> ## Documentation Index
> Fetch the complete documentation index at: https://mintlify.com/huggingface/lerobot/llms.txt
> Use this file to discover all available pages before exploring further.
# Robot Overview
> Overview of all robots supported by LeRobot
LeRobot provides support for a wide variety of robots, from low-cost robotic arms to advanced humanoid systems. All robots implement the standardized `Robot` interface, making it easy to switch between different hardware platforms.
## Supported Robots
### Robotic Arms
Affordable robotic arm with Feetech STS3215 servos
Compact version of the SO series arm
Low-cost arm with Dynamixel servos by Tau Robotics
7-DOF arm with Damiao motors and CAN-FD
Modular robotic arm platform
Arm and hand system for dexterous manipulation
### Mobile Platforms
Three-wheel omnidirectional mobile manipulator
Cloud-controlled mobile robot via Frodobots SDK
### Humanoid Robots
Expressive humanoid by Pollen Robotics
Full-body humanoid with advanced locomotion
## Robot Interface
All robots in LeRobot inherit from the base `Robot` class and implement:
```python theme={null}
from lerobot.robots import Robot, RobotConfig
from lerobot.robots.utils import make_robot_from_config
# Load a robot from configuration
robot = make_robot_from_config(config)
# Or use context manager (auto connect/disconnect)
with robot:
observation = robot.get_observation()
robot.send_action(action)
```
### Core Methods
| Method | Description |
| ------------------- | --------------------------------------- |
| `connect()` | Establish connection to the robot |
| `disconnect()` | Safely disconnect and cleanup |
| `get_observation()` | Get current robot state and sensor data |
| `send_action()` | Send control commands to actuators |
| `calibrate()` | Run calibration procedure (if needed) |
| `configure()` | Apply runtime configuration |
### Properties
| Property | Description |
| ---------------------- | ------------------------------------------- |
| `observation_features` | Dictionary describing observation structure |
| `action_features` | Dictionary describing action structure |
| `is_connected` | Whether robot is currently connected |
| `is_calibrated` | Whether robot is calibrated |
## Configuration
Each robot has a corresponding configuration class that extends `RobotConfig`:
```python theme={null}
from dataclasses import dataclass
from lerobot.robots import RobotConfig
from lerobot.cameras import CameraConfig
@RobotConfig.register_subclass("my_robot")
@dataclass
class MyRobotConfig(RobotConfig):
# Robot-specific parameters
port: str
cameras: dict[str, CameraConfig]
```
## Common Features
### Camera Integration
Most robots support multiple cameras for visual observations:
```python theme={null}
from lerobot.cameras.opencv import OpenCVCameraConfig
config = RobotConfig(
cameras={
"top": OpenCVCameraConfig(
index_or_path=0,
fps=30,
width=640,
height=480
)
}
)
```
### Calibration
Motor-based robots typically require calibration:
```python theme={null}
# Calibration is automatically prompted on first connection
with robot:
pass # Robot will guide you through calibration
# Or manually trigger calibration
robot.connect(calibrate=True)
robot.calibrate()
```
### Safety Features
Many robots support safety limits:
```python theme={null}
config = RobotConfig(
# Limit maximum change per action for safety
max_relative_target=10.0, # degrees or normalized units
# Disable torque when disconnecting
disable_torque_on_disconnect=True
)
```
## Next Steps
Explore the specific robot you want to work with
Learn how to collect datasets with your robot
Train models using data from your robot
Detailed API documentation