Build & Calibration Guide
Consolidated instructions for print, assembly, wiring, and physical validation for the dual-arm XLeRobot platform.
1. Build Overview
This guide walks you through building an XLeRobot platform with 2x SO-101 follower arms, a neck assembly, omni-wheel base, and an NVIDIA Jetson compute node.
The 3-Bus Separation
We use three independent motor buses to simplify wiring and isolate power faults.
| Bus | Subsystem |
|---|---|
| Bus 1 | Left arm |
| Bus 2 | Right arm |
| Bus 3 | Neck and wheel base |
2. Print Settings
Parts were designed for consumer printers. Download the pre-configured XLeRobot Print Profiles (.3mf) ↗ to get started.
Neck & Wheel Base
Structural parts requiring high rigidity.
- Perimeters: 4
- Infill: 25-35% Gyroid
- Layer Height: 0.20 mm
Arm Joints (SO-101)
High dimensional accuracy required.
- Perimeters: 4
- Infill: 20-30% Gyroid
- Layer Height: 0.16-0.20 mm
3. Assembly
A) Cart & Wheel Base
Start with the IKEA RÅSKOG Assembly Manual ↗, then proceed to the Wheel-Base Integration Steps ↗.
B) Arms & Neck
Complete the SO-101 Follower Arm Assembly ↗. Crucial: Install wrist camera attachments before closing the wrist stack.
4. Motor Configuration & IDs
Configure motors using Bambot (GUI) ↗. ID assignment must be unique per bus.
| Bus | Recommended IDs | Mapping Notes |
|---|---|---|
| Bus 1 (Left Arm) | 1-6 | SO-101 follower mapping |
| Bus 2 (Right Arm) | 1-6 | Valid due to bus separation |
| Bus 3 (Neck & Wheels) | 7-11 | 7-8 Neck, 9-11 Wheels |
$ python lerobot/find_port.py
# Grant serial permissions on Linux
$ sudo chmod 666 /dev/ttyACM0
5. Hardware Calibration & Validation
Validate your physical assembly to ensure wiring is secure and IK accuracy is maintained.
A) Joint Control Sanity Check
B) Mechanical IK Calibration
Verify the gripper reaches the expected location. Check for loose servo horns if accuracy is low.
Hardware validated? Move on to software configuration.
Next Step: Software Setup ↗