LeKiwi
Robot / hardware buildThree-wheel mobile manipulator with SO-100/SO-101 arm options, printed parts and a separate LeRobot teleoperation stack. [1]
Build & first use →Parts & pricesOfficial websiteBill of materials
- For
- Builders comfortable with servo setup, printed parts and a Raspberry Pi plus laptop workflow [1]
- Cost
- USD 546.97 5 V with SO-101 follower and leader armsNot included: host computer able to run LeRobot, VEX 4" omni-directional wheel (as linked by LeKiwi), FDM 3D printer (220 x 220 mm bed or larger), precision screwdriver set with Phillips #0 and #1 and shipping and tax.
- Source rights
- Named licenses are documented by part. Review licenses
- Unknowns
- tools, operating system not fully established. Review gaps
Source researched · Not tested by us
Sources checked · Research details
Licenses & related hardware
- License
- Apache-2.0 · Details by part
Overview
LeKiwi is a three-wheel holonomic mobile base carrying an SO-100/SO-101 follower arm. A separate leader arm and laptop provide teleoperation. This profile covers the documented Feetech-servo platform and its separately preserved LeRobot guide; the Dynamixel/Koch variant is a different configuration, not a drop-in substitution. [1] [8]
Is this for you?
3D preview
LeKiwi source URDF assembly. The configuration exported in the source URDF, with its supplied arm and mobile base. Links are shown at zero joint positions; other LeKiwi variants and physical fit are not verified.
The 3D preview loads after the page.
Drag to orbit · Scroll or pinch to zoom · Right-drag to pan. Use the view buttons for front, side and top views. The tree shows names supplied by the source; unnamed bodies remain labeled as such.
Download original URDF source bundle (ZIP) · File checksums and provenance
Separate bodies can be inspected in the model tree. Explode is a viewing aid, not an assembly sequence.
Model sources
The preview uses the linked original design. Source grouping is retained where present; the caption identifies whether this is an assembly or one component.
Source, license and scale
Source: Manav Chandaka, Bhargav Chandaka, Pepijn Kooijmans / SIGRobotics UIUC, revision efa608d7ee5a495a4803b1d28cd0c955b4f1e033. Original and preview: Apache-2.0. Preview conversion by Open Source Robotics; source files unchanged inside the downloadable bundle. Preview coordinates are centered and rounded to six decimal places. URDF visual origins, mesh scales and joint transforms applied at zero joint positions, then metres converted to millimetres. No physical part tested.
Viewer: three-cad-viewer 5.0.7 (MIT license). Confirm scale and manufacturing settings before printing.
What you need
Hardware & parts
Open the parts list with US prices for 1 configuration.
Upstream bill of materials [5]
- Hardware configuration
Three-wheel holonomic base with a mounted follower arm and separate leader arm for teleoperation.
- Actuators
- Three Feetech STS3215 base servos matched to the selected power version
- SO-100/SO-101 follower and leader arm servos
- Controller
Raspberry Pi 5 with 4 GB RAM for the selected battery-powered build, plus a servo control board.
Assembly & first use
- Assembly
Print the base, mounts and matching camera/battery parts, assemble three wheel modules, then mount a separately built SO-100/SO-101 arm.
- Calibration
Assign arm motor IDs 1–6 and base IDs 7–9 in the documented order; calibrate leader and follower arms.
The guide says wheel motors do not need arm-style calibration; mounting order and IDs still matter.
Cost & sourcing
US delivery · USD · Configuration-specific parts estimates
Wireless teleoperation with LeRobot: leader arm for the follower, keyboard for the base
Known parts subtotal · additional costs unresolved
USD 546.97
Prices dated Oct 4, 2026.
Baseline: nothing owned
BOM coverage & pricing basis
BOM coverage: partial · Pricing coverage: 16/20 procurement groups · First-task budget: incomplete
LeKiwi 5 V BOM tables and the SO-101 arm set reconciled line by line, printed parts mapped and sliced. Not complete: the screw assortment is not verified to contain the M2x5 tapping, M3x6-M3x20 and M4x12 screws and M3 nuts the assembly guides use; servo gear variants for the base are inferred.
Known required subtotal across all layers: USD 566.95. Unpriced: Host computer able to run LeRobot, VEX 4" omni-directional wheel (as linked by LeKiwi), FDM 3D printer (220 x 220 mm bed or larger), Precision screwdriver set with Phillips #0 and #1, Shipping and tax.
