MakerMods-XLeRobot

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MakerMods-XLeRobot

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all the CAD, .step files for upgraded version of XLeRobot

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# XLeRobot Upgraded Hardware - by MakerMods

**Redesigned 3D-printed structure, stronger wheel base, quick-release powerbank mounts, and organized electronics** for the [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) bimanual mobile robot.

Drop-in compatible with [LeRobot](https://github.com/huggingface/lerobot), no software changes needed.

Built by [MakerMods](https://makermods.ai) in collaboration with Vector Wang (original XLeRobot author). Available **pre-assembled** or as a **curated kit** (coming soon) at [makermods.ai](https://makermods.ai/xlerobot).

<div align="center">
  <img src="assets/images/hero_shot_17_04_02_18.png" alt="MakerMods XLeRobot Hardware Upgrade" width="85%"/>
  <p><em>MakerMods Upgraded XLeRobot performing bimanual pick and place tasks.</em></p>
</div>

### At a glance

- **Redesigned structural parts** -- two-part neck, bearing-supported wheel modules, quick-release power bank mount, organized hub and driver board enclosures. Only the head and SO-101 arm servo mounts are stock.
- **Print-tested `.3mf`** -- one Bambu Studio project (P1S / P2S / H2S / H2D, Esun PLA+) with labeled plates, supports, and settings -- the same file we use internally.
- **Hackathon-proven** -- deployed **25 upgraded XLeRobots** for contestants at the Shenzhen MakerMods Physical AI x OpenClaw Hackathon; all units ran successfully throughout the event.
- **Pre-assembled or DIY** -- **pre-built** skips ~two full days of assembly; you run our **auto-calibration script** at setup. **Kit** with MakerMods-sourced parts **coming soon** -- see [Buy Pre-Assembled](#buy-pre-assembled).
- **Works directly with [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) and [LeRobot](https://github.com/huggingface/lerobot)** -- clone the existing repos and follow their setup guides as-is; no fork, no patches, no custom firmware.
- **Updates** -- [makermods.ai](https://makermods.ai) and [Discord](https://discord.gg/pKsm95Qt) for kit news and build support.

## Buy Pre-Assembled

Want your XLeRobot **running without ~two full days of mechanical assembly**? MakerMods sells an **assembled** unit so you can get to bring-up, software, and experiments much faster than a from-scratch DIY build.

**Calibration:** We **do not** advertise "fully calibrated out of the box." After unboxing, you run our **auto-calibration** workflow (script) -- it's designed to be **quick and repeatable** on your bench.

**[Buy pre-assembled at makermods.ai/xlerobot -->](https://makermods.ai/xlerobot)**

> **Kit (coming soon):** If you **enjoy the assembly**, we're launching a **kit** on [makermods.ai](https://makermods.ai) soon. It uses **MakerMods-curated** components so we can **stand behind part quality** and **save you the time** of sourcing every BOM line yourself versus retail-hunting each item.

---

## Demos

**Hackathon-Proven: 25 Upgraded XLeRobots at the Shenzhen Physical AI X OpenClaw Hackathon**

<div align="center">
  <a href="assets/gifs/hackathon-whole.gif" target="_blank">
    <img src="assets/gifs/hackathon-whole.gif" alt="Watch demo GIF" width="80%"/>
  </a>
  <p><em>3rd Place in Nvidia x Hugging Face x Seeed Studio Hackathon Shenzhen</em></p>
</div>

**System demonstration**

<div align="center">
  <table>
    <tr>
      <td align="center" width="33%">
        <img src="assets/gifs/candy_demo.gif" alt="Bimanual manipulation demo" width="100%"/>
        <p><em>Bimanual manipulation</em></p>
      </td>
      <td align="center" width="33%">
        <img src="assets/gifs/side-view.gif" alt="Side view demonstration" width="100%"/>
        <p><em>Autonomous execution (side view)</em></p>
      </td>
      <td align="center" width="33%">
        <img src="assets/gifs/unzip-bagger.gif" alt="Task execution demo" width="100%"/>
        <p><em>Autonomous execution</em></p>
      </td>
    </tr>
  </table>
</div>

---

## Mechanical design upgrades

This section covers the **hardware changes**: what we re-designed in CAD vs a typical stock XLeRobot-style build, and **why it is nicer to print, mount, and service**. Everything here is **mechanical** (printed parts, mounts, enclosures). You use the [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) and [LeRobot](https://github.com/huggingface/lerobot) repositories directly -- no modifications needed on the software side.

