Open Source RoboticsRobots, software & learning

XLeRobot

Robot / hardware build

Dual-arm wheeled manipulator with two SO-101 follower arms, a cart-mounted omni-wheel base and a LeRobot plugin route; costs and files depend on configuration. [1] [2] [5]

Build & first use →Official websiteUpstream build guideBill of materials

For
Builders familiar with SO-101 assembly, serial servos and Python [2] [5]
Cost
USD 660.00 upstream parts estimate [1] [2] · checked Oct 28, 2026 · DetailsNot included: 3D printing and tools, shipping and tax and laptop and more.
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

Requirements · Research details and dates

On this page

Overview

XLeRobot combines two SO-101 follower arms with a wheeled base and a utility cart. This profile selects the documented three-omniwheel, 12V configuration for mobile manipulation. The same repository also contains two-wheel, mecanum and newer hardware files; those are alternative configurations, not interchangeable print sets. Use the revision-linked printing guide as the starting point; an exact matched print-file list for the selected configuration remains to be confirmed. [1] [2] [3]

Is this for you?

Known limitations
  • The ~$660 upstream US estimate excludes printing, tools, laptop, shipping and tax; no current delivered total verified.
  • The archive mixes hardware generations and wheel bases; exact matching print list and tested dependency set remain unestablished.
  • Leader-follower bimanual teleoperation requires two additional leader arms; weak wheel connectors may need retightening.

Editorial assessment from cited sources; no reproduction or compatibility test.

[2] [3] [4] [5] [6] · Editorial assessment

What you need

Host computer

Laptop for basic configuration; optional Raspberry Pi 5; no tested minimum host sizing

[2] [5]

Dependencies
  • Python >=3.10
  • LeRobot with Feetech support (unpinned in plugin manifest)
  • pyzmq >=25.0.0
  • XLeRobot shared model and matching base plugin

[5] [6]

Hardware & parts

Upstream bill of materials [2]

Hardware configuration

Dual-arm mobile manipulator with three driven omni wheels and an IKEA RÅSKOG cart

[2] [4]

Actuators
  • 17 STS3215 12V servos: 12 arm, three wheel and two head servos

[2]

Controller

Two serial-bus motor control boards; connected laptop, with optional Raspberry Pi route

[2] [4]

Assembly & first use

Open the upstream getting-started guide [1]

  • Select the three-omniwheel 12V BOM before choosing CAD; keep newer two-wheel/mecanum files separate.
  • Configure both follower arms, head and wheel servo IDs; match ports, polarity and power before connection.
  • Install the shared model and three-omniwheel LeRobot plugin; reconcile older teleop instructions against the chosen plugin revision.

Editorial assessment from cited sources; no reproduction or compatibility test.

[3] [4] [5] · Editorial assessment

Cost

VersionPrice
Upstream basic laptop-based, single-RGB-head-camera estimateUSD 660.00 [1] [2]
Parts estimate

US upstream reference · Checked 2026-10-28

IncludedUpstream basic robot parts selection with two follower arms and omni-wheel base; Single RGB head camera; use existing laptop
Not included3D printing and tools; Shipping and tax; Laptop; Optional Raspberry Pi, camera upgrades and additional leader arms
StockIndividual supplier stock and delivered prices not revalidated
Delivery and taxShipping and taxes excluded
Price details

Approximate upstream reference, not a current supplier checkout or measured build; do not transfer to 0.4 two-wheel/mecanum or leader-arm configurations.

US upstream reference · Checked 2026-10-28 · Quantity 1

Existing laptop, printing, tools and delivered sourcing; add two leader arms for joint-matched bimanual teleoperation

3D preview

Preview not available yet. Original 3MF and STEP files are available. The repository mixes wheel-base and hardware versions; an exact full assembly for this selected configuration has not been reconciled or converted.

Model sources

Original 3MF and STEP files are available. The repository mixes wheel-base and hardware versions; an exact full assembly for this selected configuration has not been reconciled or converted.