Cost layers & unpriced requirements
Cost layers
| Layer | Known expenditure | Unpriced requirements |
|---|---|---|
| Purchased parts | USD 430.09–USD 436.00 | VEX 4" omni-directional wheel (as linked by LeKiwi) |
| Printed parts: material purchase | USD 29.38–USD 31.48 | — |
| Fabricated parts | No requirements recorded | — |
| Power & cabling | USD 87.50 | — |
| Host computer | Unpriced | Host computer able to run LeRobot |
| Sensors & cameras | USD 19.98 | — |
| Tools | Unpriced | FDM 3D printer (220 x 220 mm bed or larger), Precision screwdriver set with Phillips #0 and #1 |
| Shipping & tax | Unpriced | Shipping and tax |
Parts & sourcing
Purchases combine repeated requirements before rounding to supplier packs. Shared purchases appear once. Printed material consumption and whole-spool purchase costs are different. Under “Other offers & price history”, historical observations may be excluded from today's subtotal. Broken or unavailable listings do not count.
| Part / requirement | Quantity & ownership | Lowest eligible purchase |
|---|---|---|
| VEX 4" omni-directional wheel (as linked by LeKiwi)Required · Purchased parts | 3 each | Unpriced
Requirement notesUpstream VEX link returned 404 on 2026-10-04. Alternative: VEX 4" (320 mm travel) omni-directional anti-static wheel untestedCurrent VEX 4" omni option; fit with the printed servo wheel hub is unverified, so it is not counted. Other offers & price historyVEX Robotics (linked from LeKiwi BOM.md)USD 9.99 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link broken.LeKiwi BOM.md "Unit Cost (US)" at pinned revision efa608d. The 5 V section totals ($499, $105, $212, $44.96, $98, $31) are unchanged in every BOM.md revision from 46b205e (2025-04-01) to the newest (retained source evidence), so the price is dated to that earliest revision. Supplier MOQ not independently checked. On 2026-10-04 the linked page returned 404 (evidence S003); the figure still counts under spec A7 because it is upstream-reported.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan |
| M2/M3/M4 socket screw, nut and washer assortmentRequired · Purchased parts | 1 each | USD 12.99 qiwuhai1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Other offers & price historyListing linked from LeKiwi BOM.mdUSD 14.99 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.LeKiwi BOM.md "Unit Cost (US)" at pinned revision efa608d. The 5 V section totals ($499, $105, $212, $44.96, $98, $31) are unchanged in every BOM.md revision from 46b205e (2025-04-01) to the newest (retained source evidence), so the price is dated to that earliest revision. Supplier MOQ not independently checked.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan qiwuhaiUSD 12.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: qiwuhai; variants: none.1080 Pcs M2 M3 M4 Hex Button Socket Head Cap Screws Bolts Nuts Flat Washers Assortment Kit, Alloy Steel Black Machine Screws and Nuts and Bolts and Washers Set (1080Black) |
| Raspberry Pi 5, 4 GB RAMRequired · Purchased parts | 1 each | USD 130.00 Adafruit Industries1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Price sourcesRaspberry Pi 5 - 4 GB RAMRequirement notesOn-robot computer; part of the robot, not the host. Other offers & price historyAdafruit (linked from LeKiwi BOM.md)USD 60.00 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.Same observation notes as M2/M3/M4 socket screw, nut and washer assortment above.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan Adafruit IndustriesUSD 130.00 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.schema.org Offer price 130 USD, availability http://schema.org/InStock.Raspberry Pi 5 - 4 GB RAM |
| microSD card, 64 GB, A2 (SanDisk Extreme)Required · Purchased parts | 1 each | USD 32.32 Direct Suppliers US1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Other offers & price historyListing linked from LeKiwi BOM.mdUSD 11.23 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.Same observation notes as M2/M3/M4 socket screw, nut and washer assortment above.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan Direct Suppliers USUSD 32.32 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Direct Suppliers US; variants: Old Version, 64GB.SANDISK 64GB Extreme microSD Card + Adapter, Up to 170MB/s Read Speeds |
