Supported robots

Every robot CalBear can target today.

59 arms, 7 bimanual rigs, 14 humanoids, 13 mobile manipulators. Each has a profile with joint names and limits, gripper convention and workspace, and exports as LeRobotDataset v3 with an offline test kit. This page reads the live catalog, so it updates as profiles are added.

All 93 Low-cost 22 Cobots 37 Bimanual 7 Humanoids 14 Mobile 13 6 DoF 7 DoF

Low-cost and LeRobot-native · 22

Arms under about $5k that LeRobot drives out of the box

Dobot Magician (suction)

4 joints · Suction cup

ROBOTIS OpenManipulator-X (OMX)

4 joints · Parallel gripper, 40 mm

Koch v1.1

5 joints · Parallel gripper, 70 mm

PingTi arm (human-scale SO-100)

5 joints · Parallel gripper, 90 mm

SO-100 arm

5 joints · Parallel gripper, 80 mm

SO-101 armPopular

5 joints · Parallel gripper, 80 mm

AgileX Piper

6 joints · Parallel gripper, 70 mm

ARX R5

6 joints · Parallel gripper, 80 mm

ARX X5 / L5New

6 joints · Parallel gripper, 80 mm

Denso Cobotta

6 joints · Parallel gripper, 30 mm

Elephant myCobot 280

6 joints · Parallel gripper, 30 mm

Elephant myCobot 320

6 joints · Parallel gripper, 50 mm

Galaxea A1New

6 joints · Parallel gripper, 100 mm

I2RT YAM (Standard / Pro / Ultra) + linear gripperNew

6 joints · Parallel gripper, 95 mm

Kinova Gen3 lite

6 joints · Parallel gripper, 85 mm

reBot B601-DM

6 joints · Parallel gripper, 80 mm

Trossen ViperX 300 SNew

6 joints · Parallel gripper, 74 mm

Trossen WidowX 250 (6 DoF)

6 joints · Parallel gripper, 70 mm

UFACTORY Lite 6 + gripper

6 joints · Parallel gripper, 40 mm

Unitree Z1 + gripperNew

6 joints · Parallel gripper, 70 mm

Hope Jr arm (7 DoF + hand)

7 joints · 16-DoF hand, closure-driven

OpenArm (7 DoF)New

7 joints · Parallel gripper, 80 mm

Collaborative and industrial arms · 37

Research and factory arms, 6 to 7 DoF

ABB GoFa CRB 15000 + gripper

6 joints · Parallel gripper, 85 mm

AUBO i5 + gripper

6 joints · Parallel gripper, 85 mm

Dobot CR5 + gripper

6 joints · Parallel gripper, 85 mm

Dobot Nova 5 + gripper

6 joints · Parallel gripper, 85 mm

Doosan A0509 + gripper

6 joints · Parallel gripper, 85 mm

Doosan H2017 + gripper

6 joints · Parallel gripper, 85 mm

Elephant myCobot Pro 630

6 joints · Parallel gripper, 85 mm

Elite CS66 + gripper

6 joints · Parallel gripper, 85 mm

Fanuc CRX-10iA + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

Fanuc CRX-25iA + Robotiq 2F-140

6 joints · Parallel gripper, 140 mm

I2RT Big YAM + linear gripper

6 joints · Parallel gripper, 95 mm

JAKA Zu 7 + gripper

6 joints · Parallel gripper, 85 mm

Mecademic Meca500 + MEGP 25

6 joints · Parallel gripper, 6 mm

Neuromeka Indy7 + gripper

6 joints · Parallel gripper, 85 mm

Rainbow Robotics RB5-850 + gripper

6 joints · Parallel gripper, 85 mm

Realman RM65 + gripper

6 joints · Parallel gripper, 70 mm

Rokae xMate3 Pro + gripper

6 joints · Parallel gripper, 85 mm

Techman TM12 + gripper

6 joints · Parallel gripper, 85 mm

Techman TM5 + gripper

6 joints · Parallel gripper, 85 mm

UFACTORY xArm 6 + xArm Gripper

6 joints · Parallel gripper, 86 mm

UR10e + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

UR16e + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

UR20 + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

UR30 + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

UR3e + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

UR5e + Robotiq 2F-85

6 joints · Parallel gripper, 85 mm

Yaskawa HC10DT + gripper

6 joints · Parallel gripper, 85 mm

Flexiv Rizon 10 + Grav gripper

7 joints · Parallel gripper, 110 mm

Flexiv Rizon 4 + Grav gripperNew

7 joints · Parallel gripper, 110 mm

Franka FR3 + Robotiq 2F-85

7 joints · Parallel gripper, 85 mm

Franka Panda + Franka Hand

7 joints · Parallel gripper, 80 mm

Kinova Gen3 (7 DoF) + Robotiq 2F-85

7 joints · Parallel gripper, 85 mm

Kinova Jaco 2 (7 DoF)

