and SO-101 arms both work. There is no dedicated docs page in v0.6.1.",
"source_ref": "ev-lerobot-bi-so-src"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"Two SO-100/SO-101 leader arms (bimanual leader)"
],
"notes": "Cameras can be declared at top level or per arm. Per-arm cameras get the left_/right_ prefix, and top-level cameras keep their names.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-bi-so-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/bi_so_follower/config_bi_so_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "bi_so_follower composes two SOFollowerConfig arms (left/right).",
"quote": "@RobotConfig.register_subclass(\"bi_so_follower\") @dataclass class BiSOFollowerConfig(RobotConfig): \"\"\"Configuration class for Bi SO Follower robots.\"\"\" left_arm_config: SOFollowerConfig right_arm_config: SOFollowerConfig"
},
{
"id": "ev-lerobot-v042-bi-so100",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.4.2/src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py",
"date": "2025-11-27",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.2"
},
"summary": "Before 0.4.3 the type was bi_so100_follower.",
"quote": "@RobotConfig.register_subclass(\"bi_so100_follower\")"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "Bimanual SO-100 was added before the first tagged release.",
"quote": "Feat/add bimanual so100 robot by @pkooij in https://github.com/huggingface/lerobot/pull/1509"
},
{
"id": "ev-lerobot-v043-bi-so",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.3",
"date": "2026-01-22",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.3"
},
"summary": "v0.4.3 consolidated the bimanual SO setups into bi_so_follower.",
"quote": "feat(robots): consolidates bi SO setups by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2780"
},
{
"id": "ev-lerobot-cameras",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/cameras.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot camera classes: OpenCV (USB webcams etc.) and RealSense (with depth).",
"quote": "| `RealSenseCamera` | Intel RealSense (with depth) |"
}
]
},
{
"id": "earthrover-mini-plus",
"name": "EarthRover Mini Plus",
"maker": "FrodoBots",
"aliases": [
"Earth Rover Mini Plus",
"EarthRover Mini+",
"Earth Rover MINI+",
"earthrover_mini_plus",
"FrodoBots EarthRover"
],
"class": "mobile-base",
"summary": "Small four-wheel-drive outdoor rover from FrodoBots with front and rear cameras. It has no arm. LeRobot connects to it through the cloud using the FrodoBots Earth Rovers SDK, which must be running locally, and it is driven by keyboard for navigation datasets.",
"arms": 0,
"open_source": true,
"homepage": "https://github.com/frodobots-org/earth-rovers-sdk",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.4.3",
"robot_type": [
"earthrover_mini_plus"
],
"docs_url": "https://huggingface.co/docs/lerobot/earthrover_mini_plus",
"note": "Requires the FrodoBots SDK server (earth-rovers-sdk) and SDK credentials from FrodoBots. Teleop is --teleop.type=keyboard_rover. Added in PR #2575 (the earlier PR #2544 was reverted).",
"source_ref": "ev-lerobot-earthrover-src"
}
},
"teleop_options": [
"Keyboard, WASD (keyboard_rover)"
],
"notes": "Per the FrodoBots SDK README, the MINI+ has two cameras (front and rear, 1080p sensors streamed at 1024x576 and 480x270), an MPU6050 IMU, two motors with four-wheel drive, 1.4 kg weight, 4 km/h top speed and a 12 km range. Hardware sources, firmware and 3D-print files are in FrodoBots' earth-rover-mini repository, where GitHub detects no license file, so the license is left blank. No camera preset in this matrix matches a front+rear rover pair. Price is not recorded because the FrodoBots shop is not machine-readable.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists EarthRover among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-earthrover-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/earthrover_mini_plus.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot guide: cloud-connected via the FrodoBots SDK.",
"quote": "The EarthRover Mini Plus is a fully open source mobile robot that connects through the cloud using the Frodobots SDK."
},
{
"id": "ev-lerobot-earthrover-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/earthrover_mini_plus/config_earthrover_mini_plus.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers earthrover_mini_plus.",
"quote": "@RobotConfig.register_subclass(\"earthrover_mini_plus\")"
},
{
"id": "ev-lerobot-v043-earthrover",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.3",
"date": "2026-01-22",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.3"
},
"summary": "EarthRover Mini Plus first released in v0.4.3.",
"quote": "feat(robots): Earth Rover Mini Plus integration by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2575"
},
{
"id": "ev-frodobots-sdk-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/frodobots-org/earth-rovers-sdk/blob/1fc6890308988ead376561e2bc9cee0620a63a37/README.md",
"verified_on": "2026-10-24",
"summary": "FrodoBots SDK README: MINI+ chassis, cameras, IMU, and hardware-source repository.",
"quote": "- **Chassis**: 1.4 kg (car only), 95 mm wheels, two motors with four-wheel drive, turns on the spot, IP34, 18° max slope, 12 km range per charge, top speed 4 km/h."
}
]
},
{
"id": "franka-fr3",
"name": "Franka Research 3",
"maker": "Franka Robotics",
"aliases": [
"FR3",
"Franka FR3",
"Franka Research 3 arm",
"Franka Panda successor"
],
"class": "arm",
"summary": "Franka Robotics' 7-DoF research arm with torque sensors in every joint and 1 kHz low-level control. LeRobot has no native support, plugin or fork for the FR3: the Franka entry in LeRobot's third-party list (LeFranX) targets the older Franka FER / Panda (see franka-panda), and evidence does not transfer between the two.",
"dof": 7,
"payload_g": {
"max": 3000
},
"repeatability_mm": {
"max": 0.1
},
"specs_source_ref": "ev-franka-fr3-datasheet",
"open_source": false,
"homepage": "https://franka.de/franka-research-3",
"frameworks": {
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/frankarobotics/franka_ros2",
"note": "Franka's own ROS 2 integration (franka_fr3_moveit_config, FR3 Duo launch files).",
"source_ref": "ev-franka-ros2"
}
},
"notes": "Franka spec: 3 kg payload, 855 mm reach, position repeatability <±0.1 mm, 7 integrated joint torque sensors.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeFranX is listed as a LeRobot extension (⚠️ fork/extension) for the Franka research arm.",
"quote": "LeRobot extension for the Franka research arm"
},
{
"id": "ev-lerobot-fork-marker",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "The ⚠️ marker means fork/extension, not drop-in plugin.",
"quote": "⚠️ marks projects that are forks/extensions of LeRobot. They may require custom setup rather than working with an unmodified install."
},
{
"id": "ev-franka-fr3",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://franka.de/franka-research-3",
"verified_on": "2026-10-24",
"summary": "Franka FR3 spec: payload 3 kg, repeatability <±0.1 mm, 7 DoF, 7 torque sensors.",
"quote": "Payload 3 kg Reach 855 mm Workspace efficiency 94.5 % Position repeatability <± 0.1 mm Degrees of freedom 7"
},
{
"id": "ev-franka-ros2",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/frankarobotics/franka_ros2/blob/4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec/README.md",
"verified_on": "2026-10-24",
"summary": "franka_ros2: ROS 2 integration for Franka research robots, FR3 MoveIt config.",
"quote": "ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true"
},
{
"id": "ev-franka-fr3-datasheet",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://franka.de/hubfs/Datasheet%20Franka%20Research%203_R02212_2.4_EN.pdf?hsLang=en",
"verified_on": "2026-10-25",
"summary": "Official FR3 datasheet (R02212 2.4). Its spec table lists 7 degrees of freedom, 3 kg rated payload, 855 mm maximum reach and position repeatability <+/- 0.1 mm (ISO 9283).",
"quote": "<+/- 0.1 mm (ISO 9283)"
}
]
},
{
"id": "franka-panda",
"name": "Franka Emika Panda",
"maker": "Franka Emika",
"aliases": [
"Panda",
"FER",
"Franka Panda",
"Franka Emika Panda",
"Franka FER"
],
"class": "arm",
"summary": "Franka Emika's 7-DoF torque-sensing research arm, the robot behind the DROID dataset and many VLA papers. Franka's current documentation calls it the older robot (FER or Panda) next to its successor, the Franka Research 3. LeRobot has no native Panda support. The only LeRobot integration is LeFranX, a fork/extension built for a Panda (FER) with a RobotEra XHand.",
"dof": 7,
"payload_g": {
"max": 3000
},
"repeatability_mm": {
"max": 0.1
},
"specs_source_ref": "ev-panda-datasheet",
"open_source": false,
"frameworks": {
"lerobot": {
"support": "community",
"repo_url": "https://github.com/wengmister/LeFranX",
"docs_url": "https://huggingface.co/docs/lerobot/third_party_robots",
"note": "LeFranX is a LeRobot fork/extension for the Franka FER (Panda) with a RobotEra XHand. Its files are copied over a LeRobot checkout (tested at LeRobot commit ce3b9f627e55), and it has no Franka Hand gripper interface. LeRobot itself registers no Panda robot type.",
"source_ref": "ev-lefranx-readme"
}
},
"notes": "Panda (FER) is not the Franka Research 3 (franka-fr3). Compatibility evidence for one does not transfer to the other. Note that the DROID control stack accepts either arm (robot_type panda or fr3), although the DROID dataset was collected on Pandas. Datasheet (April 2020): 7 DoF, 3 kg payload, 855 mm reach, pose repeatability <±0.1 mm (ISO 9283), link-side torque sensors in all 7 axes.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-franka-fci-docs",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://frankarobotics.github.io/docs/",
"verified_on": "2026-10-24",
"summary": "Franka's FCI documentation covers two robots: the Franka Research 3 and the older FER/Panda.",
"quote": "The software and its documentation support two different robots, the Franka Research 3 (FR3) and an older Franka Robotics Robot (FER or Panda)."
},
{
"id": "ev-panda-datasheet",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://web.archive.org/web/20220125184811/https://download.franka.de/Franka_Emika_Panda_Data_sheet_EN-2020_04.pdf",
"verified_on": "2026-10-24",
"summary": "Franka Emika Panda datasheet (Release Version April 2020, archived copy; the original download.franka.de link now returns 403): 7 DoF, 3 kg payload, 855 mm reach, pose repeatability <+/- 0.1 mm.",
"quote": "Degrees of freedom 7 Joint velocity limits A1, A2, A3, A4: 150°/s Payload 3 kg A5, A6, A7: 180°/s Workspace see backside Cartesian velocity limits up to 2 m/s end effector speed Maximum reach 855 mm Pose repeatabillity <+/- 0.1 mm (ISO 9283)"
},
{
"id": "ev-droid-paper",
"tier": "upstream-documented",
"type": "paper",
"url": "https://arxiv.org/abs/2403.12945v2",
"date": "2025-04-22",
"verified_on": "2026-10-24",
"summary": "DROID paper: the DROID data-collection platform, shared by all 13 institutions, is built on the Franka Emika Panda.",
"quote": "We chose the Franka Emika Panda 7 DoF robot arm as the base of our setup since it is widely adopted in the robot research community, reliable, relatively affordable and was available at most participating institutions."
},
{
"id": "ev-droid-host-docs",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/docs/software-setup/host-installation.md",
"date": "2025-09-15",
"verified_on": "2026-10-24",
"summary": "The DROID control software is configured for either a Panda or an FR3, so a 'DROID setup' does not by itself identify the arm model.",
"quote": "Finally update the `robot_type` parameter to `panda` or `fr3` depending on which robot you are using."