| USB webcam, 1080p (as linked by LeKiwi)Required · Sensors & cameras | 2 each | USD 19.98 FWV Direct US2 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Requirement notesFront and wrist cameras used by the LeRobot LeKiwi configuration. Other offers & price historyListing linked from LeKiwi BOM.mdUSD 12.98 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.Same observation notes as M2/M3/M4 socket screw, nut and washer assortment above.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan FWV Direct USUSD 9.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: FWV Direct US; variants: none.FWV Webcam with Microphone&1080P HD Web Cam,Stand for PC/MAC/Laptop/Desktop, Wide Angle Web Cameras for YouTube,Skype,Zoom,Xbox One,Video Calling,Studying and PS4 |
| USB-C PD power bank, 20000 mAh (CUKTECH, as linked by LeKiwi)Required · Power & cabling | 1 each | USD 47.99 CUKTECH Direct1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Other offers & price historyListing linked from LeKiwi BOM.mdUSD 42.00 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.Same observation notes as M2/M3/M4 socket screw, nut and washer assortment above.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan CUKTECH DirectUSD 47.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: CUKTECH Direct; variants: none. Listing title now says 65W, upstream BOM says 85W.CUKTECH 15 SE Power Bank 20000mAh 65W Laptop Charger, 3-Port USB C Portable Charger, PD 3.0 Fast Charging External Battery Pack for iPhone 16/15/14 Series, Samsung, MacBook, Dell, Steam Deck, and More |
| Feetech STS3215 7.4 V servo, 1/345 gear (C001)Required · Purchased parts | 10 each | USD 139.90 WowRobo Robotics1 pack(s) × 10 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Price sourcesFeetech STS3215 C001 Servo – 7.4V 19.5KG 1/345 Servo for SO-ARM100/101 · WowRobo contact / about pageRequirement notesThree base wheels (LeKiwi lists generic 7.4 V STS3215; C001 assumed), six follower joints and one leader joint. Other offers & price historyAlibaba listing linked from upstream READMEUSD 13.89 / 1 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Upstream README "Unit Cost (US)" column at pinned revision 5f6d2b8 (2026-09-23). The figures (13.89 servo; 121.94 and 229.88 totals) appear unchanged in every README revision from 2415d54 (2025-06-02) to the pinned revision (20 consecutive revisions; retained source evidence), so the price is dated to that earliest revision. Supplier MOQ not independently checked; the table prices single units for the listed amount.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan WowRobo RoboticsUSD 15.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Variant 'Single Piece(15.99/pcs)' available=True per product JSON; stock quantity not shown.Feetech STS3215 C001 Servo – 7.4V 19.5KG 1/345 Servo for SO-ARM100/101 · WowRobo contact / about page WowRobo RoboticsUSD 74.95 / 5 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Variant '5 Pieces(14.99/pcs)' available=True per product JSON; stock quantity not shown.Feetech STS3215 C001 Servo – 7.4V 19.5KG 1/345 Servo for SO-ARM100/101 · WowRobo contact / about page WowRobo RoboticsUSD 139.90 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Variant '10 Pieces(13.99/pcs)' available=True per product JSON; stock quantity not shown.Feetech STS3215 C001 Servo – 7.4V 19.5KG 1/345 Servo for SO-ARM100/101 · WowRobo contact / about page |
| Feetech STS3215 7.4 V servo, 1/191 gear (C044)Required · Purchased parts | 2 each | USD 31.98 WowRobo Robotics2 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Price sourcesFeetech STS3215 C044 Servo – 7.4V 16KG 1/191 Servo for SO-ARM101 · WowRobo contact / about pageRequirement notesSO-101 leader arm per SO-ARM100 README. Other offers & price historyAlibaba listing linked from upstream READMEUSD 13.89 / 1 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan WowRobo RoboticsUSD 15.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.Feetech STS3215 C044 Servo – 7.4V 16KG 1/191 Servo for SO-ARM101 · WowRobo contact / about page WowRobo RoboticsUSD 74.95 / 5 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.Feetech STS3215 C044 Servo – 7.4V 16KG 1/191 Servo for SO-ARM101 · WowRobo contact / about page WowRobo RoboticsUSD 139.90 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.Feetech STS3215 C044 Servo – 7.4V 16KG 1/191 Servo for SO-ARM101 · WowRobo contact / about page |
