DROID+ is an improved hardware control stack for DROID, which contains robot control, camera, and gripper services and clients for the DROID setup. DROID+ runs policies using joint position.
- Hardware Setup - DROID hardware components and setup
- Software Setup - NUC flashing, workstation setup, camera serial numbers
- Adding New Experiments -
experiments.jsonschema for defining preset experiments - Policy Evaluation - CLI + Web UI workflow for running closed-loop policy episodes
- Teleoperation - CLI + Web UI workflow for SO-101 leader-arm teleop
- Experiment Logging - Data recording format, post-episode prompts, and analysis
git clone https://github.com/NVlabs/DroidPlus.git
cd DroidPlus
python3 -m venv venv
source venv/bin/activate
pip install -e .
# Optional extras:
pip install -e ".[all]" # Compatible non-teleop extras
pip install -e ".[gripper]" # Gripper control
pip install -e ".[policy]" # Policy clients
pip install -e ".[teleop]" # SO-101 teleoperation
pip install -e ".[analysis]" # Analysis tools (matplotlib, pinocchio)
pip install -e ".[dev]" # Development (pytest, ruff, mypy)Install policy and teleop in separate environments: LeRobot 0.4.x requires
NumPy 2, while openpi-client currently requires NumPy 1.x. The all extra
therefore excludes teleop.
This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.
DROID+ does not distribute, bundle, or automatically install
franky-control. The
franky-service entry point requires a separately obtained installation.
The upstream LICENSE identifies franky-control as LGPL-3.0-or-later, while
its README contains additional wording concerning commercial use. Review and
comply with the upstream terms before installing it. NVIDIA does not grant any
rights to franky-control.
After confirming that the upstream terms are appropriate for your use:
pip install franky-control==1.1.3Optional video export tools:
sudo apt install ffmpegffmpeg is a user-installed system tool. It is not installed by pip install
and is not distributed with DROID+.
make setup_zed- Power on the NUC. In GRUB, select the Ubuntu entry with
RTin the name (real-time kernel). source venv/bin/activate- Confirm that the separately obtained
franky-controlinstallation is available. make franky_service— serves the Franka control API on port 54321.- In a browser, open
https://<franka-robot-ip>/desk(the Franka desk interface):- If "self tests are overdue", press Acknowledge & Execute and wait.
- Open Joints and unlock.
- Click your robot name (top-left) → Activate FCI.
In two separate terminals:
source venv/bin/activate && make camera_service— ZED camera service on port 54322.source venv/bin/activate && make gripper_service— Robotiq 2F-85 gripper service on port 54323.
make home # Move robot to home position
make open # Open gripperIf both succeed, the system is ready to run experiments.
Four entry points share the same recording format (see Experiment Logging):
# CLI — closed-loop policy episodes
python scripts/run_experiment_cli.py --exp banana_in_bowl
python scripts/run_experiment_cli.py --instruction "pick up the can"
# Web UI — browser interface for policy episodes
python scripts/run_experiment_ui.py
# Teleop CLI — SO-101 leader arm, records all cameras
python scripts/run_teleop_cli.py
# Teleop Web UI — browser interface for SO-101 teleop
python scripts/run_teleop_ui.pyThe CLI entry points use SPACE to start / ESC to stop episodes, prompt for labels (valid/success/score/notes), and save to output/ (override with --output-dir). The web UIs use Enter / Esc and collect labels inline — see Policy Evaluation and Teleoperation for the workflow details.
Make targets for common configurations:
make run_experiment_900 INSTRUCTION="pick up the can" NOTES="experiment notes"See docs/teleop.md for full details including joint mapping and safety features.
python scripts/run_teleop_cli.py
python scripts/run_teleop_cli.py --port /dev/ttyACM1 --no-gripper
python scripts/run_teleop_cli.py --no-record
python scripts/run_teleop_ui.py # browser UIRequires the teleop extra, which installs LeRobot 0.4.x with Feetech support,
and the analysis extra for FK safety checks:
pip install -e ".[teleop,analysis]"make home # Move robot to home position
make stop # Stop robot
make reset # Stop, go home, open gripper
make open # Open gripper
make close # Close gripper
make drop # Drop object (open gripper)from droid_plus import DroidPlus, FrankyClient, CameraClient, GripperClient
droid = DroidPlus()
droid.move_to_home()
left_image = droid.get_left_image()
joint_state = droid.get_current_joint_state()make export_parquet RUN_DIR=output/experiment_20260118_123456
make export_lerobot RUN_DIR=output/experiment_20260118_123456 # LeRobot v2.1 local export
make export_lerobot RUN_DIR=output/experiment_20260118_123456 PUSH=hugo/my_dataset PRIVATE=1
make video RUN_DIR=output/experiment_20260118_123456 FPS=10make export_lerobot writes a local LeRobot v2.1 dataset. See
docs/experiment-logging.md for details.
| Variable | Default | Description |
|---|---|---|
NUC_IP |
localhost |
Host running franky_service |
FRANKY_SERVICE_URL |
http://{NUC_IP}:54321 |
Franky service URL |
CAMERA_SERVICE_URL |
http://127.0.0.1:54322 |
Camera service URL |
GRIPPER_SERVICE_URL |
http://127.0.0.1:54323 |
Gripper service URL |
FRANKY_ROBOT_IP |
localhost |
Franka controller IP/hostname used by franky_service |
WRIST_CAMERA_SERIAL |
unset | ZED wrist camera serial |
LEFT_CAMERA_SERIAL |
unset | ZED left camera serial |
RIGHT_CAMERA_SERIAL |
unset | ZED right camera serial |
POLICY_HOST |
127.0.0.1 |
Policy server host |
POLICY_PORT |
8000 |
Policy server port |
DROID+ is licensed under the Apache License, Version 2.0. See LICENSE for the full license text.
This project is currently not accepting contributions.
DROID+ is built by Seattle Robotics Lab: Hugo Hadfield, Xuning Yang, Rowland O'Flaherty, Lars Johannsmeier.