### Print-verified `.3mf` file

We provide a fully print-verified Bambu Studio project: **[`3mf/MakerMods XLeRobot Upgrade PLA+ P2S.3mf`](./3mf/MakerMods%20XLeRobot%20Upgrade%20PLA%2B%20P2S.3mf)**

- **Tested printers:** Bambu Lab **P1S**, **P2S**, **H2S**, and **H2D**
- **Filament:** [Esun PLA+](https://www.esun3d.com/epla-product/) for all structural parts; **Bambu Lab TPU 90A** for the gripper parts
- All plates, supports, and process settings are pre-configured -- the same file we use internally when printing for our own builds

**Stock vs redesigned parts:** Only the **servo mounts on the head** and the **servo mounts on the two SO-101 arms** remain **stock** (upstream SO-101 / XLeRobot-style parts). **All other structural prints** in our release -- neck, IKEA cart integration, drivable wheel base, hub and driver mounts, **quick-release dual power bank mount** (below the neck), enclosures, and the rest of the mechanical stack -- are **MakerMods redesigned**.

### Two-part neck (printability)

We **split the neck into two printed parts** so each piece is **easier to orient and print successfully** on common FDM printers (fewer tall single-piece jobs).

### SO-101 arm mounts, IKEA cart, and nut traps

The **large IKEA utility cart** is the robot's **main rolling structure** (frame + shelves) -- think of it as the **body** you bolt everything to. The **SO-101 arm mounting** is reworked so the arms **attach to that cart cleanly** -- less fussing with alignment and bracketry than ad-hoc mounting solutions.

**Nut traps:** every **hexagon nut trap is replaced with a square nut trap**. Nuts **slide in from the side** into their pockets. When you **disassemble** a joint or bracket, **captured square nuts do not fall out** the way loose or bottom-dropping hex nuts often do -- faster iteration when you are tuning wiring, swapping parts, or shipping the robot.

### Drivable base at the bottom of the cart (wheel modules + bearings)

The **bottom of the IKEA cart** is where **locomotion** lives -- this is **not** the same thing as the cart's metal frame above; we call that region the **drivable base**.

**What is improved over the stock setup:** the original IKEA configuration uses the LeKewi chassis as the base reference. In practice each wheel was effectively supported on one side only: the servo / drive side carried the load, while the other side was just the wheel and its hub circle with no opposing support. There was nothing on the far side of the wheel to react side loads, so the assembly could **tilt and rock** -- especially under the full weight of an XLeRobot. That asymmetry shows up as **wobble**, uneven contact, and a base that feels **under-constrained**.

**What we changed:** we treat **each wheel as its own module**. On one side you still have the **servo** that drives the wheel; on the **opposite side** we add a **bearing** so the axle is **supported from both sides**. Load is shared across **servo + bearing**, the wheel stays **square to the ground**, and the cart **handles XLeRobot mass** without the old **single-sided cantilever** behavior.

### USB hub mounts

We added **two USB hubs mounted below each driver board**, making it easy to plug in all USB cables in one place. The mount positions all ports facing outward for easy access, and cables exit from the back rather than going in every direction.

### Control board mounts & driver enclosures

Each bus servo driver board sits in a dedicated mount with a **snap-on cover**. Squeeze the sides to pop it off and access the servo bus cables; press it back down to protect the board. No tools, no screws.

### Dual power bank mount (below the neck, quick release)

The structure **directly under the neck** includes a **quick-release cradle for two Lenovo Fluxo 140 W USB-PD power banks** (per [BOM](#bill-of-materials)). Banks **drop into place** and are held by a **compliant push tab** that acts as the **latch** -- no screws to chase when you need to **swap or charge** a pack in the field. It keeps both units **aligned** with the **harness plan** so USB-C bends and connector strain stay under control.