| Feetech STS3215 7.4 V servo, 1/147 gear (C046)Required · Purchased parts | 3 each | USD 47.97 WowRobo Robotics3 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Price sourcesFeetech STS3215 C046 Servo – 7.4V 14.4KG 1/147 Servo for SO-ARM101 · WowRobo contact / about pageRequirement notesSO-101 leader arm per SO-ARM100 README. Other offers & price historyAlibaba listing linked from upstream READMEUSD 13.89 / 1 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan WowRobo RoboticsUSD 15.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.Feetech STS3215 C046 Servo – 7.4V 14.4KG 1/147 Servo for SO-ARM101 · WowRobo contact / about page WowRobo RoboticsUSD 74.95 / 5 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.Feetech STS3215 C046 Servo – 7.4V 14.4KG 1/147 Servo for SO-ARM101 · WowRobo contact / about page WowRobo RoboticsUSD 139.90 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.Feetech STS3215 C046 Servo – 7.4V 14.4KG 1/147 Servo for SO-ARM101 · WowRobo contact / about page |
| Serial bus servo driver board (Waveshare-type, USB)Required · Purchased parts | 2 each | USD 24.94 Wonrabai Electronics2 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Requirement notesRobot-side board (arm and wheels) and leader board. Other offers & price historyAmazon listing linked from upstream READMEUSD 10.60 / 1 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan Wonrabai ElectronicsUSD 12.47 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: Wonrabai Electronics.Serial Bus Servo Driver Board, Support 253 ST/SC Serial Bus Servos |
| 5 V 4 A power supply, 5.5 x 2.1 mm barrelRequired · Power & cabling | 1 each | USD 12.34 Mo-gu1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Requirement notesPowers the leader arm; the robot runs from the power bank. Other offers & price historyAmazon listing linked from upstream READMEUSD 10.00 / 1 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan Mo-guUSD 12.34 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: Mo-gu.Facmogu 5V 4A AC to DC Power Supply Adapter, AC 100-240V to DC 5 Volt 4 Amp |
| USB-A to USB-C cableRequired · Power & cabling | 2 each | USD 7.19 etguuds1 pack(s) × 2 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Other offers & price historyAmazon listing linked from upstream READMEUSD 7.00 / 2 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan etguudsUSD 7.19 / 2 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: etguuds.etguuds 6.6ft USB A to USB C Cable, 2Pack Fast Charging Cord Type C Charger |
| USB-C to USB-C cable, about 0.3 mRequired · Power & cabling | 2 each | USD 9.99 Amazon.com1 pack(s) × 2 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Other offers & price historyListing linked from LeKiwi BOM.mdUSD 8.00 / 2 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.Same observation notes as M2/M3/M4 socket screw, nut and washer assortment above.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan Amazon.comUSD 9.99 / 2 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Amazon.com; variants: Black, 1ft+1ft.INIU USB C Cable, [1ft+1ft] 100W PD Fast Charging USB C to USB C Cable |
| USB-C PD to DC barrel cable, 5 V (5.5 x 2.5 mm)Required · Power & cabling | 1 each | USD 9.99 DSD TECH Direct1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Other offers & price historyListing linked from LeKiwi BOM.mdUSD 10.00 / 1 each; minimum 1 pack(s). Upstream-published · Apr 1, 2025 · unknown, link unknown.Same observation notes as M2/M3/M4 socket screw, nut and washer assortment above.LeKiwi bill of materials (BOM.md) · LeKiwi BOM.md commit history and price presence scan DSD TECH DirectUSD 9.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: DSD TECH Direct; variants: 5 V, Medium.DSD TECH MagicConn SH-CP05A USB Type C PD to DC Power Cable(55x25)-5V |
| Small bar / trigger clamp for mounting the arm baseRequired · Purchased parts | 4 each | USD 9.99 Partstock1 pack(s) × 4 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Requirement notesLeKiwi links a WORKPRO 4-pack (upstream USD 18; Amazon USD 17.99 on 2026-10-04); generic clamp offers used. Other offers & price historyAmazon listing linked from upstream README (two-arm table)USD 9.00 / 4 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan Amazon listing linked from upstream README (follower table)USD 5.00 / 2 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan PartstockUSD 9.99 / 4 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: Partstock.TAODAN 4PCS 4 Inch Trigger Quick Grip Clamps Bar Clamp Trigger Quick Grip Clamp Single Hand Ratchet Woodworking Clamp for Wood Bonding Processes Mr. PenUSD 7.95 / 2 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: Mr. Pen.Mr. Pen- Bar Clamps for Woodworking, 6", 2 Pack, Orange |
