Assembly

Build the robot as bench subassemblies, in this order, then join them:

1. Leg ×2.
2. Arm ×2.
3. Torso and waist.
4. Head and camera gimbal: two camera columns.
5. Gripper ×2.
6. Final integration.

Then Electrical and Bring-up.

Torso, legs and arms assembled; the two camera columns and two grippers lifted off.

Find a part on the robot

Every exploded view below is followed by its parts table. Label is the number drawn on the figure and the Team ref of the Bill of materials; Part ID is the file name on CAD downloads. Click Preview in a row to see the part on the robot.

X Y Z

Show all Colours are the Fusion appearanceshovered rowselected on the modelselected row

Axes are the STEP file axes (right-handed, Z up).

Leg

One leg, hip to foot: six RobStride joints in a chain of machined brackets and shafts. Build two; the second is the mirror of the first.

At a glance

• You will: set six IDs, build the hip (three joints), then the knee, shank, ankle and foot, then fit the covers.
• Before this: nothing; the leg is the first subassembly.

1Set the six actuator IDs

Set and label each ID on the bench, one actuator at a time. All six joints of a leg share one CAN bus.

Joint	Actuator	ID left / right	Bus left / right
hip_1 (pitch)	RobStride 03	31 / 41	can24 / can23
hip_2 (roll)	RobStride 03	32 / 42	can24 / can23
hip_3 (yaw)	RobStride 03	33 / 43	can24 / can23
knee	RobStride 04	34 / 44	can24 / can23
ankle_1 (pitch)	RobStride 03	35 / 45	can24 / can23
ankle_2 (roll)	RobStride 06	36 / 46	can24 / can23

✅ Check: each actuator answers alone at its ID and carries its label.

Hip

Hip pitch and hip roll, body outward: brackets and retainers C4–C8, actuators E3, bearings H0. The unlabelled actuator at the top, marked Body, is the waist actuator (E3) of the torso.

Label	Part ID	Description	Qty per robot
C4	CNC_leg03_RS03_shaft_bearing_retainer	Robstride 03 Bearing Retainer	5
C5	CNC_leg02_RS03_shaft_coupler	Robstride 03 Output Shaft	7
C6	CNC_leg01_hip_center_back	Hip 1 Motor Bracket	2
C7	CNC_leg04_hip_roll_front_bearing_retainer	Hip 2 Motor Bracket	2
C8	CNC_leg05_hip_roll_back_bearing_retainer	Hip 2 Bearing Retainer	2
E3	ACT_RS03	RobStride 03 quasi-direct-drive actuator	11
H0	FAS_BEARING_45X58X7	Ball bearing, 45 x 58 x 7 mm	13

The pelvis block: waist actuator in the middle, hip pitch and hip roll on each side. Click to pause; drag the bar to scrub.

2Build the hip-pitch joint

Bolt the actuator (E3) into the bracket (C6). Fit the output shaft (C5) on the output and the bearing (H0) in its retainer (C4) on the far side.

✅ Check: turns freely, even drag, no axial play.

3Build the hip-roll joint

Bolt the actuator (E3) into the front bracket (C7). Fit the output shaft (C5) on the output; seat the bearing (H0) in the back retainer (C8). Make both retainers concentric before tightening.

✅ Check: turns end to end without binding, equal drag both ways, no axial play.

Knee, shank, ankle and foot

Hip yaw down to the foot: machined parts C4, C5 and C9–C21, actuators E3, E4 and E6, bearings H0–H3.

Label	Part ID	Description	Qty per robot
C4	CNC_leg03_RS03_shaft_bearing_retainer	Robstride 03 Bearing Retainer	5
C5	CNC_leg02_RS03_shaft_coupler	Robstride 03 Output Shaft	7
C9	CNC_leg06_hip_roll_output_shaft	Hip 3 Output Shaft	2
C10	CNC_leg07_hip_roll_support_shaft	Hip 3 Supporting Shaft	2
C11	CNC_leg08_knee_front_bearing_retainer	Knee Motor Bracket	2
C12	CNC_leg09_knee_motor_back_cover	Knee Bearing Retainer	2
C13	CNC_leg10_knee_output_shank	Shank Shaft	2
C14	CNC_leg11_knee_support_shank	Shank Support	2
C15	CNC_leg12_lower_leg_bearing	Shank Joint Cap	4
C16	CNC_leg13_ankle_pitch_front	Ankle Motor Bracket	2
C17	CNC_leg14_ankle_pitch_back	Ankle Bearing Retainer	2
C18	CNC_leg15_RS06_shaft_bearing_retainer	Robstride 06 Bearing Retainer	2
C19	CNC_leg16_ankle_roll_output_shaft	Foot Shaft	2
C20	CNC_leg17_ankle_roll_support_shaft	Foot Support	2
C21	CNC_leg18_foot_plate	Foot	2
E3	ACT_RS03	RobStride 03 quasi-direct-drive actuator	11
E4	ACT_RS04	RobStride 04 quasi-direct-drive actuator	2
E6	ACT_RS06	RobStride 06 quasi-direct-drive actuator	2
H0	FAS_BEARING_45X58X7	Ball bearing, 45 x 58 x 7 mm	13
H1	FAS_BEARING_50X65X7	Ball bearing, 50 x 65 x 7 mm	2
H2	FAS_BEARING_35X44X5	Ball bearing, 35 x 44 x 5 mm	18
H3	FAS_BEARING_35X47X7	Ball bearing, 35 x 47 x 7 mm	4