### Compute enclosure (Jetson Nano)

Printable shell for **on-robot** compute (**NVIDIA Jetson Nano + SSD + Extra Port Hat Upgrade**) so the compute module boards are not bare and sliding around the cart.

### Upgrade checklist (quick scan)

| Area | What changed (one line) |
| ---- | ------------------------ |
| Neck | **Two printed parts** for easier FDM printing |
| SO-101 + IKEA cart | **Arm mounts** for the **cart frame**; **square side-loaded nut traps** (no falling hex nuts) |
| Cart bottom / wheels | **Per-wheel modules**: **servo + opposing bearing** (replaces asymmetric stock **LeKewi**-style support) |
| USB hubs | **Dedicated mounts**, shorter / safer cable paths |
| Driver boards | **Mounts + enclosures**, cleaner wiring |
| Power | **Quick-release** mount **below neck** for **2x Lenovo Fluxo 140 W**; **compliant tab latch** |
| Compute | **Jetson Nano** printable enclosure |

## Stock vs this repository

| Topic | Upstream XLeRobot (baseline) | This repository (MakerMods hardware refresh) |
| ----- | ---------------------------- | --------------------------------------------- |
| What you get | Reference robot design, software, and community BOM paths | **Replacement / add-on printed parts**, mounts, and enclosures for the same software stack |
| Printed parts scope | Mostly upstream STLs | **Stock:** head + **both SO-101 arm** servo mounts only. **Redesigned:** all other structural parts -- plus a **single print-tested `.3mf`** (P1S / P2S / H2S / H2D, Esun PLA+) with **labeled plates** |
| Mechanical packaging | Baseline community CAD | **Two-part neck** (printability); **SO-101 mounts** on **IKEA cart**; **square side-loaded nut traps**; **printed upper stack** on cart; **drivable base** with **bearing-supported wheel modules** (vs stock **LeKewi** asymmetry); **hub + driver** mounts/enclosures |
| Field power | Per upstream BOM choices | **2× Lenovo Fluxo 140 W** in a **quick-release mount below the neck** (compliant **latch tab**) + cabling aligned to the **printed layout** on the cart |
| USB / drivers | User-dependent layout | **Hub + driver mounts/enclosures** for a repeatable install |
| Compute | Bring your own | **Jetson Nano** printable enclosure |

## Specs (hardware configuration for this BOM)

Figures below are **for this repo's BOM snapshot**; arm kinematics, payload, and exact DOF follow upstream XLeRobot -- see upstream docs for arm-specific numbers.

| Item | Details |
| ---- | ------- |
| Software compatibility | Use [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) and [LeRobot](https://github.com/huggingface/lerobot) directly -- no fork or modifications needed |
| Cameras | **Same camera module** mounted at **wrist** and **head** (two units). Using one camera type in both places **reduces cost** versus using two different cameras; **perception quality remains strong** in our builds. |
| Servos | **17x** 12 V + **12x** 7.4 V bus servos (per BOM) |
| Power | **2x** Lenovo **Fluxo** **140 W** USB-PD power banks (per BOM) |
| Mobile base | IKEA **large** utility cart + casters (per BOM) |
| DOF / reach / payload | Same as upstream XLeRobot for the configuration you build -- confirm in [XLeRobot documentation](https://xlerobot.readthedocs.io/) |

## Software Compatibility

This hardware is a **drop-in replacement** for the stock printed/mechanical stack. You install and run the [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) and [LeRobot](https://github.com/huggingface/lerobot) repositories exactly as documented -- same setup steps, same commands, same configs. No fork, no patches, no environment changes.

### LeRobot Integration

Use the [Hugging Face LeRobot](https://github.com/huggingface/lerobot) repo directly: train and deploy VLA policies, record datasets, and run inference with the same workflows and scripts as a stock XLeRobot build.