| Precision screwdriver set with Phillips #0 and #1Required · Tools | 1 each | Unpriced
Other offers & price historyAmazon listing linked from upstream READMEUSD 6.00 / 1 each; minimum 1 pack(s). Upstream-published · Jun 2, 2025 · unknown, link unknown.Same observation notes as Feetech STS3215 7.4 V servo, 1/345 gear (C001) above.SO-ARM100 README bill of materials · SO-ARM100 README commit history and price presence scan Amazon.com marketplace seller (no featured offer)Unpriced / 1 each; minimum 1 pack(s). Checked by us · Unknown · out of stock, link working.Listing page fetched and buy box read on 2026-10-04. No featured offer: currently unavailable.Small Precision Phillips and Slotted Screwdriver Set 8 Sizes PH000 PH00 PH0 PH1 and Flat Head Slotted 1.5 2.0 2.5 3.0mm for Electronics Toys Computer, Watch Repair, Orange, SKZUSA0148 |
| Host computer able to run LeRobotRequired · Host computer | 1 each | Unpriced
Requirement notesLaptop running the leader arm and teleoperation client. Other offers & price historyNo offer recorded. |
| FDM 3D printer (220 x 220 mm bed or larger)Required · Tools | 1 each | Unpriced
Requirement notesRequired for the self-print route. Other offers & price historyNo offer recorded. |
| PLA filament, 1.75 mmRequired · Printed parts: material purchase | 436.9 g | USD 14.99 eSUN official Store1 pack(s) × 1000 g; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Requirement notesMaterial consumption: 403.5–436.9 g. Print method and assumptions are under Printing & required equipment. Other offers & price historyeSUN official StoreUSD 14.99 / 1000 g; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: eSUN official Store; variants: Silver, 1KG.eSUN PLA Basic Filament 1.75mm 3D Printer Filament 1KG Silver |
| PLA+ filament, 1.75 mmRequired · Printed parts: material purchase | 447.4 g | USD 14.39 eSUN Bio New Material1 pack(s) × 1000 g; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026
Requirement notesMaterial consumption: 388.4–447.4 g. Print method and assumptions are under Printing & required equipment. Other offers & price historyeSUN Bio New MaterialUSD 14.39 / 1000 g; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: eSUN Bio New Material.eSUN PLA+ Filament 1.75mm Black 1KG,PLA Pro 3D Printer Filament OVERTURE 3DUSD 16.49 / 1000 g; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Listing page fetched and buy box read on 2026-10-04; seller: OVERTURE 3D.OVERTURE PLA Plus (PLA+) 3D Printer Filament 1.75mm, 1kg Black |
| PLA+ filament, 1.75 mmRequired · Printed parts: material purchase | 458.1 g | Included in shared purchase above
Requirement notesMaterial consumption: 397–458.1 g. Print method and assumptions are under Printing & required equipment. Other offers & price historyeSUN Bio New MaterialUSD 14.39 / 1000 g; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.eSUN PLA+ Filament 1.75mm Black 1KG,PLA Pro 3D Printer Filament OVERTURE 3DUSD 16.49 / 1000 g; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.OVERTURE PLA Plus (PLA+) 3D Printer Filament 1.75mm, 1kg Black |
Printing & required equipment
lekiwi-base-parts: 403.5–436.9 g material consumption; buy whole supplier packs.
Print method, fit & assumptions
Slicer: PrusaSlicer-2.9.6 based on Slic3r (with GUI support); each listed file sliced separately at LeKiwi settings, 2-3 perimeters (retained source evidence). LeKiwi settings: generic PLA, 15% infill, 0.2 mm layers; supports only for the servo wheel hubs, plus the wrist webcam mount, which is not modelled flat on the bed and was sliced with supports (overestimate). 0.4 mm nozzle and PrusaSlicer defaults assumed for unstated settings. No skirt or brim; one successful print, no reprint allowance. Webcam mounts chosen to match the BOM cameras; the gripper camera insert may replace an SO-101 part (slight overestimate).
3DPrintMeshes/base_plate_layer2.stl · quantity 13DPrintMeshes/base_plate_layer1.stl · quantity 13DPrintMeshes/drive_motor_mount_v2.stl · quantity 33DPrintMeshes/servo_wheel_hub.stl · quantity 33DPrintMeshes/servo_controller_mount.stl · quantity 13DPrintMeshes/5v_specific/5v_power_bank_holder.stl · quantity 13DPrintMeshes/pi_case_top.stl · quantity 13DPrintMeshes/pi_case_bottom.stl · quantity 13DPrintMeshes/webcam_mount/webcam_mount.stl · quantity 13DPrintMeshes/webcam_mount/so100_gripper_cam_mount_insert.stl · quantity 13DPrintMeshes/webcam_mount/webcam_mount_wrist.stl · quantity 1so101-follower-frame: 388.4–447.4 g material consumption; buy whole supplier packs.