},
{
"id": "ev-lefranx-readme",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/wengmister/LeFranX/blob/a39906e6629f39490950fe8bd20f4f992ed74fd7/README.md",
"date": "2025-09-22",
"verified_on": "2026-10-24",
"summary": "LeFranX README: a LeRobot extension for the Franka FER (Panda) plus RobotEra XHand. It is installed by copying files over a LeRobot checkout (tested at commit ce3b9f627e55) and has no Franka Hand gripper interface."
},
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot's third-party page lists LeFranX with the ⚠️ fork/extension marker (not a drop-in plugin).",
"quote": "LeRobot extension for the Franka research arm, paired with the RobotEra XHand hand for VR teleoperation."
},
{
"id": "ev-lerobot-issue-1567",
"tier": "community-reported",
"type": "github-issue",
"url": "https://github.com/huggingface/lerobot/issues/1567",
"date": "2025-07-22",
"verified_on": "2026-10-24",
"summary": "A user asked for LeRobot support for a real Franka Emika Panda and found no robot.type for it. The issue was closed after other users pointed to their own FR3 tooling (CRISP), not to a Panda integration."
}
]
},
{
"id": "hope-jr",
"name": "HopeJR",
"maker": "TheRobotStudio (with Hugging Face)",
"aliases": [
"HOPEJr",
"Hope Jr",
"HopeJr arm",
"hope_jr_arm",
"hope_jr_hand"
],
"class": "arm",
"summary": "Open-source DIY humanoid project from TheRobotStudio. LeRobot integrates its 7-motor arm and its tendon-driven dexterous hand as two separate robots. Both are teleoperated with the Homunculus exoskeleton and glove.",
"dof": 7,
"dof_note": "Arm: 7 motors (shoulder pitch/yaw/roll, elbow flex, wrist roll/yaw/pitch). The hand is a separate robot with 16 actuators.",
"arms": 1,
"actuators": "Arm: 1x SM8512BL (shoulder pitch) + 6x Feetech STS3250. Hand: 16x Feetech SCS0009 micro servos.",
"specs_source_ref": "ev-lerobot-hopejr-arm",
"open_source": true,
"homepage": "https://github.com/TheRobotStudio/HOPEJr",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.3.2",
"robot_type": [
"hope_jr_arm",
"hope_jr_hand"
],
"docs_url": "https://huggingface.co/docs/lerobot/hope_jr",
"note": "Arm and hand are separate robot types, teleoperated by homunculus_arm and homunculus_glove. Install extra: pip install -e \".[hopejr]\". Added in PR #935, before the first tagged release (0.3.2).",
"source_ref": "ev-lerobot-hopejr-config"
}
},
"teleop_options": [
"Homunculus exoskeleton arm (homunculus_arm)",
"Homunculus glove (homunculus_glove)"
],
"notes": "The maker repo contains both a full-humanoid design (Humanoid/) and the arm, hand and exoskeleton work integrated with LeRobot (Arm/). LeRobot only integrates the arm and hand, not the full humanoid. GitHub detects no license file in the HOPEJr repo, so the license is left blank.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists HopeJR among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-hopejr-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/hope_jr.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "HopeJR guide: separate calibration/teleop for hand (glove) and arm (exoskeleton).",
"quote": "Run this script to find the USB ports for the arm, hand, glove, and exoskeleton:"
},
{
"id": "ev-lerobot-hopejr-config",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/hope_jr/config_hope_jr.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers hope_jr_hand and hope_jr_arm.",
"quote": "@RobotConfig.register_subclass(\"hope_jr_arm\")"
},
{
"id": "ev-lerobot-hopejr-arm",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/hope_jr/hope_jr_arm.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Arm motor map: sm8512bl shoulder pitch + six sts3250 joints.",
"quote": "\"shoulder_pitch\": Motor(1, \"sm8512bl\", MotorNormMode.RANGE_M100_100),"
},
{
"id": "ev-lerobot-hopejr-hand",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/hope_jr/hope_jr_hand.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Hand motor map: 16 scs0009 servos (thumb 4, four fingers x3).",
"quote": "\"pinky_pip_dip\": Motor(16, \"scs0009\", MotorNormMode.RANGE_0_100),"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "HopeJR was added before the first tagged release.",
"quote": "Add Hope Jr by @aliberts in https://github.com/huggingface/lerobot/pull/935"
},
{
"id": "ev-hopejr-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TheRobotStudio/HOPEJr/blob/0a60df1e326b092436edfb011b833fb9a3bc397b/README.md",
"verified_on": "2026-10-24",
"summary": "Maker repo: full humanoid design plus the arm/teleop work integrated with LeRobot.",
"quote": "- **LeRobot Integration**: Full software integration allowing recording, training, and inference"
}
]
},
{
"id": "i2rt-yam",
"name": "I2RT YAM",
"maker": "I2RT Robotics",
"aliases": [
"YAM",
"YAM arm",
"I2RT YAM arm",
"yam_follower"
],
"class": "arm",
"summary": "I2RT's compact CNC-machined research arm: 2 kg nominal payload, 750 mm workspace, 5.02 kg including gripper. LeRobot reaches it through the third-party lerobot_yam plugin suite (follower plus GELLO-style leader). I2RT also has a separate active, force-feedback YAM leader plugin.",
"payload_g": {
"max": 2000
},
"specs_source_ref": "ev-i2rt-yam",
"open_source": false,
"homepage": "https://i2rt.com/products/yam-6-dof-arm",
"price_usd": {
"low": 2999,
"note": "YAM with gripper, I2RT store list price. Edu and bulk discounts are available via sales.",
"source_ref": "ev-i2rt-yam-price"
},
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"yam_follower"
],
"package": "lerobot_robot_yam",
"repo_url": "https://github.com/pravsels/lerobot_yam",
"docs_url": "https://huggingface.co/docs/lerobot/third_party_robots",
"note": "Third-party plugin suite (MIT): lerobot_robot_yam (yam_follower) and lerobot_teleoperator_yam_gello (yam_leader), on PyPI as lerobot-robot-yam. Needs a CAN interface. Also listed: lerobot_teleoperator_yamactiveleader for I2RT's bilateral force-feedback leader.",
"source_ref": "ev-lerobot-third-party"
}
},
"teleop_options": [
"GELLO-style YAM leader (yam_leader)",
"I2RT active YAM leader (lerobot_teleoperator_yamactiveleader)"
],
"notes": "DoF is not recorded because the product page states it only in the URL slug ('yam-6-dof-arm'), not in its text.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot third-party page lists lerobot_yam (yam_follower / yam_leader).",
"quote": "robot arm yam_follower and teleoperator arm yam_leader."
},
{
"id": "ev-yam-plugin",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/pravsels/lerobot_yam/blob/1626d68e0d3bb4116653daad0719e96ab607795e/lerobot_robot_yam/lerobot_robot_yam/config_yam_follower.py",
"verified_on": "2026-10-24",
"summary": "Plugin registers robot type yam_follower (package lerobot_robot_yam)."
},
{
"id": "ev-i2rt-yam",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://i2rt.com/products/yam-6-dof-arm",
"verified_on": "2026-10-24",
"summary": "I2RT YAM: nominal payload 2 kg, 750 mm workspace, 5.02 kg with gripper.",
"quote": "Nominal Payload: 2 kg Max. workspace range: 750 mm Arm weight (including gripper): 5.02 kg"
},
{
"id": "ev-i2rt-yam-price",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://i2rt.com/products/yam-6-dof-arm",
"verified_on": "2026-10-24",
"summary": "I2RT store: YAM with gripper $2,999.00.",
"quote": "Regular price $2,999.00"
}
]
},
{
"id": "koch",
"name": "Koch v1.1",
"maker": "Alexander Koch (original design); v1.1 revision by Jess Moss",
"aliases": [
"Koch arm",
"Koch v1.1",
"low_cost_robot",
"Low-Cost Robot Arm",
"koch_follower",
"koch_leader"
],
"class": "arm",
"summary": "Low-cost open-source arm with five joints plus a gripper, built from ROBOTIS Dynamixel XL430 and XL330 servos. Koch v1.1 is Jess Moss's revision of Alexander Koch's original design to make assembly easier. LeRobot supports it natively as a leader/follower pair.",
"dof": 5,
"dof_note": "Six motors per follower: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll + gripper.",
"arms": 1,
"actuators": "Follower: 2x Dynamixel XL430-W250 (shoulder) + 4x XL330-M288. Leader (v1.1 BOM): 6x Dynamixel XL330-M077-T.",
"specs_source_ref": "ev-lerobot-koch-motors",
"open_source": true,
"license": "Apache-2.0 (Koch v1.1 repo); MIT (original low_cost_robot repo)",
"bom_url": "https://github.com/jess-moss/koch-v1-1",
"homepage": "https://github.com/jess-moss/koch-v1-1",
"price_usd": {
"low": 278,
"high": 477,
"note": "Self-sourced parts cost from the Koch v1.1 README (US links): follower arm $278, leader arm $199, so $477 for the pair. Excludes 3D printing.",
"source_ref": "ev-koch-v11-bom"
},
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.3.2",
"robot_type": [
"koch_follower"
],
"docs_url": "https://huggingface.co/docs/lerobot/koch",
"note": "Leader: --teleop.type=koch_leader. Needs the Dynamixel extra (pip install -e \".[dynamixel]\").",
"source_ref": "ev-lerobot-koch-src"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"Koch leader arm (koch_leader)"
],
"notes": "LeRobot's Koch docs link to the v1.1 repo (jess-moss/koch-v1-1) for sourcing and assembly. Before the v0.3 hardware API redesign, main also had a koch_bimanual type. Bimanual Koch is not registered in v0.6.1.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists Koch among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-koch-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/koch.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot Koch v1.1 guide; points to the jess-moss/koch-v1-1 README for sourcing.",
"quote": "Follow the sourcing and assembling instructions provided in this [README](https://github.com/jess-moss/koch-v1-1)."
},
{
"id": "ev-lerobot-koch-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/koch_follower/config_koch_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers the koch_follower robot type.",
"quote": "@RobotConfig.register_subclass(\"koch_follower\")"
},
{
"id": "ev-lerobot-koch-motors",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/koch_follower/koch_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Follower motor map: xl430-w250 for shoulder pan/lift, xl330-m288 for the rest including gripper.",
"quote": "\"shoulder_lift\": Motor(2, \"xl430-w250\", norm_mode_body), \"elbow_flex\": Motor(3, \"xl330-m288\", norm_mode_body),"
},
{
"id": "ev-lerobot-v032-koch",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.2/src/lerobot/robots/koch_follower/config_koch_follower.py",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "koch_follower already registered at v0.3.2 (first tagged release).",
"quote": "@RobotConfig.register_subclass(\"koch_follower\")"
},
{
"id": "ev-koch-v11-bom",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/jess-moss/koch-v1-1/blob/1a553e1fa7d5404b51bbd83b99b0f7eba54888e0/README.md",
"verified_on": "2026-10-24",
"summary": "Koch v1.1 BOM: leader total $199 (6x XL330-M077-T), follower total $278.",
"quote": "| Total | | $278 |"
},
{
"id": "ev-koch-original",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/AlexanderKoch-Koch/low_cost_robot/blob/0602b0c1e6a67d8f6ab96f81d1378639018d98af/README.md",
"verified_on": "2026-10-24",
"summary": "Original design uses XL430 for the first two joints and XL330 elsewhere.",
"quote": "This robot arm uses Dynamixel XL430 and Dynamixel XL330 servo motors. The XL430 motors are almost twice as strong and are used for the first two joints."
