Robot Descriptions
Every embodiment is a typed RobotDescription manifest under robots/<robot_id>/robot.yaml, validated by openral_core and consumed by the HAL adapter, the rSkill loader (embodiment-tag check), and the openral sim run runner.
Supported robots
| Robot | Manifest | HAL | Status |
|---|---|---|---|
| SO-100 (LeRobot follower arm) | robots/so100_follower/ |
SO100FollowerHAL (real) + SO100MujocoHAL (sim) + openral_hal_so100 lifecycle node |
✓ HW + sim |
| SO-101 (LeRobot follower arm) | robots/so101_follower/ |
shares SO-100 family — SO100FollowerHAL (real) + SO100MujocoHAL (sim) + openral_hal_so100 lifecycle node |
✓ HW + sim |
| Franka Panda | robots/franka_panda/ |
FrankaPandaHAL (MujocoArmHAL, ADR-0023) + openral_hal_franka |
✓ sim · HW bring-up M3 (#56) |
| UR5e | robots/ur5e/ |
UR5eHAL (MujocoArmHAL) + openral_hal_ur5e |
✓ sim · HW bring-up M3 |
| UR10e | robots/ur10e/ |
UR10eHAL (MujocoArmHAL) + openral_hal_ur10e |
✓ sim · HW bring-up M3 |
| Flexiv Rizon 4 | robots/rizon4/ |
Rizon4MujocoHAL (MujocoArmHAL) |
✓ sim |
| ALOHA bimanual (gym-aloha) | robots/aloha_bimanual/ |
AlohaMujocoHAL (MujocoArmHAL, bimanual) + real-HW AlohaHAL over Interbotix XS |
✓ sim · ✓ HW |
| Enactic OpenArm v2 bimanual | robots/openarm/ |
OpenArmMujocoHAL (MujocoArmHAL, 16-DoF bimanual) |
✓ sim |
| Unitree H1 humanoid | robots/h1/ |
H1MujocoHAL (software PD loop, no S0 cerebellum) |
✓ sim |
| Unitree G1 humanoid | robots/g1/ |
G1MujocoHAL (Menagerie MJCF) |
✓ sim |
| Rethink Sawyer | robots/sawyer/ |
eval-only · real-HW HAL planned (#57) | ✓ sim |
| Fourier GR1 | robots/gr1/ |
eval-only (RoboCasa GR1 fork + RLDX-1) | ✓ sim |
| Panda mobile (RoboCasa kitchen) | robots/panda_mobile/ |
eval-only (drives RoboCasa kitchen via robosuite) | ✓ sim |
| Google Robot (SimplerEnv) | robots/google_robot/ |
eval-only (SimplerEnv fractal20220817_data bridge env) |
✓ sim |
| WidowX (SimplerEnv) | robots/widowx/ |
eval-only (SimplerEnv bridge_orig env) |
✓ sim |
| PushT 2-D (gym-pusht) | robots/pusht_2d/ |
eval-only (pymunk 2-D rigid-body) |
✓ sim |
Manifest format
# robots/so100_follower/robot.yaml (excerpt)
name: "so100_follower"
embodiment_kind: "manipulator"
base_frame: "base"
joints:
- name: "shoulder_pan"
joint_type: "revolute"
axis_xyz: [0.0, 0.0, 1.0]
position_limits: [-2.0944, 2.0944] # radians (URDF-native)
velocity_limit: 4.5
actuator_kind: "servo"
# … 5-DoF arm + 1-DoF gripper
VLA compatibility
See docs/reference/vla_compatibility.md for the full matrix of which VLA checkpoints run on each robot under which simulators, including verified observation/action dimensions and normalisation notes.