Print method, fit & assumptions
Same slicing as the SO-101 estimate: PrusaSlicer 2.9.6, SO-ARM100 plate Ender_Follower_SO101.stl, 2-3 perimeters (cost-pilot/so-101 slicing receipt). SO-101 README settings (PLA+, 0.4 mm nozzle, 0.2 mm layers, 15% infill, supports at 45 degrees); supports and skirt included; one successful print, no reprint allowance. LeKiwi says the original SO-101 base or its modified base both work; the original is used.
STL/SO101/Individual/Base_motor_holder_SO101.stl · quantity 1STL/SO101/Individual/Base_SO101.stl · quantity 1STL/SO101/Individual/Motor_holder_SO101_Base.stl · quantity 1STL/SO101/Individual/Motor_holder_SO101_Wrist.stl · quantity 1STL/SO101/Individual/Under_arm_SO101.stl · quantity 1STL/SO101/Individual/Upper_arm_SO101.stl · quantity 1STL/SO101/Individual/Rotation_Pitch_SO101.stl · quantity 1STL/SO101/Individual/Wrist_Roll_Pitch_SO101.stl · quantity 1STL/SO101/Individual/WaveShare_Mounting_Plate_SO101.stl · quantity 1STL/SO101/Individual/Moving_Jaw_SO101.stl · quantity 1STL/SO101/Individual/Wrist_Roll_Follower_SO101.stl · quantity 1so101-leader-frame: 397–458.1 g material consumption; buy whole supplier packs.
Print method, fit & assumptions
Same slicing as the SO-101 estimate: PrusaSlicer 2.9.6, SO-ARM100 plate Ender_Leader_SO101.stl, 2-3 perimeters (cost-pilot/so-101 slicing receipt). SO-101 README settings (PLA+, 0.4 mm nozzle, 0.2 mm layers, 15% infill, supports at 45 degrees); supports and skirt included; one successful print, no reprint allowance. LeKiwi says the original SO-101 base or its modified base both work; the original is used.
STL/SO101/Individual/Base_motor_holder_SO101.stl · quantity 1STL/SO101/Individual/Base_SO101.stl · quantity 1STL/SO101/Individual/Motor_holder_SO101_Base.stl · quantity 1STL/SO101/Individual/Motor_holder_SO101_Wrist.stl · quantity 1STL/SO101/Individual/Under_arm_SO101.stl · quantity 1STL/SO101/Individual/Upper_arm_SO101.stl · quantity 1STL/SO101/Individual/Rotation_Pitch_SO101.stl · quantity 1STL/SO101/Individual/Wrist_Roll_Pitch_SO101.stl · quantity 1STL/SO101/Individual/WaveShare_Mounting_Plate_SO101.stl · quantity 1STL/SO101/Individual/Handle_SO101.stl · quantity 1STL/SO101/Individual/Trigger_SO101.stl · quantity 1STL/SO101/Individual/Wrist_Roll_SO101.stl · quantity 1Required host computers, cameras and tools are separate from the Parts total. They appear in the required subtotal only where priced or explicitly owned. Labor: unknown.
Prices are dated US listings or upstream-published figures, not checkout guarantees. Shipping and tax assumptions remain visible above. We don’t earn from these links.
Download reviewed data
Full cost and sourcing receipt (JSON)
LeKiwi 5 V with SO-101 follower and leader arms baseline CSV
Earlier upstream estimates and vendor offers
Earlier estimates
No current, complete configuration-specific build cost has been established for this profile.