}
]
},
{
"id": "lekiwi",
"name": "LeKiwi",
"maker": "SIGRobotics-UIUC",
"aliases": [
"LeKiwi mobile manipulator",
"Mobile SO100",
"mobile so100",
"lekiwi_client"
],
"class": "mobile-manipulator",
"summary": "Low-cost open-source mobile manipulator: an SO-ARM101 arm on a 3-wheel holonomic (kiwi) base with omni wheels. It is usually run from an onboard Raspberry Pi 5 that streams to a laptop, and a wired version exists. LeRobot supports it natively and teleoperates it with an SO leader arm plus keyboard driving.",
"dof": 5,
"dof_note": "Arm: five joints + gripper (SO-ARM101, six STS3215). Base: three STS3215 wheel motors (kiwi drive), not counted in dof.",
"arms": 1,
"actuators": "Feetech STS3215 serial bus servos (6 arm + 3 base wheels)",
"specs_source_ref": "ev-lerobot-lekiwi-motors",
"open_source": true,
"license": "Apache-2.0",
"bom_url": "https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/BOM.md",
"homepage": "https://github.com/SIGRobotics-UIUC/LeKiwi",
"price_usd": {
"low": 482,
"high": 499,
"note": "Self-sourced parts cost from the maker's BOM (US): $482 (12V version) and $499 (5V version). Base only costs $184 (wired) to $251.5. The maker notes that prices vary by location and time.",
"source_ref": "ev-lekiwi-bom"
},
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.3.2",
"robot_type": [
"lekiwi",
"lekiwi_client"
],
"docs_url": "https://huggingface.co/docs/lerobot/lekiwi",
"note": "`lekiwi` runs on the robot (host, usually a Raspberry Pi). `lekiwi_client` runs on the laptop and talks to the host over ZeroMQ. Install extra: pip install -e \".[lekiwi]\". Both types are already present at v0.3.2. The wired version runs everything on the PC.",
"source_ref": "ev-lerobot-lekiwi-src"
}
},
"sensors_builtin": [
"rgb-dual"
],
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi"
],
"teleop_options": [
"SO-100/SO-101 leader arm (so100_leader) for the arm",
"Keyboard (w,a,s,d / z,x) for the base"
],
"notes": "The maker README lists two built-in cameras: a workspace RGB camera and a wrist RGB camera. A Dynamixel variant (Koch v1.1 arm, XL430 base motors) is documented in the maker repo but is not a separate LeRobot type.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists LeKiwi among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-lekiwi-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/lekiwi.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeKiwi guide: leader arm for the arm, keyboard for the base.",
"quote": "Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right."
},
{
"id": "ev-lerobot-lekiwi-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/lekiwi/config_lekiwi.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers lekiwi (host) and lekiwi_client robot types.",
"quote": "@RobotConfig.register_subclass(\"lekiwi_client\")"
},
{
"id": "ev-lerobot-lekiwi-motors",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/lekiwi/lekiwi.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Motor map: six arm motors and three base wheels, all sts3215.",
"quote": "\"base_left_wheel\": Motor(7, \"sts3215\", MotorNormMode.RANGE_M100_100),"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "LeKiwi (initially 'mobile so100') was added before the first tagged release.",
"quote": "Add mobile so100 by @pkooij in https://github.com/huggingface/lerobot/pull/724"
},
{
"id": "ev-lekiwi-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/SIGRobotics-UIUC/LeKiwi/blob/efa608d7ee5a495a4803b1d28cd0c955b4f1e033/README.md",
"verified_on": "2026-10-24",
"summary": "Maker README: kiwi drive with omni wheels, SO-ARM101 arm, workspace + wrist RGB cameras.",
"quote": "- 3-wheel Kiwi (holonomic) drive with omni wheels"
},
{
"id": "ev-lekiwi-bom",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/SIGRobotics-UIUC/LeKiwi/blob/efa608d7ee5a495a4803b1d28cd0c955b4f1e033/BOM.md",
"verified_on": "2026-10-24",
"summary": "Maker BOM totals: 12V $482, 5V $499; base-only options $184-$251.5.",
"quote": "| **12V** | **$482** | **€545.8** | **¥2891** | | **5V** | **$499** |"
}
]
},
{
"id": "mobile-aloha",
"name": "Mobile ALOHA",
"maker": "Stanford (Zipeng Fu, Tony Z. Zhao, Chelsea Finn)",
"aliases": [
"Mobile Aloha",
"aloha_mobile"
],
"class": "mobile-manipulator",
"summary": "ALOHA bimanual rig mounted on a mobile base, with whole-body teleoperation for mobile manipulation. LeRobot has never had a Mobile ALOHA robot type. Its support is dataset-only: lerobot/aloha_mobile_* datasets, one of which is the example dataset in the LeRobot README.",
"arms": 2,
"open_source": true,
"license": "MIT (Mobile ALOHA codebase)",
"homepage": "https://mobile-aloha.github.io/",
"frameworks": {},
"notes": "in_grid because public LeRobot-format Mobile ALOHA datasets exist: lerobot/aloha_mobile_cabinet, _chair, _elevator, _shrimp, _wash_pan and _wipe_wine, listed on the Hub on 2026-10-24. The v0.6.1 README uses lerobot/aloha_mobile_cabinet in both its dataset and lerobot-train examples. No lerobot framework entry is recorded: no Mobile ALOHA robot config existed on main before the v0.3 Hardware API redesign or in any release, so neither \"native\" nor \"removed\" applies. The original stack is ROS 1 (Ubuntu 18.04/20.04 + Noetic) with ACT++ for training.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme-dataset",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README uses a Mobile ALOHA dataset as its LeRobotDataset example.",
"quote": "dataset = LeRobotDataset(\"lerobot/aloha_mobile_cabinet\")"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "Real-world static + mobile ALOHA datasets were added early in LeRobot's history (PR #133).",
"quote": "Add 25 real world datasets (static + mobile aloha) by @Cadene in https://github.com/huggingface/lerobot/pull/133"
},
{
"id": "ev-lerobot-pre-refactor-configs",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57/lerobot/common/robot_devices/robots/configs.py",
"date": "2025-06-05",
"verified_on": "2026-10-24",
"summary": "Pre-redesign robot types were aloha, koch, koch_bimanual, moss, so101, so100, stretch, lekiwi (no mobile ALOHA).",
"quote": "@RobotConfig.register_subclass(\"stretch\")"
},
{
"id": "ev-hub-aloha-mobile",
"tier": "community-reported",
"type": "hub-checkpoint",
"url": "https://huggingface.co/datasets/lerobot/aloha_mobile_cabinet",
"verified_on": "2026-10-24",
"summary": "Mobile ALOHA dataset in the lerobot Hub org (six aloha_mobile_* tasks listed via Hub API, 2026-10-24)."
},
{
"id": "ev-mobile-aloha-repo",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/MarkFzp/mobile-aloha/blob/0e403249c76054a68e757e590d4da4dba401c9e3/README.md",
"verified_on": "2026-10-24",
"summary": "Mobile ALOHA codebase: forked from ALOHA, teleop + data collection, ROS 1.",
"quote": "This codebase is forked from the [ALOHA repo](https://github.com/tonyzhaozh/aloha), and contains implementation for teleoperation and data collection with the Mobile ALOHA hardware."
}
]
},
{
"id": "moss-v1",
"name": "Moss v1",
"maker": "Jess Moss",
"aliases": [
"Moss",
"Moss arm",
"moss-robot-arms",
"moss"
],
"class": "arm",
"in_grid": false,
"out_of_grid_reason": "It was never in a LeRobot release. The `moss` type existed only on main, from Oct 2024 until the Hardware API redesign of June 2025. There are no Moss datasets or checkpoints in the lerobot Hub org, and the maker recommends the SO-100 instead.",
"summary": "Early low-cost leader/follower arm pair built from Feetech STS3215 servos, with five joints plus a gripper. It preceded the SO-100. Its maker now recommends the SO-100 for LeRobot, and its LeRobot support existed only on the main branch.",
"dof": 5,
"dof_note": "Six STS3215 per arm: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll + gripper.",
"arms": 1,
"actuators": "Feetech STS3215 (6 per arm)",
"specs_source_ref": "ev-lerobot-pre-refactor-moss",
"open_source": true,
"license": "Apache-2.0",
"bom_url": "https://github.com/jess-moss/moss-robot-arms",
"homepage": "https://github.com/jess-moss/moss-robot-arms",
"frameworks": {
"lerobot": {
"support": "removed",
"robot_type": [
"moss"
],
"note": "main-only: added with SO-100 in PR #419 (merged 2024-10-25) and dropped in the Hardware API redesign (PR #777, merged 2025-06-05). No PyPI release fell between 0.1.0 (2024-03-09) and 0.3.2 (2025-08-01), and v0.3.2 has no moss module, so `since`/`until` are left blank because no released version ever contained it.",
"source_ref": "ev-lerobot-pre-refactor-moss"
}
},
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-pre-refactor-moss",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57/lerobot/common/robot_devices/robots/configs.py",
"date": "2025-06-05",
"verified_on": "2026-10-24",
"summary": "main just before the Hardware API redesign registered a `moss` robot type with six sts3215 motors per arm.",
"quote": "@RobotConfig.register_subclass(\"moss\") @dataclass class MossRobotConfig(ManipulatorRobotConfig): calibration_dir: str = \".cache/calibration/moss\""
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "First tagged release notes list both the PR that added Moss and the redesign that removed it.",
"quote": "Hardware API redesign by @aliberts in https://github.com/huggingface/lerobot/pull/777"
},
{
"id": "ev-moss-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/jess-moss/moss-robot-arms/blob/da15b56f01e94e62ca08d14f42e14b8627a240dc/README.md",
"verified_on": "2026-10-24",
"summary": "Maker recommends SO100 for LeRobot; Moss v1 'will be deprecated'.",
"quote": "While the Moss v1 robot is still supported, it will be deprecated."
