MINT-SJTU/LeRobot-Anything-U-Arm

What it solves

LeRobot Anything is a low-cost, universal leader-follower teleoperation system. It allows users to control various commercial robot arms (the "follower") by manipulating a physical 3D-printed arm (the "leader"), providing a standardized and affordable way to collect data and control robots in both real-world and simulated environments.

How it works

The system uses three different hardware configurations based on the joint topology of the target robot arm. It reads joint angles from the leader arm's servos and publishes them via ROS1 (specifically the /servo_angles topic) or direct API calls to the follower arm. This allows for real-time, low-latency joint-space control across a wide range of commercial arms, regardless of the brand's software API.

Who it’s for

Researchers, educators, and robotics enthusiasts who need an affordable teleoperation setup for robot learning and data collection, particularly those using commercial robot arms like xArm, Dobot, or Franka Panda.

Highlights

• Universal Compatibility: Supports approximately 95% of commercial robot arms through three distinct hardware configurations.
• Ultra-Low Cost: Hardware costs start from as low as $60.
• ROS Integration: Native ROS1 support for easy integration with other robotics software.
• Simulation Support: Integrated with SAPIEN (via ManiSkill) for testing teleoperation in a virtual environment.
• Plug & Play: Provides ready-to-use examples for popular arms like Dobot CR5, xArm, and ARX5.