# SIGRobotics-UIUC/LeKiwi

LeKiwi - Low-Cost Mobile Manipulator

Repository: https://github.com/SIGRobotics-UIUC/LeKiwi
Canonical: https://ross.abutalabs.com/products/lekiwi
License: Apache-2.0
License Family: permissive
Last push: 2026-08-05T09:25:59+00:00

## Health v2 (maintenance only)
Score: 64/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 96, release rhythm 35, longevity 41
- inputs: {"age_days": 575, "days_push": 28, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1393, forks 154 (observed 2026-08-28T04:04:36.169865+00:00)

## What it is
LeKiwi is an open-source, low-cost mobile manipulator robot combining a 3-wheel holonomic drive base with the SO-ARM101 robot arm. It provides hardware designs (CAD, BOM, assembly guides), a URDF for simulation, and software for teleoperation and data collection integrated with LeRobot.

## Use cases
- build a low-cost mobile manipulator robot
- teleoperate a mobile robot arm with a controller or keyboard
- collect robot demonstration data for imitation learning
- simulate a mobile manipulator using a URDF
- assemble a 3D-printed robot from a bill of materials
- stream camera feeds and joint angles from a robot

## When to choose
- you want an affordable open-source mobile manipulation platform
- you are doing robotics research or learning with LeRobot
- you need a teleoperated robot for data collection

## When to avoid
- you need an industrial-grade or high-payload manipulator
- you want a fully assembled commercial robot with support
- you need closed-loop high-precision motion control

## Facets
- artifact type: learning-resource
- maturity: active
- function: robotics, simulation, developer-tools
- domain: robotics, hardware, tutorials
- platform: python, embedded
- tags: mobile-manipulator, open-hardware, 3d-printing, teleoperation, lerobot, robot-arm, holonomic-drive, raspberry-pi, data-collection, linux

## Member repositories
- SIGRobotics-UIUC/LeKiwi (main) score 64

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:36.169865+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:39:28.232739+00:00, confidence not recorded.
  - readme: https://github.com/SIGRobotics-UIUC/LeKiwi (fetched 2026-08-28T04:04:36.169865+00:00, sha f10076b08d88)
- Data as of 2026-08-30T08:39:29.467469+00:00.