}
]
},
{
"id": "omx",
"name": "ROBOTIS OMX",
"maker": "ROBOTIS",
"aliases": [
"OMX",
"OMX-F",
"OMX-L",
"OMX-AI",
"omx_follower",
"omx_leader"
],
"class": "arm",
"summary": "ROBOTIS's entry-level Physical AI arm with five joints plus a gripper, built on DYNAMIXEL-X servos. The OMX-F follower and OMX-L leader ship factory-calibrated. LeRobot supports it natively, and ROBOTIS states official ROS 2 support.",
"dof": 5,
"dof_note": "ROBOTIS spec: 5 + 1 gripper (follower OMX-F and leader OMX-L).",
"arms": 1,
"actuators": "Follower OMX-F: 3x Dynamixel XL430-W250-T (IDs 11-13) + 3x XL330-M288-T (IDs 14-16). Leader OMX-L: XL330-M288-T joints 1-5, XL330-M077-T joint 6.",
"payload_g": {
"min": 100,
"max": 250
},
"specs_source_ref": "ev-robotis-omx-hw",
"open_source": true,
"homepage": "https://ai.robotis.com/omx/introduction_omx.html",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.4.3",
"robot_type": [
"omx_follower"
],
"docs_url": "https://huggingface.co/docs/lerobot/omx",
"note": "Leader: --teleop.type=omx_leader. Shipped pre-configured, so no motor setup or calibration is needed. Added in PR #2614 (merged 2025-12-15).",
"source_ref": "ev-lerobot-omx-src"
},
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/ROBOTIS-GIT/open_manipulator",
"note": "ROBOTIS states official ROS 2 support for OMX. This is ROBOTIS's own OpenMANIPULATOR ROS 2 package repo.",
"source_ref": "ev-robotis-omx-intro"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"OMX-L leader arm (omx_leader)"
],
"notes": "Payload per ROBOTIS: 100 g at full reach and 250 g at normal reach. ROBOTIS publishes STEP and STL files for the 3D-printed parts. The site footer states that \"AI Worker and AI Manipulator\" are Apache-2.0, but there is no OMX-specific license statement, so the license is left blank.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists OMX among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-omx-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/omx.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot OMX guide: preconfigured from the factory.",
"quote": "OMX robots are shipped preconfigured from the factory. Motor IDs, communication parameters, and joint offsets are already set, so no additional motor setup or calibration is required before using LeRobot."
},
{
"id": "ev-lerobot-omx-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/omx_follower/config_omx_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers omx_follower.",
"quote": "@RobotConfig.register_subclass(\"omx_follower\")"
},
{
"id": "ev-lerobot-v043-omx",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.3",
"date": "2026-01-22",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.3"
},
"summary": "OMX support first released in v0.4.3 (module absent at v0.4.2).",
"quote": "feat(robot): Add support for OMX robot by @Woojin-Crive in https://github.com/huggingface/lerobot/pull/2614"
},
{
"id": "ev-robotis-omx-intro",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://ai.robotis.com/omx/introduction_omx.html",
"verified_on": "2026-10-24",
"summary": "ROBOTIS: compact 5-DOF DYNAMIXEL-X platform with official ROS 2 support.",
"quote": "OMX officially supports ROS 2, with compatibility across existing packages."
},
{
"id": "ev-robotis-omx-hw",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://ai.robotis.com/omx/hardware_omx.html",
"verified_on": "2026-10-24",
"summary": "OMX-F spec: 5+1 DOF, XL430/XL330 servos, payload 100 g full reach / 250 g normal reach; STEP/STL published.",
"quote": "Payload Full reach : 100g , Normal reach : 250g"
}
]
},
{
"id": "openarm",
"name": "OpenArm",
"maker": "Enactic",
"aliases": [
"OpenArm 2.0",
"OpenArms",
"openarm_follower",
"bi_openarm_follower"
],
"class": "bimanual",
"summary": "Open-source, human-scale 7-DoF arm from Enactic with backdrivable quasi-direct-drive Damiao motors on CAN-FD. It is usually built as a bimanual pair. LeRobot supports single-arm and bimanual setups natively, on Linux only.",
"dof": 7,
"dof_note": "Per arm, plus a parallel gripper (8 motors per arm in LeRobot's config).",
"arms": 2,
"actuators": "Damiao QDD motors over CAN-FD: DM8009 (J1-J2), DM4340 (J3-J4), DM4310 (J5-J7 + gripper)",
"payload_g": {
"min": 4100,
"max": 6000
},
"specs_source_ref": "ev-openarm-docs",
"open_source": true,
"license": "Apache-2.0",
"bom_url": "https://docs.openarm.dev/",
"homepage": "https://openarm.dev",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.4.4",
"robot_type": [
"openarm_follower",
"bi_openarm_follower"
],
"docs_url": "https://huggingface.co/docs/lerobot/openarm",
"note": "Leader: openarm_leader / bi_openarm_leader. An OpenArm Mini leader was also added in 0.4.4. Linux only, because the CAN USB adapter has no macOS driver. Single-arm (PR #2795) and bimanual (PR #2835) types were both first released in 0.4.4.",
"source_ref": "ev-lerobot-openarm-src"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"OpenArm leader (openarm_leader / bi_openarm_leader)",
"OpenArm Mini leader"
],
"notes": "Payload per Enactic: 4.1 kg nominal (held 1 min in worst posture) and 6.0 kg peak (3 s move + 1 s hold) per arm. The LeRobot docs cite $6,500 USD for a complete bimanual system. That figure is not on the maker's own page and is not recorded as a price. OpenArm is sold as a DIY kit or assembled through verified manufacturers.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists OpenARM among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-openarm-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/openarm.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot OpenArm guide: 7DOF, Linux-only, cites $6,500 bimanual system cost.",
"quote": "At $6,500 USD for a complete bimanual system, OpenArm delivers research-grade capabilities at a fraction of traditional humanoid robot costs."
},
{
"id": "ev-lerobot-openarm-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/openarm_follower/config_openarm_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "OpenArm follower config: 7 DOF per arm, Damiao DM8009/DM4340/DM4310 motors.",
"quote": "# Motor configuration for OpenArms (7 DOF per arm)"
},
{
"id": "ev-lerobot-bi-openarm-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/bi_openarm_follower/config_bi_openarm_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers bi_openarm_follower.",
"quote": "@RobotConfig.register_subclass(\"bi_openarm_follower\")"
},
{
"id": "ev-lerobot-v044-openarm",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.4",
"date": "2026-02-27",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.4"
},
"summary": "OpenArm single and bimanual first released in v0.4.4.",
"quote": "feat(robots): add OpenArm robot & teleoperator by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2795"
},
{
"id": "ev-openarm-docs",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://docs.openarm.dev/",
"verified_on": "2026-10-24",
"summary": "Enactic OpenArm 2.0 spec: 7 DOF per arm, 4.1 kg nominal / 6.0 kg peak payload, CAN-FD.",
"quote": "DOF 7 per arm Nominal payload 4.1 kg (held for 1 minute in the worst posture) Peak payload 6.0 kg (3 s move + 1 s hold in the worst posture)"
},
{
"id": "ev-openarm-license",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/enactic/openarm/blob/main/LICENSE",
"verified_on": "2026-10-24",
"summary": "enactic/openarm repository is Apache-2.0 licensed.",
"quote": "Apache License Version 2.0, January 2004"
}
]
},
{
"id": "reachy-mini",
"name": "Reachy Mini",
"maker": "Pollen Robotics (Hugging Face)",
"aliases": [
"Reachy Mini Lite",
"Reachy Mini Wireless",
"reachy_mini"
],
"class": "desktop-social",
"in_grid": false,
"out_of_grid_reason": "Reachy Mini is not a LeRobot robot. It ships its own SDK (reachy_mini Python package, JavaScript SDK) and a Hugging Face Spaces app ecosystem. It is absent from LeRobot v0.6.1's supported-hardware list and robots source tree, and its SDK does not depend on LeRobot. It is an expressive desktop head/body robot with no arm or gripper, so manipulation policies do not apply.",
"summary": "Small open-source expressive desktop companion robot from Pollen Robotics and Hugging Face. It has a movable head, antennas, a camera, 4 microphones and a speaker, and is sold as a DIY kit in Wireless (onboard Raspberry Pi CM4) and Lite (USB) versions. It is programmed through the Reachy Mini SDK and apps, not through LeRobot. It is unrelated to the full-size Reachy 2, which LeRobot does support.",
"arms": 0,
"open_source": true,
"license": "Apache-2.0 (software); CC BY-SA-NC (hardware design files)",
"homepage": "https://www.pollen-robotics.com/reachy-mini/",
"price_usd": {
"low": 399,
"high": 499,
"note": "DIY kits (~2 h assembly): Reachy Mini Lite $399 (USB, uses your computer), Reachy Mini Wireless $499 (onboard CM4). DAP, shipping/duties extra.",
"source_ref": "ev-pollen-reachy-mini"
},
"frameworks": {},
"sensors_builtin": [
"rgb-mono",
"mic-array"
],
"notes": "A common confusion. Reachy 2, Pollen's full-size wheeled humanoid, is natively supported by LeRobot as robot_type reachy2. Reachy Mini is not. The Reachy Mini SDK can record and share \"moves\" as datasets, but these are its own format and tooling, not LeRobot robot integration.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot's supported-hardware list names Reachy2 but not Reachy Mini; src/lerobot/robots at v0.6.1 has no reachy_mini module.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-reachy-mini-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/pollen-robotics/reachy_mini/blob/9fb2bfcbdf4c9800b0649acb8f0c18027673943f/README.md",
"verified_on": "2026-10-24",
"summary": "Reachy Mini SDK repo: own Python/JS SDK and HF Spaces app store; Apache-2.0 software, CC BY-SA-NC hardware.",
"quote": "Reachy Mini comes with an app store powered by Hugging Face Spaces."
},
{
"id": "ev-reachy-mini-license",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/pollen-robotics/reachy_mini/blob/9fb2bfcbdf4c9800b0649acb8f0c18027673943f/README.md",
"verified_on": "2026-10-24",
"summary": "License statement in the Reachy Mini README.",
"quote": "Hardware design files are licensed under Creative Commons BY-SA-NC."
},
{
"id": "ev-pollen-reachy-mini",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.pollen-robotics.com/reachy-mini/",
"verified_on": "2026-10-24",
"summary": "Pollen store: Wireless $499 (CM4), Lite $399 (USB); camera, 4 mics, speaker; both DIY kits.",
"quote": "Reachy Mini Lite USB • External compute $399 ✓ Your Mac/PC as brain ✓ USB only ✓ Camera, 4 mics, speaker"
}
]
},
{
"id": "reachy2",
"name": "Reachy 2",
"maker": "Pollen Robotics (Hugging Face)",
"aliases": [
"Reachy2",
"Reachy 2 humanoid"
],
"class": "humanoid",
"summary": "Pollen Robotics' open-source wheeled humanoid: two 7-DoF human-scale arms, a head with an expressive neck and antennas, and an optional omnidirectional mobile base. It runs on ROS 2 Humble with a Python SDK. LeRobot supports it natively, including in Pollen's MuJoCo/Gazebo simulation image.",
"dof": 7,
"dof_note": "Per arm, as stated by Pollen. The gripper, neck, antennas and mobile base are additional.",
"arms": 2,
"actuators": "Orbita 2D/3D parallel actuators (per Pollen)",
"payload_g": {
"max": 3000
},
"specs_source_ref": "ev-pollen-reachy2",
"open_source": true,
"homepage": "https://www.pollen-robotics.com/reachy-2/",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.4.0",
"robot_type": [
"reachy2"
],
"docs_url": "https://huggingface.co/docs/lerobot/reachy2",
"note": "Teleop in LeRobot is robot-to-robot (--teleop.type=reachy2_teleoperator, one Reachy 2 driving another). Pollen's VR teleoperation app is not included in LeRobot. Parts can be toggled with --robot.with_ (mobile_base, l_arm, r_arm, neck, antennas). Cameras: left/right teleop cameras and a torso camera.",
"source_ref": "ev-lerobot-reachy2-src"
},
"ros2": {
"support": "upstream-repo",
"note": "Pollen states that Reachy 2 runs on ROS 2 Humble (vendor software stack).",
"source_ref": "ev-pollen-reachy2-ros"
}
},
"teleop_options": [
"Robot-to-robot via a second Reachy 2 (reachy2_teleoperator)",
"Pollen VR teleoperation app (outside LeRobot)"
],
"notes": "Pollen lists ~3 kg payload per arm, 136-166 cm adjustable height, up to 50 kg full-robot weight, stereo + RGB-D vision and LiDAR. Price is not published on the product page.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists Reachy2 among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-reachy2-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/reachy2.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot Reachy 2 guide: two teleop modes; VR app not part of LeRobot.",
"quote": "- Pollen Robotics’ VR teleoperation (not included in LeRobot). - Robot-to-robot teleoperation (use one Reachy 2 to control another)."