The leg below the pelvis: hip yaw, knee, the two shank links, ankle pitch, ankle roll, foot. Click to pause; drag the bar to scrub.

4Build the hip-yaw joint

Fit the output shaft (C9) on the actuator (E3) output and the support shaft (C10) over the bearing on the other side; the output shaft (C5) and retainer (C4) sit on the actuator as in step 2.

✅ Check: the three hip joints move independently, nothing touches.

5Build the knee joint

Bolt the actuator (E4) into the bracket (C11); fit the bearing retainer (C12) with its bearing on the back.

✅ Check: turns freely, no axial play; the retainer sits without a gap.

6Join the shank to the knee

Bolt the shank shaft (C13) to the knee output and the shank support (C14) to the far side; close each shank joint with a cap (C15).

✅ Check: the knee still turns freely.

7Build the ankle-pitch joint

Bolt the actuator (E3) into the bracket (C16); fit the output shaft (C5), the retainer (C4) with its bearing, and the back retainer (C17).

✅ Check: no axial play; clears the shank at both ends of travel.

8Build the ankle-roll joint

Bolt the actuator (E6) with its retainer (C18); fit the foot shaft (C19) on the output and the foot support (C20) over the bearing on the other side. Make both shaft ends concentric before tightening.

✅ Check: no axial play; pitch and roll never collide.

9Fit the foot

Bolt the foot (C21) to the foot shaft and support.

✅ Check: at ankle zero the foot sits flat.

Covers

Printed TPU covers P20–P32, hip to sole.

Label	Part ID	Description	Qty per robot
P20 / P21 / P24 / P25	3DP_legP01_hip3_cover_a 3DP_legP02_hip3_cover_b 3DP_legP03_hip3_cover_c 3DP_legP04_hip3_cover_d	Hip-yaw cover A / Hip-yaw cover B / Hip-yaw cover C / Hip-yaw cover D	8
P22 / P23	3DP_legP05_hip2_cover_a 3DP_legP06_hip2_cover_b	Hip-roll cover A / Hip-roll cover B	4
P26 / P27	3DP_legP07_knee_cover_a 3DP_legP08_knee_cover_b	Knee cover A / Knee cover B	4
P28	3DP_legP09_shank_cover_a 3DP_legP10_shank_cover_b	Shank cover A / Shank cover B	4
P29 / P30	3DP_legP11_ankle_cover_a 3DP_legP12_ankle_cover_b	Ankle cover A on the ankle-roll motor / Ankle cover B on the ankle-roll motor	4
P31	3DP_leg20_foot_front	Foot front cap	2
P32	3DP_leg19_sole	Foot sole	2

10Route the harness and fit the covers

Run the leg's CAN chain and power branch from the foot up to the hip, leaving the tail free at the hip for Final integration; then fit the covers, sole (P32) and foot front (P31).

✅ Check: all six joints move through their travel with no cable stretched or pinched; nothing rattles.

Build the second leg

Repeat steps 2–10. The legs are mirrors: every A cover swaps with its B cover (P20/P21, P22/P23, P24/P25, P26/P27, P29/P30).

Arm

One seven-joint arm, shoulder to wrist. Build two; the second is the mirror of the first. Grippers go on in Final integration.

At a glance

• You will: set seven IDs, build shoulder, elbow and wrist, then fit the covers.
• Before this: Leg.

1Set the seven actuator IDs

Set and label each ID on the bench, one actuator at a time. shoulder_1 is on the torso bus can22, not the arm's own bus.

Joint	Actuator	ID left / right	Bus left / right
shoulder_1 (pitch)	RobStride 03	10 / 20	can22 / can22
shoulder_2 (roll)	RobStride 06	11 / 21	can9 / can21
shoulder_3 (yaw)	RobStride 02	12 / 22	can9 / can21
elbow	RobStride 02	13 / 23	can9 / can21
wrist_1 (roll)	RobStride 02	14 / 24	can9 / can21
wrist_2 (pitch)	RobStride 00	15 / 25	can9 / can21
wrist_3 (yaw)	RobStride 05	16 / 26	can9 / can21

✅ Check: each actuator answers alone at its ID and carries its label.

