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RoboDriver

GitHub Issues GitHub Discussions

README in English Simplified Chinese README

RoboDriver

Overview

RoboDriver is the core driver-layer component of DataCollect and serves as the standardized robot access module within the CoRobot data stack.

RoboDriver Architecture Diagram

As shown above, RoboDriver acts as the device-side driver adaptation layer. RoboDriver-Server is the data/control bridge layer and channel router, and RoboXStudio is the cloud- or platform-side console and data management center.

RoboDriver documentation: RoboDriver-Doc

Latest News

  • [2025-12-16] RoboDriver-Simulation and AutoDriver officially released
  • [2025-12-01] RoboDriver project open sourced

Table of Contents

  1. Overview
  2. Key Features
  3. Quick Start
  4. Simulation Examples
  5. Robot Examples
  6. Contributing
  7. Support
  8. License and Acknowledgements
  9. Citation

Key Features

  • Multiple Robot Integration Methods: RoboDriver supports integration beyond SDKs, including ROS and Dora.
  • LeRobot Compatibility: RoboDriver's robot interface directly uses LeRobot's Robot class, which means RoboDriver and LeRobot are mutually compatible.
  • Enhanced LeRobot Dataset Format: Different data structures are used at different stages of data handling. Data is stored as individual entries at the collection end for easier editing and transmission. The format also extends the original LeRobot specification.

Quick Start

Please refer to the project documentation: RoboDriver-Doc

Quick installation:

First, clone the RoboDriver repository and enter the project directory:

git clone https://github.com/FlagOpen/RoboDriver.git && cd RoboDriver

Install uv without activating any environment:

pip install uv

Create a uv environment:

uv venv -p 3.10

Install the project:

uv pip install -e .

Usage:

source .venv/bin/activate
robodriver-run -h

To use a specific robot, install the corresponding robot package and follow its documentation to complete deployment and startup. Path: robodriver/robots/robodriver-robot-xxx-xxx-xxx/README.md

Simulation Examples

Considering the various uncertainties of robots in real-world environments, we recommend that you first try using RoboDriver with the simulation examples we provide.

RoboDriver has completed adaptation for the Genesis simulation environment. Adaptation for environments like mujoco and isaac sim is under development. For usage, please refer to the project documentation and the README in the corresponding folders within the repository.

🪞 Genesis

Robot Model Description Repository Link Contributor
Franka Robot Arm A Franka robot arm grasping a block robodriver/simulations/robodriver-sim-genesis-franka-aio-dora Ryu-Yang

Robot Examples

RoboDriver has completed adaptation for multiple mainstream robots. Examples by integration method are as follows (each repository contains complete guidelines for the corresponding robot's integration steps, environment configuration, command adaptation, etc.):

🔌 ROS1 Integration

Robot Model Description Code Link Contributor
DeepRobotics X30 DeepRobotics X30 quadruped robot, contributed by Inspur Cloud Information Technology Co., Ltd. robodriver/robots/robodriver-robot-deeprobotics-x30-ros1
GALAXEALITE Based on Galaxealite, dual-arm 6DOF+end gripper, ROS1 integration robodriver/robots/robodriver-robot-galaxealite-aio-ros1
Realman Robot Arm Based on Realman, 6DOF+force control module, 3*RealSense cameras robodriver/robots/robodriver-robot-realman-aio-ros1
Leju Kuavo 4 Pro Leju Kuavo 4 Pro robot data collection program robodriver/robots/robodriver-robot-leju-kuavo-teleoperate-ros1