},
{
"id": "ev-lerobot-reachy2-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/reachy2/configuration_reachy2.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Registers reachy2.",
"quote": "@RobotConfig.register_subclass(\"reachy2\")"
},
{
"id": "ev-lerobot-v040-reachy2",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.0",
"date": "2025-10-23",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.0"
},
"summary": "Reachy 2 first released in v0.4.0 (module absent at v0.3.3).",
"quote": "2 add reachy 2 to updated lerobot by @glannuzel in https://github.com/huggingface/lerobot/pull/1767"
},
{
"id": "ev-pollen-reachy2",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.pollen-robotics.com/reachy-2/",
"verified_on": "2026-10-24",
"summary": "Pollen: 7-DoF arms, ~3 kg per arm, optional omnidirectional base.",
"quote": "With 7 degrees of freedom, Reachy 2's arms mirror the dimensions, proportions and movements of an adult human arm. One arm can lift objects up to 3 kg and manipulate them with real dexterity."
},
{
"id": "ev-pollen-reachy2-ros",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.pollen-robotics.com/reachy-2/",
"verified_on": "2026-10-24",
"summary": "Pollen: fully open source, Python-controllable, ROS 2 Humble.",
"quote": "Fully open source. Teleoperated or controlled with Python. Runs on ROS 2 Humble."
}
]
},
{
"id": "rebot-b601",
"name": "reBot Arm B601-DM",
"maker": "Seeed Studio",
"aliases": [
"reBot B601",
"reBot B601-DM",
"reBot Arm B601",
"reBot-DevArm",
"rebot_b601_follower",
"bi_rebot_b601_follower"
],
"class": "arm",
"summary": "Open-source, low-cost 6-DoF arm with gripper from Seeed Studio, driven by Damiao CAN motors. It is teleoperated with the reBot Arm 102 leader (FashionStar UART servos). LeRobot supports single-arm and bimanual setups natively since 0.6.0.",
"dof": 6,
"dof_note": "6 + 1 gripper ('6+1 DOF' per Seeed).",
"arms": 1,
"actuators": "Damiao CAN motors (follower); FashionStar UART smart servos on the reBot Arm 102 leader",
"payload_g": {
"max": 1500
},
"repeatability_mm": {
"max": 0.2
},
"specs_source_ref": "ev-seeed-rebot-store",
"open_source": true,
"license": "CERN-OHL-W-2.0 (hardware), Apache-2.0 (software)",
"homepage": "https://github.com/Seeed-Projects/reBot-DevArm",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.6.0",
"robot_type": [
"rebot_b601_follower",
"bi_rebot_b601_follower"
],
"docs_url": "https://huggingface.co/docs/lerobot/rebot_b601",
"note": "Leader: rebot_102_leader / bi_rebot_102_leader. Install extra: pip install -e \".[rebot]\" (pulls in motorbridge). Re-zeroes on every connect. An MIT control mode was added in 0.6.0 (PR #3778). The Robstride-motor sibling B601-RS is not a LeRobot native type.",
"source_ref": "ev-lerobot-rebot-doc"
},
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/Seeed-Projects/reBot-DevArm",
"note": "Seeed lists ROS2 integration (kinematics, trajectory planning, gravity compensation) as done.",
"source_ref": "ev-seeed-rebot-readme"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"reBot Arm 102 leader (rebot_102_leader / bi_rebot_102_leader)",
"PICO 4 VR (third-party plugin, per Seeed)"
],
"notes": "Seeed sells the arm as motor, structural, gripper, full and pre-assembled kits. Per-variant prices load dynamically on the store page and are not recorded.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists reBot B601 among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-rebot-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/rebot_b601.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot reBot guide: registered follower/leader types, single and bimanual.",
"quote": "| `rebot_b601_follower` | single-arm B601-DM follower robot | | `bi_rebot_b601_follower` | bimanual (dual-arm) follower robot |"
},
{
"id": "ev-lerobot-rebot-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Config: B601-DM is a 6-DOF arm plus gripper on Damiao CAN motors.",
"quote": "The B601-DM is a 6-DOF arm plus gripper driven by Damiao CAN motors."
},
{
"id": "ev-lerobot-v060-rebot",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.6.0",
"date": "2026-07-06",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.0"
},
"summary": "reBot B601-DM natively integrated in v0.6.0.",
"quote": "feat(robots): natively integrate Seeed Studio reBot B601-DM arm by @pkooij in https://github.com/huggingface/lerobot/pull/3624"
},
{
"id": "ev-seeed-rebot-store",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.seeedstudio.com/reBot-Arm-B601-DM-Bundle.html",
"verified_on": "2026-10-24",
"summary": "Seeed store: 1.5 kg rated payload, ±0.2 mm repeatability, 6+1 DoF.",
"quote": "The reBot Arm B601-DM combines a 1.5 kg rated payload, ±0.2 mm repeatability"
},
{
"id": "ev-seeed-rebot-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/Seeed-Projects/reBot-DevArm/blob/44bc1ed11bc1c3c2db035b51507a6ecae34fc79c/README.md",
"verified_on": "2026-10-24",
"summary": "Seeed reBot-DevArm README: licenses, kit options, ROS2 and LeRobot integration status.",
"quote": "| ROS2 Integration | ✅ Done | Kinematics, trajectory planning, gravity compensation |"
}
]
},
{
"id": "so100",
"name": "SO-100",
"maker": "TheRobotStudio (designed in collaboration with Hugging Face)",
"aliases": [
"SO-ARM100",
"SO100",
"SO-100 arm",
"Standard Open Arm 100",
"so100_follower",
"so100_leader"
],
"class": "arm",
"summary": "The first-generation low-cost, open-source 3D-printed arm from TheRobotStudio and Hugging Face. It has five joints plus a gripper and uses Feetech STS3215 servos. The maker now marks the SO-100 docs as deprecated in favour of the SO-101, but LeRobot still supports it natively.",
"dof": 5,
"dof_note": "Six servos per follower: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll + gripper.",
"arms": 1,
"actuators": "Feetech STS3215 serial bus servos (6 per arm)",
"specs_source_ref": "ev-lerobot-so-follower-motors",
"open_source": true,
"license": "Apache-2.0",
"bom_url": "https://github.com/TheRobotStudio/SO-ARM100/blob/main/SO100.md",
"homepage": "https://github.com/TheRobotStudio/SO-ARM100",
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.3.2",
"robot_type": [
"so100_follower"
],
"docs_url": "https://huggingface.co/docs/lerobot/so100",
"note": "Leader: --teleop.type=so100_leader. 0.3.x also registered so100_follower_end_effector, which is gone from 0.4.0. Since 0.4.3 the so100_follower type is registered by the shared so_follower module (PR #2763), which merged the SO-100 and SO-101 code. The type string did not change. SO-100 support was added on main in Oct 2024 (PR #419), after the only earlier PyPI release (0.1.0, 2024-03-09), so 0.3.2 is the first release that includes it.",
"source_ref": "ev-lerobot-so-follower-src"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"SO-100 leader arm (so100_leader)"
],
"notes": "The SO-101 is the maker's recommended successor. Its improvements are better wiring, easier assembly (no gear removal) and updated motors. LeRobot drives both arms with the same code.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists SO100 first among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-so100-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/so100.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "SO-100 assembly/setup guide in LeRobot docs.",
"quote": "In the steps below, we explain how to assemble the SO-100 robot."
},
{
"id": "ev-lerobot-so-follower-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/so_follower/config_so_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "so_follower config registers both so101_follower and so100_follower robot types.",
"quote": "@RobotConfig.register_subclass(\"so101_follower\") @RobotConfig.register_subclass(\"so100_follower\")"
},
{
"id": "ev-lerobot-so-follower-motors",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/so_follower/so_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Motor map: five arm joints plus gripper, all sts3215.",
"quote": "\"shoulder_pan\": Motor(1, \"sts3215\", norm_mode_body),"
},
{
"id": "ev-lerobot-v032-so100",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.2/src/lerobot/robots/so100_follower/config_so100_follower.py",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "At v0.3.2 the so100_follower and so100_follower_end_effector types were registered.",
"quote": "@RobotConfig.register_subclass(\"so100_follower_end_effector\")"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "v0.3.2 release notes (full history since project start) include the PR that added SO-100 (merged 2024-10-25).",
"quote": "Add FeetechMotorsBus, SO-100, Moss-v1 by @Cadene in https://github.com/huggingface/lerobot/pull/419"
},
{
"id": "ev-lerobot-v043-consolidate",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.3",
"date": "2026-01-22",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.3"
},
"summary": "v0.4.3 merged the SO-100/SO-101 implementations into one so_follower module.",
"quote": "feat(robots): consolidate SO arms implementation by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2763"
},
{
"id": "ev-lerobot-cameras",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/cameras.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot camera classes: OpenCV (USB webcams etc.) and RealSense (with depth).",
"quote": "| `RealSenseCamera` | Intel RealSense (with depth) |"
},
{
"id": "ev-soarm-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md",
"verified_on": "2026-10-24",
"summary": "Maker README marks the SO-100 docs as deprecated in favour of the SO-101.",
"quote": "which is deprecated."