What the 5 V build costs now
At US prices checked on October 4, 2026, the known parts subtotal for the 5 V LeKiwi with SO-101 follower and leader arms is USD 546.97, including filament for every printed part. The BOM's own 5 V total, unchanged since April 2025, is USD 499 and leaves out printing. The largest change is the Raspberry Pi 5 with 4 GB RAM: Adafruit, the BOM's supplier, lists it at USD 130 against the BOM's USD 60. The microSD card listing has also risen, from USD 11.23 to USD 32.32. [5] [12]
The subtotal is not a complete budget. The BOM's VEX omni wheel link returned a missing page, so its historical USD 9.99 per wheel is excluded and all three required wheels remain unpriced. VEX now lists a 4" anti-static omni wheel at USD 30.89 per pair, but its fit with the printed hub is unchecked. The screw assortment's contents were not checked against the assembly guide, and the base servos' gear ratio is inferred, because the BOM names only 7.4 V STS3215 servos. The two required cameras add USD 19.98, bringing the known required subtotal to USD 566.95. The wheels, screwdriver set, laptop, 3D printer, shipping and tax remain unpriced; the screwdriver's unavailable listing excludes its historical USD 6 price. The power bank listing the BOM links is now titled 65 W, not the 85 W the BOM names. [5] [7] [12]
Our printing estimate slices the LeKiwi parts at the guide's settings, with two or three walls: about 400–440 g of PLA for the base parts, plus 790–910 g of PLA+ for the two SO-101 arms, so one spool of each. [6] [11] [12]
Project notes
The parts tables describe different robots
The bill of materials separates 5 V, 12 V and wired builds, and distinguishes a base-only price from a system including the two-arm teleoperation set. The battery-powered build lists a Raspberry Pi 5 with 4 GB RAM. In the wired route, LeRobot's guide says to run the commands on the laptop and skip the Pi installation. [5] [8]
The 12 V assembly includes a converter supplying 5 V to the Pi, while the 5 V route uses a different power-bank holder and wiring arrangement. Select the motors, power supply and printed holder as a matched configuration. The SO-101 follower uses six C001 servos; its leader uses one C001, two C044 and three C046 servos. [11] [5] [7]
Printed parts depend on the selected peripherals
The printing guide supplies STL files and reports PLA settings tested by the authors: 15% infill and 0.2 mm layers. Some parts need supports. Camera mounts differ between the documented Arducam and webcam options, and the assembly guide explicitly says another camera may require modified mounts. The follower and leader arms are separate builds assumed by the base assembly instructions. [6] [7]
The archive also includes a CAD-exported URDF and meshes. That is useful robot-description material, but it does not establish a validated simulation. The complete Fusion 360 assembly remains an external link and was not preserved here. No parts were printed, assembled or checked for fit. [1] [4]
Motor IDs and calibration have different jobs
The preserved LeRobot guide assigns arm motor IDs 1–6 and base wheel IDs 7–9 in a specific mounting order on one robot-side control board. It separately calibrates the leader and follower arms. Its statement that wheel motors do not require calibration refers to that arm-calibration procedure; it does not make the wheel identities and mounting positions arbitrary. [8]
For the battery-powered route, the robot runs a LeRobot host and the laptop runs the teleoperation client. The guide requires the correct robot IP and device ports and uses the leader arm for manipulation plus keyboard control for the base. It distinguishes recording-control keys from keyboard base driving: base driving requires a supported desktop input session and is not supported by that guide on Wayland or a headless machine. [8]
The hardware archive and LeRobot archive were preserved independently. Their availability is not a compatibility test between those exact commits. Before reproducing the system, retain the chosen power version, arm revision, camera models, device mappings, calibration files and software revision together. This is an editorial preparation checklist; no robot was configured or driven here. [2] [5] [8] [9]
Scope of the open files
The hardware repository carries Apache 2.0 terms, as does the separately preserved LeRobot software. The printing guide credits adaptations of external wheel-hub and Pi-case models; their original terms were not reconciled in this review. Purchased servo and controller firmware are also outside the verified source set. No pretrained model or pre-existing dataset is required for the selected teleoperation route, and no learning performance is claimed. [3] [6] [8] [10]
What we checked
Source research only; no installation, physical build or performance test performed. No affiliate links added.