> **Auto-calibration PR (pending review):** We have an open pull request on LeRobot that adds **automatic calibration for all SO-101-class arms**: [huggingface/lerobot#3282](https://github.com/huggingface/lerobot/pull/3282). If you want to try it with **LeRobot v0.5.0**, you can check out that branch directly. Once merged, SO-101 users -- including XLeRobot-style bimanual setups -- get a **cleaner, more repeatable calibration workflow** inside the official framework.

### Supported Control Modes

| Mode | Description |
| ---- | ----------- |
| VR Control | Quest 3 teleoperation via [XLeVR](https://xlerobot.readthedocs.io/en/latest/simulation/getting_started/vr_sim.html) |
| Xbox Controller | Wireless Xbox controller teleoperation |
| Switch Joy-Con | Nintendo Switch Joy-Con control |
| Keyboard | Direct keyboard teleoperation |
| Simulation | Full MuJoCo simulation support |
| Web Control | Browser-based control interface |

All modes work directly with the existing [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) and [LeRobot](https://github.com/huggingface/lerobot) repositories -- no extra configuration required.

## Getting Started (first ~30 minutes)

Goal: end with **teleoperation or simulation running**, not just a cloned repo.

1. **Choose your path**
   - **DIY:** slice and print from the **master `.3mf`** in [`/3mf`](./3mf) (Bambu **H2S / P2S**, **Esun PLA+** -- see [3D Printed Parts](#3d-printed-parts)), source the [BOM](#bill-of-materials), and assemble.
   - **Fast path:** [buy pre-assembled](https://makermods.ai/xlerobot) and skip roughly **two days** of assembly; then run **auto-calibration** with our script.
2. **Prepare a workstation** -- Ubuntu or macOS per upstream docs; GPU optional for sim, required for some local training paths.
3. **Install XLeRobot software** -- clone the [XLeRobot repository](https://github.com/Vector-Wangel/XLeRobot) and follow its [documentation](https://xlerobot.readthedocs.io/) for environment setup and dependencies. No extra steps are needed for the upgraded hardware -- the existing install instructions apply as-is.
4. **Connect hardware (physical robot)** -- power, USB hubs, and servo buses as per your wiring checklist; fix any cable strain before first motion.
5. **Calibration** -- run the upstream calibration / teleop entry flow (auto range-of-motion style calibration is supported in the stack -- see [teleop docs](https://xlerobot.readthedocs.io/en/latest/software/getting_started/XLeRobot_teleop.html) and project README). For **SO-101 + LeRobot**, see the pending upstream PR described under [LeRobot integration](#lerobot-integration).
6. **First motion** -- start **simulation** or **hardware teleop** using a [supported control mode](#supported-control-modes). You should see **joints move under command** or **sim state updating** within one session.
7. **Optional** -- join [Discord](https://discord.gg/pKsm95Qt) for build help and MakerMods updates.

## Bill of Materials

Hardware components list (**excluding compute and shipping**).
`Actual Used Qty` is consumed in one build. `Minimum Buyable Qty` is the smallest practical purchase unit.

**Cameras:** The **head** and **wrist** use the **same camera module** -- you need **two** units total. That keeps the BOM simpler and cheaper than using different cameras for each mount, and we have **not seen practical issues** in use.

| Item | Actual Used Qty | Minimum Buyable Qty |
| ---- | --------------- | ------------------- |
| Esun PLA+ filament | 3900 g | 4 rolls of PLA+ |
| TPU 90A filament | 40 g | 1 roll TPU |
| 3M grip material | 256 mm | 1000 mm |
| 12V servo motors | 17 units | 17 units |
| 7.4V servo motors | 12 units | 12 units |
| Lenovo Fluxo power bank (140 W USB-PD) | 2 units | 2 units |
| Bus servo driver board | 4 units | 4 units |
| 100 cm servo 3-pin cable | 2 units | 2 units |
| USB hub | 2 units | 2 units |
| USB-C cable | 4 cables | 4 cables |
| 12V 3A Type-C to PD trigger cable | 3 cables | 3 cables |
| 12V DC power cable | 2 cables | 2 cables |
| 7.4V DC power cable | 2 cables | 2 cables |
| Camera module (same type for wrist and head; each includes connection cable) | 2 units | 2 units |
| IKEA utility cart (large) | 1 set | 1 set |
| Caster wheels (without coupler) | 3 units | 3 units |
| Screws and nuts (M3 series) | 1 set | 1 set |