},
{
"id": "ev-soarm-license",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/LICENSE",
"verified_on": "2026-10-24",
"summary": "SO-ARM100 repository is Apache-2.0 licensed.",
"quote": "Apache License Version 2.0, January 2004"
}
]
},
{
"id": "so101",
"name": "SO-101",
"maker": "TheRobotStudio (designed in collaboration with Hugging Face)",
"aliases": [
"SO-ARM101",
"SO101",
"SO-101 arm",
"so101_follower",
"so101_leader"
],
"class": "arm",
"summary": "Low-cost, open-source 3D-printed arm with five joints plus a gripper, driven by six Feetech STS3215 serial bus servos. It is the successor to the SO-100, and the LeRobot docs call it their flagship robot. It is normally built as a leader/follower pair for teleoperation.",
"dof": 5,
"dof_note": "Six servos per follower: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll + gripper.",
"arms": 1,
"actuators": "Feetech STS3215 (follower: 6x, 1/345 gearing; leader: mixed 1/345, 1/191 and 1/147 gearing so it can be back-driven by hand).",
"specs_source_ref": "ev-lerobot-so101-doc",
"open_source": true,
"license": "Apache-2.0",
"bom_url": "https://github.com/TheRobotStudio/SO-ARM100#sourcing-parts",
"homepage": "https://github.com/TheRobotStudio/SO-ARM100",
"price_usd": {
"low": 121.94,
"high": 229.88,
"note": "Self-sourced parts cost from the maker's README (US links): $121.94 for one follower arm, $229.88 for a leader + follower pair. Excludes 3D-printed parts, shipping and tax. Assembled arms and kits are sold by third-party vendors listed in the README, at their own prices (not recorded here).",
"source_ref": "ev-soarm-readme-bom"
},
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.3.2",
"robot_type": [
"so101_follower"
],
"docs_url": "https://huggingface.co/docs/lerobot/so101",
"note": "Leader: --teleop.type=so101_leader. Since 0.4.3 the type is registered by the shared so_follower module, which merged the separate SO-100 and SO-101 implementations (PR #2763). The type string did not change. 0.3.2 is the first tagged release, and the only earlier PyPI release (0.1.0, 2024-03-09) predates all real-robot support.",
"source_ref": "ev-lerobot-so-follower-src"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"SO-101 leader arm (so101_leader)"
],
"notes": "LeRobot cameras are configured per robot (`cameras:` dict). OpenCV and Intel RealSense (with depth) are the built-in camera backends.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-so101-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/so101.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "SO-101 assembly guide: follower uses 6 STS3215 motors (1/345); leader uses three gear ratios.",
"quote": "The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however, uses three differently geared motors"
},
{
"id": "ev-lerobot-so-follower-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/so_follower/config_so_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "so_follower config registers both so101_follower and so100_follower robot types.",
"quote": "@RobotConfig.register_subclass(\"so101_follower\") @RobotConfig.register_subclass(\"so100_follower\")"
},
{
"id": "ev-lerobot-so-follower-motors",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/so_follower/so_follower.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Motor map: five arm joints plus gripper, all sts3215.",
"quote": "\"wrist_roll\": Motor(5, \"sts3215\", norm_mode_body), \"gripper\": Motor(6, \"sts3215\", MotorNormMode.RANGE_0_100),"
},
{
"id": "ev-lerobot-v032-so101",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.2/src/lerobot/robots/so101_follower/config_so101_follower.py",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "so101_follower type already registered at v0.3.2 (first tagged release).",
"quote": "@RobotConfig.register_subclass(\"so101_follower\")"
},
{
"id": "ev-lerobot-v043-consolidate",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.3",
"date": "2026-01-22",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.3"
},
"summary": "v0.4.3 merged the SO-100/SO-101 implementations into one so_follower module.",
"quote": "feat(robots): consolidate SO arms implementation by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2763"
},
{
"id": "ev-lerobot-cameras",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/cameras.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot camera classes: OpenCV (USB webcams etc.) and RealSense (with depth).",
"quote": "| `RealSenseCamera` | Intel RealSense (with depth) |"
},
{
"id": "ev-soarm-readme-bom",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md",
"verified_on": "2026-10-24",
"summary": "Maker README: SO-101 is the next-generation SO-100; BOM totals $229.88 (leader+follower) and $121.94 (one follower).",
"quote": "| Total | --- | $121.94 |"
},
{
"id": "ev-soarm-license",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/LICENSE",
"verified_on": "2026-10-24",
"summary": "SO-ARM100 repository (SO-100 and SO-101 designs) is Apache-2.0 licensed.",
"quote": "Apache License Version 2.0, January 2004"
}
]
},
{
"id": "stretch3",
"name": "Hello Robot Stretch 3",
"maker": "Hello Robot",
"aliases": [
"Stretch 3",
"Stretch",
"Stretch3"
],
"class": "mobile-manipulator",
"in_grid": false,
"out_of_grid_reason": "Native LeRobot support was removed in 0.4.0 (last release with it: 0.3.3). There is only one Stretch dataset in the lerobot Hub org (lerobot/cmu_stretch) and no official checkpoint, so there is no current LeRobot path to evaluate policies on it.",
"summary": "Hello Robot's single-arm mobile manipulator. LeRobot had a native `stretch3` robot type in 0.3.2–0.3.3, deprecated in 0.4.0. Hello Robot maintains its own ROS 2 and Python SDK.",
"arms": 1,
"open_source": false,
"homepage": "https://hello-robot.com/",
"frameworks": {
"lerobot": {
"support": "removed",
"since": "0.3.2",
"until": "0.3.3",
"robot_type": [
"stretch3"
],
"note": "Added on main as `stretch` (PR #409, Oct 2024) and renamed `stretch3` in the Hardware API redesign. It was teleoperated with a stretch3_gamepad. Deprecated in 0.4.0 (PR #2205), and the module is absent from v0.4.0 on.",
"source_ref": "ev-lerobot-v040-deprecate"
},
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/hello-robot/stretch_ros2",
"note": "Hello Robot's own ROS 2 Humble packages for Stretch.",
"source_ref": "ev-stretch-ros2"
}
},
"notes": "open_source is false for the hardware. Hello Robot states that its ROS 2 and Python SDK are open source. The Stretch 3 product URL used in LeRobot 0.3.x (hello-robot.com/stretch-3-product) returned 404 on 2026-10-24, and the Hello Robot homepage now promotes Stretch 4. Specs and price are not recorded.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-v040-deprecate",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.0",
"date": "2025-10-23",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.0"
},
"summary": "LeRobot 0.4.0 deprecated the stretch, viperx and widowx devices.",
"quote": "chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2205"
},
{
"id": "ev-lerobot-stretch3-config",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/stretch3/configuration_stretch3.py",
"date": "2025-08-06",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.3"
},
"summary": "stretch3 robot type at v0.3.3 (last release containing it).",
"quote": "@RobotConfig.register_subclass(\"stretch3\")"
},
{
"id": "ev-lerobot-v032-notes",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.3.2",
"date": "2025-08-01",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.2"
},
"summary": "Stretch support (PR #409) included in the first tagged release's notes.",
"quote": "Add support for Stretch (hello-robot) by @aliberts in https://github.com/huggingface/lerobot/pull/409"
},
{
"id": "ev-hub-cmu-stretch",
"tier": "community-reported",
"type": "hub-checkpoint",
"url": "https://huggingface.co/datasets/lerobot/cmu_stretch",
"verified_on": "2026-10-24",
"summary": "The only Stretch dataset found in the lerobot Hub org (Hub API search 'stretch', 2026-10-24)."
},
{
"id": "ev-stretch-ros2",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/hello-robot/stretch_ros2/blob/751e701b87d6f34dd26df1c4abc39229d68e60ff/README.md",
"verified_on": "2026-10-24",
"summary": "Hello Robot's ROS 2 Humble packages for Stretch.",
"quote": "This repository holds ROS 2 Humble packages for the Stretch mobile manipulators from Hello Robot Inc."
},
{
"id": "ev-hello-robot-home",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://hello-robot.com/",
"verified_on": "2026-10-24",
"summary": "Hello Robot homepage: open-source ROS 2 and Python SDK; promotes Stretch 4.",
"quote": "Open-source ROS 2 and Python SDK, with reference demos for autonomy and Physical AI."
}
]
},
{
"id": "trossen-widowx",
"name": "Trossen WidowX AI",
"maker": "Trossen Robotics",
"aliases": [
"WidowX AI",
"Trossen AI",
"widowxai_follower_robot",
"bi_widowxai_follower_robot",
"Trossen AI Stationary",
"Trossen AI Mobile"
],
"class": "arm",
"summary": "Trossen Robotics' 6-DoF WidowX AI arm, the arm used in its ALOHA-style \"Trossen AI\" kits (single arm, stationary bimanual, mobile). LeRobot supports it through Trossen's own plugin (lerobot_trossen). The classic Interbotix WidowX 250 used as the leader of the original ALOHA is a different arm and is not covered by this plugin.",
"dof": 6,
"payload_g": {
"max": 1500
},
"repeatability_mm": {
"max": 1
},
"specs_source_ref": "ev-trossen-wxai",
"open_source": false,
"homepage": "https://www.trossenrobotics.com/widowx-ai",
"price_usd": {
"low": 4545.95,
"note": "WidowX AI 'Base' configuration (follower, precision grip end-effector) on Trossen's store page.",
"source_ref": "ev-trossen-wxai-price"
},
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"widowxai_follower_robot",
"bi_widowxai_follower_robot",
"mobileai_robot"
],
"package": "lerobot_robot_trossen",
"repo_url": "https://github.com/TrossenRobotics/lerobot_trossen",
"docs_url": "https://docs.trossenrobotics.com/trossen_arm/main/tutorials/lerobot_plugin.html",
"note": "Vendor-maintained plugin. Leaders: widowxai_leader_teleop / bi_widowxai_leader_teleop / mobileai_leader_teleop. Requires Python >=3.12 and lerobot>=0.6.0. Installed with `uv sync` from the repo, since it is not on PyPI as of 2026-10-24. LeRobot's own native widowx teleoperator (classic WidowX) was deprecated in 0.4.0.",
"source_ref": "ev-trossen-plugin-readme"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"WidowX AI leader arm (widowxai_leader_teleop)"
],
"notes": "Trossen spec: payload 1.5 kg, reach 700 mm, 6 DoF, repeatability 1 mm, weight 4 kg.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot third-party page lists lerobot_trossen for WidowX and ALOHA-style arms.",
"quote": "Plugin for the WidowX and ALOHA-style arms from"
},
{
"id": "ev-trossen-plugin-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TrossenRobotics/lerobot_trossen/blob/337ed74df1ee617ddfb5987a9f7464cf3089c4a2/README.md",
"verified_on": "2026-10-24",
"summary": "Trossen plugin README: WidowX AI types, auto-registration, lerobot>=0.6.0.",
"quote": "This package requires **Python ≥ 3.12** (it depends on `lerobot >= 0.6.0`, which requires 3.12)."
