lerobot-humanoid-hardware

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lerobot-humanoid-hardware

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# lerobot-humanoid-hardware

Hardware repository for **LeRobot Humanoid**.

This repo stores the practical build assets needed to reproduce the robot hardware:
- mechanical assembly documentation
- manufacturing files and notes
- electronics wiring and connector mapping
- bill of materials (BOM)
- motor pre-assembly commissioning tooling

## Current scope

- `IN`: biped platform hardware
- `OUT` (for now): upper-body hardware

The Onshape document currently contains an upper-body model as well, but this repository iteration tracks only the biped platform assets.

## CAD source of truth

Primary CAD source (Onshape):
- **Public Onshape CAD (open this first):** https://cad.onshape.com/documents/fb645318a27646d1d8840be6/w/d1cae8805fb652b4d1614997/e/804a1da43f242001a05129b4

Referenced IDs:
- Document ID: `fb645318a27646d1d8840be6`
- Workspace ID: `d1cae8805fb652b4d1614997`
- Element ID: `804a1da43f242001a05129b4`

## Repository layout

- `docs/`: architecture, guides, and procedures
- `hardware/cad/`: Onshape source reference and exported STL geometry
- `hardware/bom/`: BOM in machine-readable and human-readable formats
- `hardware/config/`: motor commissioning utilities
- `hardware/electronics/`: wiring and connector mapping

## CAD organization

`hardware/cad/stl/` is split by side and subassembly:
- `biped_platform/left_leg/{hipx,hipz,thigh,knee_mechanism,shin,ankle_mechanism,ankle,foot}`
- `biped_platform/right_leg/{hipx,hipz,thigh,knee_mechanism,shin,ankle_mechanism,ankle,foot}`
- `biped_platform/torso`

This mirrors the assembly view and makes part export placement explicit.

## Runtime integration

Runtime repository (robot model and control runtime) lives in:
- https://github.com/Virgileboat/lerobot-humanoid-runtime

Motor commissioning script in this repo is self-contained and does **not** depend on `robstride_toolkit`.

Main scripts:
- `hardware/config/commission_motor.py`

## Start Sequence (Human + Agent)

Use this preferred order to start a new build:

1. Order all buy parts from `hardware/bom/bom_buy.csv` first.
2. Print all required STL parts from `docs/manufacturing/printing_guide.md`.
3. Commission and check every motor before assembly:
   - `docs/electronics/motor_commissioning.md`
   - `python hardware/config/commission_motor.py wizard --channel can0`
4. Assemble mechanical subassemblies using `docs/assembly/assembly_guide.md`.
5. Run wiring and first power-on checks:
   - `docs/electronics/check_wiring.md`
   - `docs/electronics/first_power_on.md`

Important rule:
- Do not start mechanical assembly before motor protocol/ID commissioning and motion check are completed.

## Support

If you are blocked on build, printing, electronics, or assembly details:
- contact: `virgilebatto@gmail.com`

## Working model

1. Modify design in Onshape.
2. Export manufacturing/build assets to this repository.
3. Update BOM/config/docs in the same commit.
4. Keep all biped-platform changes traceable to a CAD revision.

## BOM Split (Robot Qty)

### STL BOM

| Subassembly | STL files to print |
|---|---:|
| torso | 7 |
| hipx | 2 |
| hipz | 4 |
| thigh | 6 |
| knee_mechanism | 6 |
| shin | 12 |
| ankle_mechanism | 16 |
| ankle | 10 |
| foot | 12 |
| **Total** | **75** |

Detailed STL names and quantities:
- [Printing guide](docs/manufacturing/printing_guide.md)
- [BOM total (clickable STL rows)](hardware/bom/bom.md)
- [BOM CSV (`category=stl_print`)](hardware/bom/bom.csv)

### Bearing/Revolute BOM

| Name | Specification | Qty (robot) |
|---|---|---:|
| Bearing | 35x72x17 | 4 |
| Bearing | 15x21x4 | 14 |
| Bearing | 5x16x5 | 8 |
| Spherical joint 27628-01-05 | Norelem | 8 |

### Axis BOM

| Name | Specification | Qty (robot) | Usage |
|---|---|---:|---|
| Shoulder screw 07534-05X40 | ISO7379, D1=5, L1=40, B=8, M4, SW=2.5, steel 12.9 | 4 | thigh (2) + ankle (2) |
| Shoulder screw 07534-05X20 | ISO7379, D1=5, L1=20, B=8, M4, steel 12.9 | 8 | ankle_mechanism (8) |

