XLeRobot-Pro | Components

Bill of Materials (BOM)

Full hardware requirements for the standalone configuration.

Untethered Config

$1,247.27

Component	Qty	Cost (USD)
NVIDIA Jetson Orin Nano Super [18]	1	$249.00
microSD Card	1	$11.23
Anker 4-in-1 USB-C Hub	1	$14.99
Feetech STS-3215 Servos (12V) [21]	17	$271.83
Servo Wire: 50’ 3-Color	1	$15.97
Waveshare Serial Bus Servo Driver Board	2	$21.10
Anker SOLIX C300 Power Station [22]	1	$159.99
PLA Filament (3kg)	1	$45.00
M3 Screws and Nuts Set	1	$14.99
IKEA RÅSKOG Utility Cart	1	$39.99
4” Omni Wheels	3	$29.97
Intel RealSense D435	1	$333.75
USB-C to DC5521 Cable	1	$8.99
USB-C to DC5525 PD 140W Cable	1	$11.99
DC5521 Car Cigarette Lighter Cable	1	$9.49
USB-C to USB-C Cable (2 pcs)	1	$8.99
TOTAL Untethered XLeRobot-Pro		$1247.27

Note: The total includes the 3kg of PLA filament ($45.00). Prices are approximate and vary by retailer and region.

Specifications That Matter

The list above tells you what to buy. This one tells you what to check before you buy it — every row here is load-bearing, and substitutions have specific failure modes.

Item	Requirement	Why it matters
Jetson Orin Nano Super Devkit	8 GB, carrier P3768	67 TOPS class. 8 GB is workable, but RAM is the binding constraint under the vision stack.
microSD card	64 GB minimum, 128 GB advised, UHS-I, A2	The A2 random-IO rating is what keeps pip installs and model loads bearable. A full install lands near 50 GB, so 64 GB runs tight.
USB-serial adapters ×2	CH343 / CH9102 class (`1a86:55d3`)	One per bus. Each needs its own barrel-jack power — they drive the bus transceiver off the servo rail, not off USB.
Feetech STS3215 ×17	12 arm, 2 neck, 3 wheel	Wants 6–12 V. Below that they respond erratically or not at all — and give no visible sign of it.
Intel RealSense D435	USB 3.0	Bandwidth-hungry. Give it a port that is not shared with the motor adapters.
12 V supply	Several amps of headroom	Twelve arm servos are the largest aggregate load on the robot. A marginal supply carries three wheels fine and fails on the arm bus.
DisplayPort cable + USB keyboard	—	The carrier has DisplayPort, not HDMI. Needed for first boot only, but you cannot flash without it.
NVMe SSD (optional)	M.2 2280, M-key, PCIe Gen3	Only needed for dataset recording or on-device training. Not required for bring-up.

THE USB HUB IS NOT FOR THE MOTOR ADAPTERS. Both USB-serial adapters must plug directly into the Jetson. Behind a hub — especially one shared with the RealSense — they frequently fail to enumerate, which looks like a dead bus rather than a USB problem. Use the hub for keyboard and other low-bandwidth peripherals only.

BUILDING IN THE US? PLAN ON MAKING YOUR OWN SERVO CABLES. The long 3-pin servo cables that daisy-chain the motors together are hard to source domestically — most US listings only carry the short lengths that ship with the servos, and the long runs you need for the wheel base and the neck are usually import-only with slow shipping.

That is why the BOM includes bulk 3-conductor servo wire rather than a set of finished cables: expect to cut and crimp your own to length. Budget the extra time, and pick up spare 3-pin connectors and a crimping tool while you are ordering — making them is straightforward, but not something you want to discover mid-assembly.

3D-Printed Structure

About 90% of the chassis, arms, neck, and base are 3D-printed. The BOM above covers the filament; download the print files below and apply the Pro print settings.

Print Files

The full XLeRobot-Pro print set — every part laid out and ready to slice. Download the PrusaSlicer 3MF project, or a single STL of the whole model.

XLeRobot-Pro (3MF) ↓ XLeRobot-Pro (STL) ↓

You will need:

two SO-101 follower arms
the neck/head assembly
the omni-wheel base
a wrist-camera mount per arm

Print the soft finray gripper fingers in TPU95A.

TIP: Pre-dry PLA at ~45°C for 8 hours in humid environments. Wet filament causes stringing, weak layer adhesion, and poor thread/fit quality on structural parts.

Print Plates

The XLeRobot-Pro print set laid out across six build plates.

Print Settings

Start from your baseline PrusaSlicer profile (or a standard PLA profile), then change only the settings below. Parts were validated on a consumer printer (e.g. Bambu A1) in PLA; PETG and CF variants are optional strength upgrades.

Neck & Wheel Base

Structural parts requiring high rigidity.

Perimeters: 4
Top/bottom layers: 5–6
Infill: 25–35% Gyroid (use 35% for base connectors, motor mounts, neck structure)
Layer Height: 0.20 mm

Arm Joints (SO-101)

High dimensional accuracy required.

Perimeters: 4
Top/bottom layers: 5
Infill: 20–30% Gyroid (use 30% for joint housings, base/shoulder, clamp/camera-mount parts)
Layer Height: 0.16–0.20 mm (use 0.16 mm where fit/alignment is sensitive)

Use PLA for first-pass prototyping and fit checks
Prioritize part orientation for structural parts over cosmetic finish
Dry filament in high humidity for cleaner fit-up and thread quality
For soft finray-style fingers, use TPU95A

IMPORTANT: Print structural parts vertically where possible, so the filament rows (layer lines) run along the load direction for stronger parts.

NOTE: The wheel-base connector may need Z scaling only to balance the load across the omni-wheels and cart wheels. Do not uniformly scale the part.

TIP: Print two follower arms for the dual-arm build — leader arms are only needed for leader-follower teleop. Batch the wrist-camera mount and your preferred gripper variant with the arm prints.

Recommended: Bambu Lab A1 or Prusa i3 MK4 printing PLA Matte Black, with PETG HF / PLA CF as optional strength upgrades and TPU95A for soft finray fingers. Build order and assembly steps are in the Build Guide.

Hardware/Software Interface

Ensure your driver boards are properly recognized by the compute node before proceeding to calibration.

Port Verification

$ lerobot-find-port

[INFO] Scanning active USB interfaces...
[INFO] Found motor boards on /dev/ttyACM0 and /dev/ttyACM1

Hardware Components