AgiBot Lingxi X1 specs

Caveats · stated by the package

• LICENSING: agibot_x1_hardware and agibot_x1_train have no LICENSE file, so all rights are reserved by default. You may read and link the drawings, BOMs, SOP, URDF/MJCF and training code, but building from, modifying or redistributing those files is not licensed. Ask AgiBot for permission before selling kits or republishing CAD. Only agibot_x1_infer is open-licensed (Mulan PSL v2, MulanPSL-2.0).
• No upstream document has a price. The BOMs and toolkit list give quantities, materials and reference Taobao/Tmall/JD links only, so every line is unpriced. The AgiBot store (store.agibot.com.cn) is a JS app, and no X1 part listing or price could be verified there.
• Actuator counts conflict. The 2025-03-07 total BOM lists R86-2 x6, but the SOP says 9 R86-2 kits are needed, the 2024-10-24 BOM lists R86-2 x9, and the total BOM itself has 9 four-point-contact bearings and 9 bearing-ring sets (one per R86-2 kit). This package uses 9. That gives 29 joints (R86-2 x9, R86-3 x6, R52 x10, L28 x4) plus 2 grippers = 31, matching the 31 DoF on agibot.com.cn; the registry's 34 DoF is not backed by any upstream source.
• The per-joint actuator assignment (which PowerFlow model drives which leg and waist joint) is only shown in SOP photos and the x1_id diagram, not in text. Check it against the photos before ordering.
• Material/process conflicts between BOM revisions. The 2024-10-24 BOM specifies painted 3D-printed resin shells, while the 2025 total BOM says ABS (SLA is assumed here). The shank shells (左侧小腿-1/2 and mirror) and the waist PCB bracket are 6061 anodized in 2024 but ABS in 2025. The wrist cross shaft is 40Cr in 2024 but 17-4PH in 2025. Several fastener and pin quantities differ between the 2025-01-08 and 2025-03-07 BOMs; the 2025-03-07 total BOM is used.
• Custom parts without drawings: the ankle and waist linkage assemblies (6QUUU1-4), the rod ends (6FUU4K/6FUUBQ, PDF only) and the spherical bearings (6FUU4J) are AgiBot custom parts with no vendor. They are presumably in the structural pack.
• Battery spec is inconsistent: the 2024 BOM asks for a 48 V 8 Ah pack, '12S preferred', but the toolkit charger is 13S 54.6 V. Confirm pack chemistry and cell count before charging. The BOM gives no BMS or fuse.
• The router (GL.iNet MT2500A), the 5 V module, the 48-to-24 V wrist converters and the itemised cable list come only from the 2024-10-24 BOM. The 2025 total BOM drops them (the router bracket remains), so they may be obsolete.
• The assembly SOP is a Chinese .docx inside a zip, with about 640 photos; left/right differences are only shown in photos. The assembly and desk-bring-up videos are only on Baidu Netdisk (links with extraction codes in the repo's .txt files), which is hard to reach outside China.
• Actuator firmware and the Type-C host tool used for ID and run-mode setup are not published. The DCU product page linked in the infer docs (agibotmall.com) no longer resolves.
• The training URDF/MJCF in agibot_x1_train models only the 12 leg joints; arms, waist and grippers are fixed. There is no whole-body sim model. The train repo was last updated on 2024-10-23, and the hardware has changed twice since.
• The hardware repo has no README, and the large SolidWorks/STEP archives are split multi-part zips (.zip.001-.007, about 100 MB each). You need the whole set to extract them.