UC Berkeley Humanoid Lite specs

Caveats · stated by the package

• Robot-level quantities for actuator internals (bearings, screws, inserts, ESCs, encoders) are computed as per-actuator qty from the 6512/5010 BOM tabs x actuator count (10 and 12). The humanoid tab itself lists actuators only as sub-assemblies.
• Prices come from the public Google Sheet as example reference prices (US Amazon/DigiKey in USD, CN Taobao/Tmall in RMB given as priceCny, not converted). The sheet total is $4,350.59, while the paper says $4,312 (US) and $3,236 (CN).
• The sheet's 'BNO085' line links to an Amazon listing titled GY-ICM20948V2, so the link does not match the part name. The docs now strongly recommend the Hiwonder IM10A USB IMU instead, but the IM10A is excluded from the sheet total.
• Misc fasteners ($40) and cables & connectors ($50 robot + $5 per actuator) are lump sums with no itemised list. XT30/XT60, WAGO connectors, 14/30 AWG silicone wire and heat shrink are named in the docs but not itemised.
• Print time and per-part grams are not published in the docs (the MakerWorld pages returned 403). The only mass figures are the sheet's 0.12 kg PLA per 6512 actuator and 0.10 kg per 5010, plus $100 of filament each for legs and arms.
• Assembly steps are mostly video-only (YouTube) for the actuator, arm, leg and full robot, so step bodies summarise the written text plus the video titles. Per-step minutes are not published; the paper gives about 3 days of assembly total.
• The AS5600 resistor modification is documented on an external page (notes.tk233.xyz/electrical/as5600-modification) that I did not retrieve.
• The on-board computer page says 'press XXXX' to enter BIOS (placeholder in the docs). Its script paths (berkeley_humanoid_lite_lowlevel/motor/ping.py) differ from the later scripts/motor/ping.py paths.
• USB-CAN case print qty (4) assumes one per adapter; the docs do not state a count.