7 joints · Parallel gripper, 100 mm

KUKA LBR iiwa 14 + Robotiq 2F-85New

7 joints · Parallel gripper, 85 mm

KUKA LBR iiwa 7 + Robotiq 2F-85

7 joints · Parallel gripper, 85 mm

Realman RM75 (7 DoF) + gripper

7 joints · Parallel gripper, 70 mm

UFACTORY xArm 7 + xArm Gripper

7 joints · Parallel gripper, 86 mm

Bimanual rigs · 7

Two arms; both hands are tracked and each drives its own arm

AgileX Cobot Magic (two Piper followers)

Bimanual · 14 joints · Two 6-DoF arms, grippers

ALOHA 2 (two ViperX 300 S)Popular

Bimanual · 14 joints · Two 6-DoF arms, grippers

I2RT YAM bimanual (two arms + linear grippers)New

Bimanual · 14 joints · Two 6-DoF arms, grippers

Trossen AI Stationary (two WidowX AI arms)

Bimanual · 14 joints · Two 6-DoF arms, grippers

ABB YuMi IRB 14000 (two 7-DoF arms)

Bimanual · 16 joints · Two 7-DoF arms, grippers

OpenArm bimanual (two 7-DoF arms)New

Bimanual · 16 joints · Two 7-DoF arms, grippers

Reachy 2 (two 7-DoF arms)New

Bimanual · 16 joints · Two 7-DoF arms, grippers

Humanoids · 14

Both hands drive both arms; fingers are retargeted to the robot's hand

AgiBot X1 (open-source)

Humanoid · 10-value state · Two 4-DoF arms, grippers

Booster T1 (4-DoF arms) + grippers

Humanoid · 10-value state · Two 4-DoF arms, grippers

Generic humanoid, 4-DoF arms + grippers (Digit class)

Humanoid · 10-value state · Two 4-DoF arms, grippers

EngineAI PM01

Humanoid · 12-value state · Two 5-DoF arms, grippers

PAL TALOS + grippers

Humanoid · 18-value state · Two 7-DoF arms, grippers

Unitree H1 (4-DoF arms) + Inspire hands

Humanoid · 20-value state · Two 4-DoF arms, 6-DoF hands

Fourier GR-2 + 12-DoF hands

Humanoid · 29-value state · Two 7-DoF arms, 6-DoF hands

Fourier GR-3 + 12-DoF hands

Humanoid · 29-value state · Two 7-DoF arms, 6-DoF hands

Generic humanoid, 7-DoF arms + five-finger hands

Humanoid · 29-value state · Two 7-DoF arms, grippers

Unitree G1 (29 DoF) + Inspire RH56 hands

Humanoid · 29-value state · Two 7-DoF arms, grippers

Unitree H1-2 + Inspire RH56 hands

Humanoid · 29-value state · Two 7-DoF arms, grippers

Unitree G1 (29 DoF) + Dex3-1 hands

Humanoid · 31-value state · Two 7-DoF arms, grippers

Hope Jr (open humanoid, closure-driven hands)

Humanoid · 46-value state · Two 7-DoF arms, 16-DoF hands

Unitree H2 + Dex5-1 hands

Humanoid · 46-value state · Two 7-DoF arms, 16-DoF hands

Mobile manipulators · 13

Arms on wheels or legs, with lifts; the base path comes from camera odometry

Hello Robot Stretch 3

9 joints · One 5-DoF arm, grippers, mobile base, lift

LeKiwi (SO-101 on an omni base)

9 joints · One 5-DoF arm, grippers, mobile base

Toyota HSR

9 joints · One 5-DoF arm, grippers, mobile base, lift

Boston Dynamics Spot Arm

10 joints · One 6-DoF arm, grippers, mobile base

Clearpath Ridgeback + UR5e

10 joints · One 6-DoF arm, grippers, mobile base

Unitree B2 + Z1 arm

10 joints · One 6-DoF arm, grippers, mobile base

Unitree Go2 + Z1 arm

10 joints · One 6-DoF arm, grippers, mobile base

Fetch (7-DoF arm, torso lift, base)

12 joints · One 8-DoF arm, grippers, mobile base, lift

PAL TIAGo (7-DoF arm, lift, base)

12 joints · One 8-DoF arm, grippers, mobile base, lift

XLeRobot (two SO-101 on a base)

15 joints · Two 5-DoF arms, grippers, mobile base

Mobile ALOHA (ALOHA 2 on a Tracer base)

17 joints · Two 6-DoF arms, grippers, mobile base

PAL TIAGo Pro (two 7-DoF arms, lift, base)

20 joints · Two 7-DoF arms, grippers, mobile base

Galaxea R1 (two 6-DoF arms, torso, base)

21 joints · Two 6-DoF arms, grippers, mobile base

Missing yours?

A profile is a 20-line file: joint names and limits, gripper, workspace. Tell us what you have and we usually add it within a few days; you're emailed when it's live. Requests are made from inside a workspace, so we can link the profile to your footage.

Humanoids whose kinematics aren't published, such as Figure, Optimus, NEO, Apollo, Walker and Digit, are covered by the generic humanoid profiles: pick the matching arm and hand layout and bring your own URDF.

Create a free workspace and request it Start with one clip