Not yet established
- Requirements: operating system, tools
- A step-by-step setup summary
Updates
- Upstream last updated
- Aug 5, 2026 [2]
- Latest release
- Not established
- Profile updated
- Oct 4, 2026
- Sources last checked
- Oct 1, 2026
- Next review
- Oct 31, 2026
- Reviewed revision
- efa608d7ee5a495a4803b1d28cd0c955b4f1e033 (commit snapshot; no published stable release found) · combined hardware and software repository
Source files and licenses
Available project sources support research coverage; complete build and commercial qualification remain separate.
| Layer | Availability / license |
|---|---|
| mechanical design | available · Apache-2.0 Repository-level terms for supplied files; some parts are attributed adaptations of external models whose original terms were not reconciled. Linked full Fusion assembly not preserved. [3] [4] [6] |
| electronics | available · Apache-2.0 Integration instructions, not fabrication sources for purchased electronics. [3] [7] |
| firmware | not found · License not fully assessed Servo IDs and host software setup are documented; complete matching firmware sources for purchased servos and controller boards not established. [4] [8] |
| software | available · Apache-2.0 LeRobot software is a separately preserved repository; hardware and software commits not tested together. [8] [9] [10] |
| documentation | available · Apache-2.0 Repository documentation; external linked arm designs and website content separate. [3] [7] |
Selected teleoperation build does not require a pretrained policy or an existing dataset; recording and training are separate follow-on workflows.
References
Each source links to the exact revision we read. “Used for” shows where this page relies on it.
Project sources
- S001 SIGRobotics-UIUC/LeKiwi: README.md
Revision, date & where cited
github.com · revision
efa608d· Accessed Oct 1, 2026
Used for: Overview, Is this for you?, What you need, Hardware & parts and 2 more - S002 SIGRobotics-UIUC/LeKiwi: commit efa608d
Revision, date & where cited
github.com · Accessed Oct 1, 2026
Used for: Motor IDs and calibration have different jobs, What we checked - S003 SIGRobotics-UIUC/LeKiwi: LICENSE.txt
Revision, date & where cited
github.com · revision
efa608d· Accessed Oct 1, 2026
Used for: Scope of the open files, Source files and licenses - S004 SIGRobotics-UIUC/LeKiwi: files
Revision, date & where cited
github.com · revision
efa608d· archive file inventory · Accessed Oct 1, 2026
Used for: Printed parts depend on the selected peripherals, Source files and licenses - S005 LeKiwi: BOM.md
Revision, date & where cited
github.com · revision
efa608d· Accessed Oct 1, 2026
Used for: Is this for you?, Hardware & parts, Cost & sourcing, The parts tables describe different robots and 1 more - S006 LeKiwi: 3DPrinting.md
Revision, date & where cited
github.com · revision
efa608d· Accessed Oct 1, 2026
Used for: Hardware & parts, Assembly & first use, Cost & sourcing, Printed parts depend on the selected peripherals and 2 more - S007 LeKiwi: Assembly.md
Revision, date & where cited
github.com · revision
efa608d· Accessed Oct 1, 2026
Used for: Is this for you?, What you need, Assembly & first use, Cost & sourcing and 3 more - S008 Preserved LeRobot LeKiwi guide
Revision, date & where cited
SIGRobotics-UIUC / project contributors · github.com · revision
7e241bd· Accessed Oct 1, 2026
Used for: Overview, Is this for you?, What you need, Hardware & parts and 5 more - S009 LeRobot source revision
Revision, date & where cited
SIGRobotics-UIUC / project contributors · github.com · revision
7e241bd· Accessed Oct 1, 2026
Used for: Is this for you?, Motor IDs and calibration have different jobs, Source files and licenses - S010 LeRobot license
Revision, date & where cited
SIGRobotics-UIUC / project contributors · github.com · revision
7e241bd· Accessed Oct 1, 2026
Used for: Scope of the open files, Source files and licenses - S011 SO-ARM100 README (SO-101 arm parts and print files)
SO-101 leader uses 1 x C001, 2 x C044 and 3 x C046 STS3215 servos; lists follower, leader and common print files.Revision, date & where cited
github.com · revision
5f6d2b8· Parts For Two Arms; Individual Part Files · Accessed Oct 4, 2026
Used for: Cost & sourcing, The parts tables describe different robots
Our checks and receipts
- S012 LeKiwi US cost and sourcing estimate receipt
Line-level US offers, price dates, printed-part slicing and rollups for the LeKiwi 5 V configuration.Revision, date & where cited
Open Source Robotics · opensourcerobotics.dev · Rollups as of 2026-10-04 · Accessed Oct 4, 2026
Used for: Cost & sourcing
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5
Change history
2026-10-04 — Staged v0.7 cost and sourcing estimate: line-level BOM, US offers and printed-part slicing. Not yet reviewed or published.
2026-10-04 — Staged draft.5 estimate excludes confirmed broken/unavailable listings while preserving historical prices. Not published.