},
{
"id": "ev-trossen-wxai",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.trossenrobotics.com/widowx-ai",
"verified_on": "2026-10-24",
"summary": "Trossen WidowX AI spec: payload 1.5 kg, 6 DoF, repeatability 1 mm.",
"quote": "PAYLOAD 1.5kg REACH 700mm SPAN 1400mm DoF 6 REPEATABILITY 1mm WEIGHT 4kg"
},
{
"id": "ev-trossen-wxai-price",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.trossenrobotics.com/widowx-ai",
"verified_on": "2026-10-24",
"summary": "Trossen store: WidowX AI Base configuration $4,545.95.",
"quote": "Custom Molded Silicone Grip Pads $4,545.95"
},
{
"id": "ev-lerobot-v040-deprecate",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.0",
"date": "2025-10-23",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.0"
},
"summary": "LeRobot 0.4.0 deprecated its native stretch, viperx and widowx devices.",
"quote": "chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2205"
}
]
},
{
"id": "unitree-g1",
"name": "Unitree G1",
"maker": "Unitree Robotics",
"aliases": [
"G1",
"G1 EDU",
"Unitree G1 EDU",
"unitree_g1"
],
"class": "humanoid",
"summary": "Unitree's 1.32 m bipedal humanoid, about 35 kg, with 23 to 43 joints depending on version. In LeRobot, the lower body is driven by a pretrained RL locomotion controller (GR00T-WholeBodyControl or Holosoma). Data recording and learned policies (e.g. π0.5 with RTC) target upper-body loco-manipulation, teleoperated with the Homunculus exoskeleton and a joystick.",
"dof": 7,
"dof_note": "LeRobot config assumes the 29-joint layout: per arm 4 (shoulder pitch/roll/yaw, elbow) + 3 wrist (roll/pitch/yaw). Unitree's base G1 (23 DoF) lists 5 DoF per arm. LeRobot docs state that both 29- and 23-DoF variants are supported.",
"arms": 2,
"actuators": "Low-inertia internal-rotor PMSM joint motors, dual encoders (per Unitree)",
"payload_g": {
"max": 3000
},
"specs_source_ref": "ev-unitree-g1-page",
"open_source": false,
"homepage": "https://www.unitree.com/g1/",
"price_usd": {
"low": 13500,
"note": "Base G1, tax and shipping excluded, per Unitree. The G1 EDU, the version Unitree lists with secondary-development support, is \"Contact sales\".",
"source_ref": "ev-unitree-g1-price"
},
"frameworks": {
"lerobot": {
"support": "native",
"since": "0.4.3",
"robot_type": [
"unitree_g1"
],
"docs_url": "https://huggingface.co/docs/lerobot/unitree_g1",
"note": "Uses unitree_sdk2_python over a ZMQ bridge, with run_g1_server.py on the robot. Locomotion comes from a pretrained lower-body controller (--robot.controller=GrootLocomotionController or HolosomaLocomotionController) steered by gamepad. Loco-manipulation teleop uses the Homunculus exoskeleton (--teleop.type=unitree_g1). MuJoCo sim via --robot.is_simulation=true. Docs show π0.5 fine-tuning and RTC inference via lerobot-rollout. Base support arrived in 0.4.3 (PR #2530), and the whole-body-control implementation in 0.5.0 (PR #2876). Arm IK needs pinocchio from conda-forge.",
"source_ref": "ev-lerobot-g1-doc"
}
},
"sensors_builtin": [
"mic-array"
],
"teleop_options": [
"Homunculus exoskeleton, 7-DoF arms (unitree_g1 teleoperator)",
"Gamepad/joystick for locomotion"
],
"notes": "Unitree marks secondary development as available only on the G1 EDU (\"/\" for base G1), so low-level SDK control as used by LeRobot implies the EDU. Built-in sensing per Unitree: depth camera + 3D LiDAR + 4-mic array. LeRobot reads the head camera through ZMQ. Arm maximum load is about 2 kg (G1) or 3 kg (G1 EDU) and varies greatly with arm posture.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-readme",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/README.md",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot README lists Unitree G1 among natively supported hardware.",
"quote": "SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601."
},
{
"id": "ev-lerobot-g1-doc",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/unitree_g1.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "G1 guide: teleop, locomanipulation training, sim; 29 and 23 DoF; GR00T or Holosoma locomotion controllers.",
"quote": "You can teleoperate, train locomanipulation policies, test in sim, and more. Both 29 and 23 DoF variants are supported."
},
{
"id": "ev-lerobot-g1-controllers",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/unitree_g1.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Lower body is a pluggable locomotion controller; upper-body loco-manipulation via exoskeleton.",
"quote": "We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control."
},
{
"id": "ev-lerobot-g1-src",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/unitree_g1/config_unitree_g1.py",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "unitree_g1 config: 29 default joint positions, 250 Hz control loop, optional lower-body controller.",
"quote": "# Lower-body controller class name, e.g. \"GrootLocomotionController\" or # \"HolosomaLocomotionController\". None disables it. controller: str | None = None"
},
{
"id": "ev-lerobot-v043-g1",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.3",
"date": "2026-01-22",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.3"
},
"summary": "Unitree G1 first released in v0.4.3.",
"quote": "Feat/add unitree g1 robot by @nepyope in https://github.com/huggingface/lerobot/pull/2530"
},
{
"id": "ev-lerobot-v050-g1-wbc",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.5.0",
"date": "2026-03-09",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.5.0"
},
"summary": "Whole-body-control implementation for G1 released in v0.5.0.",
"quote": "feat(robots): Unitree G1 WBC implementation by @nepyope in https://github.com/huggingface/lerobot/pull/2876"
},
{
"id": "ev-unitree-g1-page",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.unitree.com/g1/",
"verified_on": "2026-10-24",
"summary": "Unitree G1 spec table: 23 (G1) / 23-43 (EDU) DoF, 5 DoF per arm, arm max load ~2 kg / ~3 kg.",
"quote": "Arm Maximum Load【2】 About 2Kg About 3Kg"
},
{
"id": "ev-unitree-g1-price",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.unitree.com/g1/",
"verified_on": "2026-10-24",
"summary": "Unitree G1 price US $13.5K (base); EDU contact sales; secondary development EDU only.",
"quote": "Price(Tax and Shipping cost excluded) US $13.5K Contact sales"
}
]
},
{
"id": "ur5e",
"name": "Universal Robots UR5e",
"maker": "Universal Robots (Teradyne Robotics)",
"aliases": [
"UR5e",
"UR5 e-Series",
"lerobot_robot_ur5e"
],
"class": "arm",
"summary": "Universal Robots' 6-joint e-Series industrial cobot. LeRobot has no native support. It is reached through a third-party drop-in plugin (lerobot_robot_ur5e, RTDE control with a Robotiq gripper) or through fork-based extensions.",
"dof": 6,
"dof_note": "e-Series arms have 6 rotating joints; gripper (e.g. Robotiq) is separate.",
"payload_g": {
"max": 5000
},
"repeatability_mm": {
"max": 0.03
},
"specs_source_ref": "ev-ur5e-datasheet",
"open_source": false,
"homepage": "https://www.universal-robots.com/products/e-series/",
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"ur5e"
],
"package": "lerobot_robot_ur5e",
"repo_url": "https://github.com/F-Fer/lerobot_ur5e_gello",
"docs_url": "https://huggingface.co/docs/lerobot/third_party_robots",
"note": "Third-party plugin (F-Fer/lerobot_ur5e_gello, Apache-2.0) using ur_rtde with a Robotiq gripper, paired with a GELLO teleoperator plugin (type gello). Not on PyPI as of 2026-10-24, so install editable from the repo. LeRobot also lists fork-based UR5e extensions (UR5e-LeRobot, lerobot_ur5e_auto) that need custom setup.",
"source_ref": "ev-ur5e-plugin"
},
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver",
"note": "Universal Robots' own ROS 2 driver. ur_type includes ur5e.",
"source_ref": "ev-ur-ros2"
}
},
"teleop_options": [
"GELLO (lerobot_teleoperator_gello plugin)"
],
"notes": "The UR5e does not appear on UR's current e-Series page as of 2026-10-24, which lists UR3e, UR7e, UR12e and UR16e. Payload and repeatability are therefore not recorded from a maker page.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot third-party page lists lerobot_robot_ur5e (drop-in) plus two fork-based UR5e extensions.",
"quote": "with a Robotiq gripper, over RTDE control."
},
{
"id": "ev-ur5e-plugin",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/F-Fer/lerobot_ur5e_gello/blob/3f3532cfc58d81ba12c1582f9c6087d12488269d/lerobot_robot_ur5e/lerobot_robot_ur5e/config_ur5e.py",
"verified_on": "2026-10-24",
"summary": "Plugin registers robot type ur5e; package name lerobot_robot_ur5e (pyproject)."
},
{
"id": "ev-ur-eseries",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.universal-robots.com/products/e-series/",
"verified_on": "2026-10-24",
"summary": "UR e-Series page: 6 joints with ±360° range; lineup UR3e/UR7e/UR12e/UR16e.",
"quote": "±360° Working range for all 6 joints"
},
{
"id": "ev-ur-ros2",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/d8051bf441fbc5237071db0f6f1bc9065bb4e1ae/README.md",
"verified_on": "2026-10-24",
"summary": "UR ROS 2 driver launch example with ur_type:=ur5e.",
"quote": "ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101"
},
{
"id": "ev-ur5e-datasheet",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.universal-robots.com/media/1807465/ur5e_e-series_datasheets_web.pdf",
"verified_on": "2026-10-25",
"summary": "Official UR5e datasheet. Its spec table lists payload 5 kg, reach 850 mm, 6 rotating joints and pose repeatability ± 0.03 mm (ISO 9283).",
"quote": "applications with a payload of up to 5 kg and a reach"
}
]
},
{
"id": "widowx-250",
"name": "WidowX 250 S",
"maker": "Trossen Robotics (Interbotix X-Series)",
"aliases": [
"WidowX 250",
"WidowX 250 S",
"WidowX-250 6DOF",
"wx250s",
"Interbotix WidowX 250",
"Bridge WidowX"
],
"class": "arm",
"summary": "Trossen Robotics' Interbotix X-Series 6-DoF Dynamixel arm, now discontinued. It is the robot used for BridgeData V2, and the \"WidowX\" in OpenVLA, X-VLA and EO-1 real-robot results refers to this setup. It is not the Trossen WidowX AI (trossen-widowx). LeRobot shipped a native `widowx` teleoperator for this arm (the ALOHA leader role) until 0.3.3 and has never had a follower robot type for it. Policies are usually deployed through the BridgeData WidowX controller stack (rail-berkeley/bridge_data_robot) or Trossen's ROS packages.",
"dof": 6,
"payload_g": {
"max": 250
},
"repeatability_mm": {
"max": 1
},
"specs_source_ref": "ev-trossen-wx250s-spec",
"open_source": false,
"homepage": "https://www.trossenrobotics.com/widowx-250",
"frameworks": {
"lerobot": {
"support": "removed",
"until": "0.3.3",
"note": "Only a teleoperator (`--teleop.type=widowx`, leader arm) was ever native. There was no follower robot type, so LeRobot could not run a policy on it. Deprecated in 0.4.0.",
"source_ref": "ev-lerobot-v033-widowx"
},
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/Interbotix/interbotix_ros_manipulators",
"docs_url": "https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros2_packages.html",
"note": "Trossen's Interbotix X-Series ROS 2 packages (control, MoveIt 2, simulation).",
"source_ref": "ev-trossen-ros2"
}
},
"notes": "Not the Trossen WidowX AI (trossen-widowx). Evidence for one does not transfer to the other. Trossen spec: 6 DoF, 650 mm reach, 1 mm repeatability, 5-8 mm accuracy, 250 g working payload. Trossen's product page marks the WidowX 250 S as discontinued. Results on the Bridge \"WidowX\" in SimplerEnv are simulation, not real-robot, evidence.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-trossen-wx250s-spec",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications/wx250s.html",
"verified_on": "2026-10-24",
"summary": "Trossen spec for the WidowX-250 6DOF: 6 DoF, 650 mm reach, 1 mm repeatability, 250 g working payload.",
"quote": "WidowX-250 6DOF Degrees of Freedom 6 Reach 650mm Total Span 1300mm Repeatability 1mm Accuracy 5 - 8mm Working Payload 250g*"
},
{
"id": "ev-trossen-wx250s-page",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.trossenrobotics.com/widowx-250",
"verified_on": "2026-10-24",
"summary": "Trossen's WidowX 250 S product page shows a discontinued banner.",
"quote": "THIS PRODUCT HAS BEEN DISCONTINUED"
},
{
"id": "ev-bridgev2-paper",
"tier": "upstream-documented",
"type": "paper",
"url": "https://arxiv.org/abs/2308.12952v3",
"date": "2024-01-17",
"verified_on": "2026-10-24",
"summary": "BridgeData V2 was collected on a WidowX 250 with a fixed RGBD over-the-shoulder camera, two randomized RGB cameras and a wrist camera, at 5 Hz control.",
"quote": "showing the WidowX 250 robot arm and various cameras."