### Screw BOM

| Name | Specification | Qty (robot) |
|---|---|---:|
| M2 screw | M2 x 5 cyl head | 4 |
| M2.5 screw | M2.5 x 20 cyl head | 9 |
| M2.5 screw | M2.5 x 6 cyl head | 6 |
| M2.5 screw | M2.5 x 8 cyl head | 24 |
| M3 screw | M3 x 8 cyl head | 18 |
| M3 screw | M3 x 10 cyl head | 48 |
| M3 screw | M3 x 12.5 cyl head | 6 |
| M3 screw | M3 x 17.5 cyl head | 8 |
| M4 screw | M4 x 8 cyl head | 36 |
| M4 screw | M4 x 10 cyl head | 42 |
| M4 screw | M4 x 16 cyl head | 16 |
| M4 screw | M4 x 18 cyl head | 32 |
| M4 screw | M4 x 20 cyl head | 32 |
| M4 screw | M4 x 23.5 cyl head | 8 |
| M4 screw | M4 x 40 cyl head | 12 |
| M4 screw | M4 x 45 cyl head | 18 |
| M5 screw | M5 x 10 cyl head | 5 |
| M5 screw | M5 x 15 cyl head | 8 |

## Cost estimate (Biped Platform, April 30 2026)

Scope of this estimate:
- all buy items in `hardware/bom/bom_buy.csv`
- plus PLA+ filament for printing (`~3.5 kg` used for estimate, target range `3-4 kg`)

Assumptions:
- currency: `USD`
- prices are indicative and vendor-dependent
- excludes shipping, import duties, and local taxes
- fastener prices use bulk-piece estimates
- EUR-priced references converted with `1 EUR = 1.1691 USD` (snapshot on `May 5, 2026`)
- `hipx` M3 screw line is optional and can be removed without issue

| Subassembly | Category | Name | Specification | Qty (robot) | Unit est. (USD) | Subtotal est. (USD) |
|---|---|---|---|---:|---:|---:|
| torso | electronics_controller | Raspberry Pi 5 | single-board computer | 1 | 130.00 | 130.00 |
| torso | electronics_imu | IMU | BNO055 or BNO085 | 1 | 64.00 | 64.00 |
| torso | electronics_canfd_adapter | SAVVYCANFD 2CH CANFD adapter | USB, dual CAN FD, 12 Mbps max | 1 | 59.00 | 59.00 |
| torso | cable_power | Power cable red | diameter >= 2.5 mm, 5 m | 1 | 15.00 | 15.00 |
| torso | cable_power | Power cable black | diameter >= 2.5 mm, 5 m | 1 | 15.00 | 15.00 |
| torso | cable_communication | Communication cable color 1 | 5 m | 1 | 8.00 | 8.00 |
| torso | cable_communication | Communication cable color 2 | 5 m | 1 | 8.00 | 8.00 |
| torso | motor | RobStride O0 | actuator | 2 | 125.00 | 250.00 |
| torso | fastener_screw | M2 screw | M2 x 5 cyl head | 4 | 0.10 | 0.40 |
| torso | fastener_screw | M2.5 screw | M2.5 x 20 cyl head | 9 | 0.12 | 1.08 |
| torso | fastener_screw | M3 screw | M3 x 8 cyl head | 12 | 0.10 | 1.20 |
| torso | fastener_screw | M4 screw | M4 x 20 cyl head | 16 | 0.14 | 2.24 |
| torso | fastener_screw | M5 screw | M5 x 10 cyl head | 5 | 0.20 | 1.00 |
| hipx | fastener_screw | M3 screw | M3 x 8 cyl head | 6 | 0.10 | 0.60 |
| hipx | fastener_screw | M4 screw | M4 x 40 cyl head | 12 | 0.17 | 2.04 |
| hipx | fastener_screw | M4 screw | M4 x 45 cyl head | 18 | 0.20 | 3.60 |
| hipx | fastener_screw | M4 screw | M4 x 8 cyl head | 16 | 0.10 | 1.60 |
| hipz | motor | RobStride O2 | actuator | 2 | 145.00 | 290.00 |
| hipz | bearing | Bearing | 35x72x17 | 4 | 8.27 | 33.08 |
| hipz | fastener_screw | M4 screw | M4 x 10 cyl head | 16 | 0.11 | 1.76 |
| hipz | fastener_screw | M4 screw | M4 x 20 cyl head | 16 | 0.14 | 2.24 |
| thigh | motor | RobStride O3 | actuator | 4 | 225.00 | 900.00 |
| thigh | bearing | Bearing | 15x21x4 | 2 | 3.00 | 6.00 |
| thigh | bearing | Bearing | 5x16x5 | 4 | 1.87 | 7.48 |
| thigh | fastener_screw | M2.5 screw | M2.5 x 6 cyl head | 6 | 0.09 | 0.54 |
| thigh | fastener_screw | M4 screw | M4 x 10 cyl head | 8 | 0.11 | 0.88 |
| thigh | fastener_screw | M4 screw | M4 x 23.5 cyl head | 8 | 0.16 | 1.28 |
| thigh | fastener_screw | M4 screw | M4 x 8 cyl head | 20 | 0.10 | 2.00 |
| thigh | fastener_axis | Shoulder screw 07534-05X40 | ISO7379, D1=5, L1=40, B=8, M4, SW=2.5, steel 12.9 | 2 | 8.18 | 16.36 |
| knee_mechanism | bearing | Bearing | 15x21x4 | 4 | 3.00 | 12.00 |
| knee_mechanism | fastener_screw | M3 screw | M3 x 12.5 cyl head | 6 | 0.11 | 0.66 |
| knee_mechanism | fastener_screw | M4 screw | M4 x 16 cyl head | 16 | 0.12 | 1.92 |
| shin | motor | RobStride O5 | actuator | 4 | 110.00 | 440.00 |
| shin | bearing | Bearing | 15x21x4 | 8 | 3.00 | 24.00 |
| shin | fastener_screw | M2.5 screw | M2.5 x 8 cyl head | 6 | 0.10 | 0.60 |
| shin | fastener_screw | M3 screw | M3 x 17.5 cyl head | 8 | 0.12 | 0.96 |
| shin | fastener_screw | M3 screw | M3 x 10 cyl head | 48 | 0.10 | 4.80 |
| shin | fastener_screw | M4 screw | M4 x 18 cyl head | 32 | 0.14 | 4.48 |
| shin | fastener_screw | M4 screw | M4 x 10 cyl head | 18 | 0.11 | 1.98 |
| shin | fastener_nut | Nut M4 | M4 nut | 6 | 0.08 | 0.48 |
| shin | fastener_insert | Heat-set insert M3 | brass threaded insert M3 | 8 | 0.10 | 0.80 |
| ankle_mechanism | fastener_screw | M5 screw | M5 x 15 cyl head | 8 | 0.24 | 1.92 |
| ankle_mechanism | joint_spherical | Spherical joint 27628-01-05 | Norelem | 8 | 20.93 | 167.44 |
| ankle_mechanism | fastener_axis | Shoulder screw 07534-05X20 | ISO7379, D1=5, L1=20, B=8, M4, steel 12.9 | 8 | 6.35 | 50.80 |
| ankle | fastener_screw | M2.5 screw | M2.5 x 8 cyl head | 12 | 0.10 | 1.20 |
| ankle | fastener_axis | Shoulder screw 07534-05X40 | ISO7379, D1=5, L1=40, B=8, M4, SW=2.5, steel 12.9 | 2 | 8.18 | 16.36 |
| foot | bearing | Bearing | 5x16x5 | 4 | 1.87 | 7.48 |
| foot | fastener_screw | M2.5 screw | M2.5 x 8 cyl head | 6 | 0.10 | 0.60 |
| foot | fastener_nut | Nut M4 | M4 nut | 6 | 0.08 | 0.48 |
| assembly_pins | fastener_pin | Pin d3mm | d3 pin (goupille) | 8 | 0.45 | 3.60 |
| assembly_pins | fastener_pin | Pin d4mm | d4 pin (goupille) | 18 | 0.55 | 9.90 |
| tools | tool | Allen key | 2.5 mm | 1 | 3.00 | 3.00 |
| manufacturing | consumable_filament | PLA+ filament | ~3.5 kg total (target range 3-4 kg) | 1 | 56.00 | 56.00 |

