LeRobot Hardware Integration Repository

This repository contains Python packages for integrating custom hardware with the LeRobot ecosystem. Each package follows the LeRobot plugin conventions for automatic discovery.

Repository Structure

lerobot-hardware-integration/
├── README.md
├── pyproject.toml                    # Root workspace configuration
├── requirements.txt                  # Common dependencies
├── lerobot_robot_kbot/              # KBot robot integration package
├── lerobot_teleoperator_teleop/     # Teleop device integration package
├── lerobot_camera_pi/               # Pi camera integration package
└── examples/                        # Usage examples

Package Naming Conventions

LeRobot automatically discovers packages with these prefixes:

• lerobot_robot_* - for robot integrations
• lerobot_teleoperator_* - for teleoperation devices
• lerobot_camera_* - for camera integrations

Installation

Development Installation

# Install all packages in development mode
pip install -e ./lerobot_robot_kbot
pip install -e ./lerobot_teleoperator_teleop
pip install -e ./lerobot_camera_pi

Production Installation

# Install from PyPI (when published)
pip install lerobot-robot-kbot
pip install lerobot-teleoperator-teleop
pip install lerobot-camera-pi

Usage

Once installed, LeRobot will automatically discover your hardware integrations:

# Use your KBot robot
lerobot-teleoperate --robot.type=kbot --robot.port=/dev/ttyUSB0

# Use your teleop device  
lerobot-teleoperate --teleop.type=teleop

# Use your Pi camera
lerobot-record --camera.type=pi

Development

Each package follows the LeRobot plugin conventions:

1. Naming: Package names must start with the appropriate prefix
2. Structure: Config and device classes follow SomethingConfig/Something pattern
3. Discovery: Classes are exposed in __init__.py
4. Dependencies: Each package lists lerobot as a dependency

Examples

See the examples/ directory for complete integration examples and usage patterns.

CAN Integration

The KBot robot package includes integration with CAN-based actuators using the pyfirmware system:

from lerobot_robot_kbot import KBotConfig, KBot

# Configure for CAN actuators
config = KBotConfig(
    port="can0",
    left_arm_ids=[11, 12, 13, 14, 15],
    right_arm_ids=[21, 22, 23, 24, 25],
    max_scaling=0.5,
)

# Initialize robot
robot = KBot(config)
robot.connect()

# Use with LeRobot tools
obs = robot.get_observation()
robot.send_action({"left_shoulder_pitch": 0.1})

See examples/kbot_can_usage.py for a complete example.

Dataset Compatibility

The KBot robot is fully compatible with the zbot-record19 dataset format:

• 10 joint actions: left_shoulder_pitch.pos, left_shoulder_roll.pos, etc.
• 20 joint observations: Position and velocity for each joint
• Camera support: images.front (240x320x3 at 60 FPS)
• Dual-arm configuration: Left and right arm control

# Test dataset compatibility
python examples/dataset_compatibility_test.py

This ensures seamless integration with existing LeRobot datasets and training pipelines.

Setup Guide

For detailed setup instructions, including handling Python version conflicts and different motor interfaces, see SETUP_GUIDE.md.

Quick Start

# Install LeRobot
pip install lerobot

# Install KBot robot package
pip install -e ./lerobot_robot_kbot

# Test with simulated motors (no hardware required)
python examples/dataset_compatibility_test.py