# Seeded by Robotheca from the repository at the pinned commit (2026-10-04).
format_version: "0.1"
name: LeKiwi
summary: A low-cost mobile manipulator, a 3D-printed omnidirectional base carrying an SO-101 arm, a Raspberry Pi 5 and cameras, for LeRobot teleoperation.
category: rover
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/SIGRobotics-UIUC/LeKiwi
  ref: efa608d7ee5a495a4803b1d28cd0c955b4f1e033
# BOM.md, 12V version with the SO-101 arm pair: €545.8 (3D printing not included)
estimated_cost: { amount: 545.8, currency: EUR }
# README: assembly "2 hours", printing "~34 hours"
build_time_hours: 2
print_time_hours: 34
tools: ["3D printer"]
files:
  urdf: URDF/LeKiwi.urdf
  parts_3d: 3DPrintMeshes/
  bom: BOM.md
  docs: Assembly.md
  images: ["media/lekiwi_real.jpg"]
software:
  framework: lerobot
build_steps:
  - { title: Get the parts, doc: BOM.md }
  - { title: Print the parts, doc: 3DPrinting.md }
  - { title: Assemble the robot, hours: 2, doc: Assembly.md }
  - { title: Set up the software and calibrate with LeRobot, url: "https://huggingface.co/docs/lerobot/lekiwi" }
tested:
  on_hardware: true