Project notes

Choose the mechanism before ordering

The selected BOM specifies 17 STS3215 servos: twelve across the arms, three driving the base and two moving the head. Two motor-control boards connect to a laptop; Raspberry Pi operation is optional. The BOM specifies an IKEA RÅSKOG cart, two 12V USB-C-to-DC leads and a supply with two USB-C outputs rated at least 60W each. These are upstream requirements, not independently tested compatibility. Alternative carts can require connector changes, and US builders may need to assemble extended 5264 cables. The printing guide calls for two follower arms. Two additional leader arms are needed only for joint-matched bimanual teleoperation, and their cost should be budgeted separately. [2] [3]

Use the assembly guide's board groups when assigning IDs: the head uses 7 and 8, while the wheel group uses 7, 8 and 9. These IDs coexist on separate groups. Match the port assignments and power polarity before connecting the system. The guide warns against pushing the completed robot as an ordinary cart because that can damage the motor gears, and notes that wheel connectors may need retightening. [4]

Match the software to the selected base

The current installation page describes a shared model package plus a base-specific LeRobot plugin. The three-omniwheel plugin declares Python 3.10 or later, lerobot[feetech] and pyzmq>=25.0.0. LeRobot is not pinned there, so this is not a verified dependency lock. Start at software/plugins/xlerobot_model and software/plugins/lerobot_robot_xlerobot in reviewed commit b017b5e6354bd9f61f4247a920c72622ca0aade0. The plugin package links back to software/src/robots/xlerobot, so preserve the source links and layout. Host/client classes for Raspberry Pi operation are commented out in the package initializer and need explicit configuration. We have not installed or run the stack. [5] [6] [9]

What the $660 figure covers

Upstream's approximate US basic estimate is $660 using an existing laptop and a single RGB head camera. It excludes 3D printing, tools, shipping and tax. Raspberry Pi compute, stereo/depth-camera upgrades and extra leader arms change the budget. This is a published parts reference, not a refreshed checkout quote or a complete first-working-setup total. Supplier availability and a delivered total remain unverified. [1] [2]

The archive contains real 3MF and STEP payloads, but source inspection does not establish fit, strength or printability. Repository contributions carry Apache-2.0 terms; bought-in servos, boards, cameras and linked dependencies retain their own rights and requirements. [3] [7]

What we checked

Source research only. No firmware compilation, dependency installation, CAD fit or strength validation, assembly, calibration, runtime or physical performance test performed. No affiliate links or supplier endorsement. Upstream design/media files are linked, not redistributed.

Not yet established

  • Requirements: operating system, tools

Updates

Upstream last updated
Oct 6, 2026 [10]
Latest release
Not established
Profile updated
Oct 28, 2026
Sources last checked
Oct 28, 2026
Next review
Nov 28, 2026
Reviewed revision
b017b5e6354bd9f61f4247a920c72622ca0aade0 (commit snapshot; separately linked artifacts have their own revisions) · combined hardware and software repository

Source files and licenses

Include this distinct physical design for Study or build the documented two-arm omni-wheel platform and its teleoperation interfaces. The inspected artifacts support a bounded source-researched next step; they do not establish reproduced hardware or commercial support.

LayerAvailability / license
mechanical designavailable · Apache-2.0
Real 3MF and STEP payloads inspected as containers/entities. Mixed 0.3/0.4 and alternative-base files require matching; no fit verification. [3] [7]
electronicsnot found · License not fully assessed
Purchased motor-control boards and power components are specified; no complete custom electronics design established for this configuration. [2] [4]
firmwarenot found · License not fully assessed
Bought-in servo/board firmware is a separate dependency; repository license does not make it open. [2]
softwareavailable · Apache-2.0
Actual plugin transport/control implementation inspected; no execution or dependency compatibility test. [5] [6] [7]
documentationavailable · Apache-2.0
[1] [7]

No learned policy or dataset is selected for the documented first task.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history