},
{
"id": "ev-lerobot-v033-widowx",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/teleoperators/widowx/widowx.py",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.3.3"
},
"summary": "LeRobot v0.3.3 ships a `widowx` Teleoperator (Dynamixel XM430/XL430 bus) that links to the WidowX 250 product page.",
"quote": "[WidowX](https://www.trossenrobotics.com/widowx-250) developed by Trossen Robotics"
},
{
"id": "ev-lerobot-v040-deprecate",
"tier": "upstream-documented",
"type": "release-notes",
"url": "https://github.com/huggingface/lerobot/releases/tag/v0.4.0",
"date": "2025-10-23",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.4.0"
},
"summary": "LeRobot 0.4.0 deprecated its native stretch, viperx and widowx devices.",
"quote": "chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2205"
},
{
"id": "ev-trossen-ros2",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros2_packages.html",
"verified_on": "2026-10-24",
"summary": "Trossen maintains ROS 2 packages for its X-Series arms, WidowX 250 6DOF included.",
"quote": "Below is a list of all ROS 2 packages meant to be used with the X-Series robotic arms sold by Trossen Robotics."
}
]
},
{
"id": "xarm",
"name": "UFACTORY xArm",
"maker": "UFACTORY",
"aliases": [
"xArm",
"UFACTORY xArm 5",
"UFACTORY xArm 6",
"UFACTORY xArm 7",
"xArm6",
"xArm7",
"lerobot_robot_xarm"
],
"class": "arm",
"summary": "UFACTORY's xArm collaborative arm series, made up of xArm 5, 6 and 7 with 5, 6 and 7 DoF respectively and 3-5 kg payload. LeRobot reaches it only through a third-party plugin (SpesRobotics lerobot-robot-xarm), and that plugin is built around UFACTORY's smaller Lite 6 arm.",
"repeatability_mm": {
"max": 0.1
},
"specs_source_ref": "ev-ufactory-xarm",
"open_source": false,
"homepage": "https://www.ufactory.cc/xarm-collaborative-robot/",
"price_usd": {
"low": 5299,
"note": "Starting price for the xArm series on UFACTORY's official store page. It depends on model and configuration.",
"source_ref": "ev-ufactory-xarm-price"
},
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"lerobot_robot_xarm"
],
"package": "lerobot-robot-xarm",
"repo_url": "https://github.com/SpesRobotics/lerobot-robot-xarm",
"docs_url": "https://huggingface.co/docs/lerobot/third_party_robots",
"note": "Third-party drop-in plugin by Spes Robotics (Apache-2.0, requires lerobot>=0.4). It ships lite6.urdf and a Lite6Gripper class and reads 6 joints, so it targets the Lite 6 rather than xArm 5/7. Paired teleop in its README: lerobot-teleoperator-teleop.",
"source_ref": "ev-xarm-plugin"
},
"ros2": {
"support": "upstream-repo",
"repo_url": "https://github.com/xArm-Developer/xarm_ros2",
"note": "UFACTORY's own ROS 2 packages (xArm-Developer org).",
"source_ref": "ev-xarm-ros2"
}
},
"notes": "UFACTORY comparison table: xArm 5/6/7 have 5/6/7 DoF, 3/5/3.5 kg payload, 700 mm reach and ±0.1 mm repeatability. The Lite 6, the model the LeRobot plugin targets, has 600 g max payload and ±0.5 mm repeatability. DoF is left unset because it differs by model.",
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-lerobot-third-party",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "LeRobot's third-party page lists lerobot-robot-xarm as a drop-in plugin for UFACTORY xArm.",
"quote": "Plugin for the xArm collaborative arm series from"
},
{
"id": "ev-lerobot-plugin-discovery",
"tier": "upstream-documented",
"type": "official-docs",
"url": "https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx",
"date": "2026-08-03",
"verified_on": "2026-10-24",
"versions": {
"lerobot": "0.6.1"
},
"summary": "Plugins are auto-discovered by package-name prefix.",
"quote": "Drop-in plugins are auto-discovered by package name: LeRobot imports any installed package prefixed with `lerobot_robot_` or `lerobot_teleoperator_`."
},
{
"id": "ev-xarm-plugin",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/SpesRobotics/lerobot-robot-xarm/blob/8758f9bfa22c0234e4db64553af0d7186a115347/lerobot_robot_xarm/config_xarm.py",
"verified_on": "2026-10-24",
"summary": "Plugin registers robot type lerobot_robot_xarm; xarm.py uses lite6.urdf and a Lite6Gripper; published on PyPI as lerobot-robot-xarm 0.0.3."
},
{
"id": "ev-xarm-plugin-readme",
"tier": "community-reported",
"type": "source-code",
"url": "https://github.com/SpesRobotics/lerobot-robot-xarm/blob/8758f9bfa22c0234e4db64553af0d7186a115347/README.md",
"verified_on": "2026-10-24",
"summary": "README install line: pip install lerobot-robot-xarm lerobot-teleoperator-teleop; --robot.type=lerobot_robot_xarm."
},
{
"id": "ev-ufactory-xarm",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.ufactory.cc/xarm-collaborative-robot/",
"verified_on": "2026-10-24",
"summary": "UFACTORY xArm comparison: xArm 5/6/7 DoF 5/6/7, payload 3/5/3.5 kg, repeatability ±0.1 mm.",
"quote": "Degrees of freedom 5 6 7 Repeatability ±0.1mm ±0.1mm ±0.1mm"
},
{
"id": "ev-ufactory-xarm-price",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://www.ufactory.cc/xarm-collaborative-robot/",
"verified_on": "2026-10-24",
"summary": "UFACTORY store: xArm from US$5,299.",
"quote": "From US$5,299"
},
{
"id": "ev-xarm-ros2",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/xArm-Developer/xarm_ros2/blob/ac736c92b02de7ca7e0be6f737d77d46707464d8/ReadMe.md",
"verified_on": "2026-10-24",
"summary": "UFACTORY's xarm_ros2 packages support ROS 2 Humble.",
"quote": "- Ubuntu 22.04 + ROS Humble"
}
]
},
{
"id": "xlerobot",
"name": "XLeRobot",
"maker": "Vector Wang (Vector-Wangel) and contributors",
"aliases": [
"XLeRobot dual-arm mobile robot",
"xlerobot_2wheels",
"xlerobot_mecanum"
],
"class": "mobile-manipulator",
"summary": "Low-cost open-source dual-arm mobile home robot: two SO-101 arms on a LeKiwi-style base (3-omniwheel, plus 2-wheel and mecanum variants) with a head camera. Parts start at about $660. It ships its own LeRobot plugin packages instead of being native to LeRobot.",
"dof": 5,
"dof_note": "Per arm (SO-101: five joints + gripper); 2 arms, plus mobile base.",
"arms": 2,
"specs_source_ref": "ev-xlerobot-readme",
"open_source": true,
"license": "Apache-2.0",
"bom_url": "https://xlerobot.readthedocs.io/en/latest/hardware/getting_started/material.html",
"homepage": "https://github.com/Vector-Wangel/XLeRobot",
"price_usd": {
"low": 660,
"note": "Self-sourced Basic build (uses your laptop, single RGB head camera), excluding 3D printing, tools, shipping and taxes, per the maker README. A developer assembly kit is sold via WowRobo.",
"source_ref": "ev-xlerobot-readme"
},
"frameworks": {
"lerobot": {
"support": "plugin",
"robot_type": [
"xlerobot",
"xlerobot_2wheels",
"xlerobot_mecanum"
],
"package": "lerobot_robot_xlerobot",
"repo_url": "https://github.com/Vector-Wangel/XLeRobot",
"note": "Plugin packages live in software/plugins/ of the maker repo: lerobot_robot_xlerobot (3-omniwheel), lerobot_robot_xlerobot_2wheels and lerobot_robot_xlerobot_mecanum. Each also registers a *_client type. lerobot_teleoperator_xlerobot_vr (xlerobot_vr) is also provided. Not on PyPI as of 2026-10-24, so install editable from the repo. Not listed on LeRobot's v0.6.1 third-party page.",
"source_ref": "ev-xlerobot-plugins"
}
},
"sensors_supported": [
"rgb-mono",
"rgb-dual",
"rgb-multi",
"realsense-depth"
],
"teleop_options": [
"Quest 3 VR (xlerobot_vr)",
"Keyboard / Xbox controller / Switch Joy-Con (per maker README)"
],
"verified_on": "2026-10-24",
"sources": [
{
"id": "ev-xlerobot-readme",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/Vector-Wangel/XLeRobot/blob/b017b5e6354bd9f61f4247a920c72622ca0aade0/README.md",
"verified_on": "2026-10-24",
"summary": "Maker README: built on SO-100/101 + LeKiwi; Basic build ~$660 (excl. printing/shipping/tax); optional RealSense head cam.",
"quote": "| **Basic** (use your laptop, single RGB head cam) | **~$660** |"
},
{
"id": "ev-xlerobot-plugins",
"tier": "upstream-documented",
"type": "source-code",
"url": "https://github.com/Vector-Wangel/XLeRobot/blob/b017b5e6354bd9f61f4247a920c72622ca0aade0/software/plugins/README.md",
"verified_on": "2026-10-24",
"summary": "Plugin packages auto-discovered by LeRobot; types xlerobot, xlerobot_2wheels, xlerobot_mecanum.",
"quote": "- `lerobot_robot_xlerobot/` — the 3-omniwheel base (`--robot.type=xlerobot`)."
},
{
"id": "ev-soarm-xlerobot",
"tier": "upstream-documented",
"type": "vendor-docs",
"url": "https://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md",
"verified_on": "2026-10-24",
"summary": "SO-ARM100 README lists XLeRobot as an add-on: 2x SO101 arms, LeKiwi base, wrist + head cameras.",
"quote": "A dual-arm mobile robot for daily use, with 2x SO101 arms, 1x Lekiwi base, 1x 300Wh Anker Battery, 2x wrist RGB cameras, 1x head depth camera (with a 2-dof neck). Total cost 660$."
}
]
}
]
}