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
• BOM total (clickable STL rows)
• BOM CSV (category=stl_print)

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