**Estimated DIY materials total:** We haven't verified the latest component prices, but Vector Wang's original XLeRobot estimate was **~$600 USD** -- excluding compute, power banks, 3M grip tape, TPU grippers, USB hubs, assembly costs, and shipping. Note that **Feetech servo prices have increased** since that estimate, so expect the actual total to be higher. Sum the table above at your purchase links for a current number.

### 3D Printed Parts

**Use the master `.3mf` (recommended).** We ship **one Bambu Studio project** in [`/3mf`](./3mf) that is **validated on Bambu Lab P1S, P2S, H2S, and H2D** -- the **same file we use internally** when we print parts for our own XLeRobots. It contains **every redesigned structural part** plus the **stock head and SO-101 arm servo mounts**, organized as **labeled build plates**, with **support settings and process parameters** already set.

**Filament:** **Esun PLA+** for all structural parts; **Bambu Lab TPU 90A** for the gripper parts (same as the [BOM](#bill-of-materials)).

**Other formats:** Individual **STL** files are coming soon for users on other printers or workflows.

**Printers:** The bundled `.3mf` targets **P1S, P2S, H2S, and H2D**.

#### Compute Enclosures

| Enclosure | Use Case |
| --------- | -------- |
| NVIDIA Jetson Nano | On-robot inference and control |

## Contributing

We welcome **PRs** and issues that improve real builds:

- Assembly documentation, wiring diagrams, and printable tweaks.
- New **enclosure** variants or mount plates for common peripherals.
- Integration notes (cameras, hubs, alternate carts) with test evidence.

Start a thread in **[Discord](https://discord.gg/pKsm95Qt)** for larger proposals, or open a focused issue/PR in this repo.

## About MakerMods

[MakerMods](https://makermods.ai) builds tools that make robotics and embodied AI accessible -- from **pre-assembled robots** and (soon) **curated kits** to **software** and **community** (see [Discord](https://discord.gg/pKsm95Qt)).

## Acknowledgments

- [Ryan Chan](https://github.com/RyanResolutions) ([X](https://x.com/Ryan_Resolution)) -- Directed the overall hardware upgrade design; USB hub mount.
- [Thomas Lei](https://github.com/mrthompsonpro) -- mechanical design for neck, **IKEA cart integration** (upper prints + related layout), power bank mount, and Jetson Nano enclosure *(historical credit; not active maintenance).*
- **Yuncheng Xu** -- Under-arm mounts and control board enclosures.
- [Vector Wang](https://github.com/Vector-Wangel) -- Original XLeRobot creator; collaborator on this upgrade.
- [Isaac Sin](https://github.com/IsaacSinn) ([X](https://x.com/IsaacSin12)) -- Hardware input and MakerMods software development.
- [Liu Qi](https://github.com/Lakesenberg) -- Hardware feedback.
- [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) -- Software and robot foundation.
- [LeRobot (Hugging Face)](https://github.com/huggingface/lerobot) -- Robotics framework.
- [SO-101](https://github.com/TheRobotStudio/SO-ARM100) -- Arm lineage used by XLeRobot.

### Maintainers

Active maintenance and product questions: **Ryan Chan** and **Isaac Sin** -- see [Contact](#contact) and [Discord](https://discord.gg/pKsm95Qt).

## License

This project is licensed under the [MIT License](./LICENSE).

## Contact

- **Website:** [makermods.ai](https://makermods.ai)
- **Email:** [ryan@makermods.ai](mailto:ryan@makermods.ai), [isaac@makermods.ai](mailto:isaac@makermods.ai)
- **Discord:** [Join our community](https://discord.gg/pKsm95Qt)
- **X (Twitter):** [@Ryan_Resolution](https://x.com/Ryan_Resolution), [@IsaacSin12](https://x.com/IsaacSin12)

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