| Cost block | Estimate (USD) |
|---|---:|
| ankle subtotal | 17.56 |
| ankle_mechanism subtotal | 220.16 |
| assembly_pins subtotal | 13.50 |
| foot subtotal | 8.56 |
| hipx subtotal | 7.84 |
| hipz subtotal | 327.08 |
| knee_mechanism subtotal | 14.58 |
| shin subtotal | 478.10 |
| thigh subtotal | 934.54 |
| tools subtotal | 3.00 |
| torso subtotal | 554.92 |
| BOM-to-buy subtotal (without filament) | 2579.84 |
| PLA+ subtotal (~3.5 kg) | 56.00 |
| **Estimated total** | **2635.84** |

Price anchors used for key components:
- RobStride official site (motors): https://www.robstride.com/
- RobStride official product information: https://github.com/RobStride/Product_Information
- Raspberry Pi 5 (8GB): https://www.sparkfun.com/products/23551
- IMU BNO085: https://www.ardusimple.com/product/adafruit-9-dof-orientation-imu-fusion-breakout-bno085/
- SAVVYCANFD adapter: https://www.pibiger-tech.com/product/savvycan-fd-c/
- Bearing 5x16x5 reference price (123roulement): https://www.123roulement.com/roulement-palier/roulement-bille/simple-rangee/625-zz
- Bearing 35x72x17 reference price (123roulement): https://www.123roulement.com/roulement-palier/roulement-bille/simple-rangee/6207
- Norelem shoulder screw series 07534 (axis refs 07534-05X20 / 07534-05X40): https://www.norelem.fr/fr/Aper%C3%A7u%2Bdu%2Bproduit/Syst%C3%A8me-flexible-de-pi%C3%A8ces-standardis%C3%A9es/07000/%C3%89crous-vis-rondelles-%C3%A9l%C3%A9ments-de-fixation/Vis-rectifi%C3%A9e-%C3%A0-%C3%A9paulement-similaire-ISO-7379/p/agid.27418
- Norelem rod end series 27628 (spherical joint ref 27628-01-05): https://www.norelem.fr/en/Product-overview/Systems-and-components-for-machine-and-plant-construction/27000/Rod-ends/Rod-ends-with-plain-bearing-internal-thread-DIN-ISO-12240-4/p/agid.5144
- PLA+ reference price: https://us.elegoo.com/products/elegoo-rapid-pla-plus-filament-1-75mm-colored-1kg

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