Releases

Last update: 2025-09-07

Bill Of Materials (BOM)

Materials and Parts (BOM)

CAD Models

Berkeley Humanoid Lite	Onshape Link
6512 Actuator	Onshape Link
5010 Actuator	Onshape Link
USB-CAN Adapter Case	Onshape Link

3D Printing Project Files

Berkeley Humanoid Lite	Bambu Lab MakerWorld Link
6512 Actuator	Bambu Lab MakerWorld Link
5010 Actuator	Bambu Lab MakerWorld Link

Software Repositories

Main Project Repository

GitHub - HybridRobotics/Berkeley-Humanoid-Lite: Codebase for Berkeley Humanoid LiteGitHub

Robot Description Assets (URDF, MJCF, USD)

GitHub - HybridRobotics/Berkeley-Humanoid-Lite-Assets: A submodule of Berkeley Humanoid Lite ProjectGitHub

Low-level Control Code

GitHub - HybridRobotics/Berkeley-Humanoid-Lite-Lowlevel: A submodule of Berkeley Humanoid Lite ProjectGitHub

Firmware

GitHub - T-K-233/Recoil-Motor-Controller-BESCGitHub

Windows SteamVR Code for Teleoperation

GitHub - ucb-bar/SteamVR-Bridge: Codebase used for Berkeley Humanoid Lite teleoperation demonstration.GitHub

Release Log

2025-11-10 Fix incorrect joint limit values in "Joint ID Mapping" page.

2025-09-07 Fix missing Python locomotion instruction.

2025-09-03 Update robot description file generation instructions.

2025-08-23 Fix 3D print file on MakeWorld, replacing the wrong 5010-5010 housing part and add the missing limit stopper part; add instruction on mounting the magnet on motor shaft; update instruction for 3D printing.

2025-07-07 Fix motor calibration procedure description, add note for rotation direction.

2025-07-05 Add video instruction on ESC firmware configuration, motor calibration, and a demo code driving a single motor.

2025-06-28 Add more wiring instructions, IMU upgrade, and teleoperation instructions; add USB-CAN Adapter Onshape link.

2025-06-26 Add teleoperation code.

2025-06-13 Add instructions to set up environment with uv.

2025-06-09 Add robot wiring diagram, add instructions on connecting cables.

2025-05-29 Add missing 6803 bearing and M2 insert in the humanoid tab in BOM, update M4 hex standoff links.

2025-05-23 Fix incorrect bearing description in BOM (swapped MR106-2RS and 6701-2RS).

2025-05-21 Fix MakerWorld .3mf files of the 6512 actuator.

2025-04-28 Initial release.