🔌 ROS2 Integration

Robot Model Description Code Link Contributor
GALAXEALITE Based on Galaxealite, dual-arm 6DOF+end gripper, 4*RealSense cameras robodriver/robots/robodriver-robot-galaxealite-aio-ros2 liuyou1103
Galbot G1 Galbot G1 AIO ROS2 DDS integration example robodriver/robots/robodriver-robot-galbot-g1-aio-ros2-dds
SO101 Robot Arm Open-source lightweight robot arm, 6DOF+end gripper, 1RealSense camera, 1RGB camera module robodriver/robots/robodriver-robot-so101-aio-ros2 Ryu-Yang
Dobot Nova2 Dobot Nova2 robot arm ROS2 integration example, contributed by Inspur Cloud Information Technology Co., Ltd. robodriver/robots/robodriver-robot-dobot-nova2-ros2
OpenArm OpenArm dual-arm teleoperation ROS2 integration example robodriver/robots/robodriver-robot-openarm-teleoperate-ros2 Hanyu Feng

🔌 Dora (SDK) Integration

Robot Model Description Code Link Contributor
AgileX Aloha AgileX Aloha dual-arm robot AIO Dora integration example robodriver/robots/robodriver-robot-agilex-aloha-aio-dora
Realman Robot Arm Based on Realman, 6DOF+force control module, 3*RealSense cameras robodriver/robots/robodriver-robot-realman1-aio-dora XuRuntian
SO101 Robot Arm Open-source lightweight robot arm, 6DOF+end gripper, 1RealSense camera, 1RGB camera module robodriver/robots/robodriver-robot-so101-aio-dora Ryu-Yang
Franka Industrial-grade robot arm, 6DOF+end gripper, 1*RealSense camera robodriver/robots/robodriver-robot-franka-aio-dora XuRuntian

🔌 SDK Integration

Robot Model Description Code Link Contributor
Galbot G1 Galbot G1 AIO SDK Python integration example robodriver/robots/robodriver-robot-galbot-g1-aio-sdk-py
Galbot G1 Galbot G1 AIO SDK RC integration example robodriver/robots/robodriver-robot-galbot-g1-aio-sdk-rc
Unitree G1 Unitree humanoid robot G1, contributed by Inspur Cloud Information Technology Co., Ltd. robodriver/robots/robodriver-robot-unitree-g1-sdk-py

✨ Notes:

  1. Integration method naming convention: robodriver-robot-[robot model]-[teleoperation method]-[integration type] (e.g., aio/follower/teleoperate, ros2/dora);
  2. Each adaptation repository contains complete integration guidelines including environment setup, configuration modifications, and collection/control verification;
  3. Continuously adding adapted robots; please follow this list or project updates.

We warmly welcome community developers to contribute implementations for more robots! You can participate in the following ways:

  1. Refer to the code structure and README template of already adapted robots, complete adaptation development according to integration type (ROS1/ROS2/Dora);
  2. Add the adaptation code to the main repository's robodriver/robots/ directory (naming convention consistent with already adapted robots);
  3. Ensure code standardization and complete documentation (including environment preparation, configuration steps, functional verification);
  4. Submit code PR to the main repository's dev branch, and we will review and merge promptly.

Looking forward to enriching RoboDriver's robot ecosystem together with you! 🤝

Contributing

We sincerely welcome any form of contribution from the community. Whether it's pull requests for new features, bug reports, or even small suggestions to make RoboDriver more user-friendly—we deeply appreciate all contributions!

Support

  • Please use GitHub Issues to report bugs and request new features.
  • Please use GitHub Discussions to share ideas and ask questions.

License and Acknowledgements

RoboDriver's source code is licensed under the Apache 2.0 License. This project would not be possible without the following amazing open-source projects:

  • Thanks to the LeRobot team for open-sourcing 🤗 LeRobot. RoboDriver is built as an improvement upon LeRobot.
  • Thanks to TheRobotStudio team for open-sourcing the SO-100 and SO-101 robot arms 🤗 SO-101. The SO-101 arm is used as a deployment example in this project.
  • Thanks to the dora-rs team for open-sourcing their robotics framework 🤗 dora. This framework enables a novel integration method for robots in this project.

Citation

@misc{RoboDriver,
  author = {RoboDriver Authors},
  title = {RoboDriver: A robot control and data acquisition framework},
  month = {November},
  year = {2025},
  url = {https://github.com/FlagOpen/RoboDriver}
}