Shoulder, elbow and wrist

The right arm, body outward to the wrist: machined parts C5 and C22–C29, printed parts P4–P8, actuators E1, E2, E5 and E6, bearings H2 and H4. The unlabelled actuator at the top left, marked Body, is the shoulder-pitch actuator (E3), seated in the torso side plate.

Label	Part ID	Description	Qty per robot
C5	CNC_leg02_RS03_shaft_coupler	Robstride 03 Output Shaft	7
C22	CNC_arm01_shoulder_roll_front_bearing	Shoulder Motor Bracket	2
C23	CNC_arm02_shoulder_roll_back_bearing	Shoulder Bearing Retainer	2
C24	CNC_arm03_shoulder_roll_output_shaft	Shoulder Shaft	2
C25	CNC_arm04_shoulder_roll_support_shaft	Shoulder/Elbow Support	4
C26	CNC_arm09_elbow_output_shaft	Elbow Shaft	2
C27	CNC_arm10_r03_back_cover	Shoulder/Elbow Coupler	4
C28	CNC_arm07_elbow_front_bearing	Elbow Motor Bracket	2
C29	CNC_arm08_elbow_back_bearing	Elbow Bearing Retainer	2
P4	3DP_arm05_RS02_shaft_bearing_retainer	RS02 shaft bearing retainer	4
P5	3DP_arm06_RS02_shaft_coupler	RS02 shaft coupler (with M3 heat-set inserts)	2
P6	3DP_arm11_wrist_roll	Wrist-roll link	2
P7	3DP_arm14_wrist_block	Wrist block	1
P8	3DP_arm15_end_effector_attachment	End-effector attachment between wrist and gripper	2
E1	ACT_RS00	RobStride 00 quasi-direct-drive actuator	2
E2	ACT_RS02	RobStride 02 quasi-direct-drive actuator	6
E5	ACT_RS05	RobStride 05 quasi-direct-drive actuator	6
E6	ACT_RS06	RobStride 06 quasi-direct-drive actuator	2
H2	FAS_BEARING_35X44X5	Ball bearing, 35 x 44 x 5 mm	18
H4	FAS_BEARING_30X37X4	Ball bearing, 30 x 37 x 4 mm	2

Shoulder pitch to wrist. Shoulder roll and elbow each sit in a two-plate yoke, one bearing per plate. Click to pause; drag the bar to scrub.

2Build the shoulder-pitch joint

The actuator (E3) sits in the torso side plate, output outward. Fit the output shaft (C5) on the output and the coupler (C27) over it: the arm hangs from this coupler.

✅ Check: turns freely, no axial play.

3Build the shoulder-roll joint

Bolt the actuator (E6) into the bracket (C22). Fit the shoulder shaft (C24) on the output and the support shaft (C25) over the bearing (H2) in the retainer (C23). Make both sides concentric before tightening.

✅ Check: turns end to end, equal drag both ways, no axial play.

4Build the shoulder-yaw joint

Fit the actuator (E2) with its shaft cover (P4) and bearing (H2).

✅ Check: the three shoulder joints move independently, nothing touches.

5Build the elbow joint

Bolt the actuator (E2) into the bracket (C28). Fit the elbow shaft (C26) on the output through the coupler (P5) and cover (C27); fit the support shaft (C25) over the bearing (H2) in the retainer (C29).

✅ Check: no axial play; clears the upper arm at both ends of travel.

6Build the wrist-roll joint

Fit the actuator (E2) with its shaft cover (P4); bolt the wrist shaft (P6) to the output.

✅ Check: turns freely, no axial play.

7Build the wrist-pitch joint

Seat the actuator (E1) in the wrist housing (P7 on the right arm, P9 on the left) with its bearing (H4).

✅ Check: no binding; clears the wrist-roll body at both ends of travel.

8Build the wrist-yaw joint

Fit the actuator (E5) and bolt the wrist output (P8) to it. The gripper bolts to this output.

✅ Check: the three wrist axes move together without contact.

Covers

Printed TPU covers P33–P39, shoulder to wrist.

Label	Part ID	Description	Qty per robot
P33 / P34	3DP_armP07_shoulder_cover_e 3DP_armP08_shoulder_cover_f	Shoulder cover E / Shoulder cover F	4
P35 / P36	3DP_armP09_shoulder_yaw_cover_a 3DP_armP10_shoulder_yaw_cover_b 3DP_armP11_shoulder_yaw_cover_c	Shoulder-yaw cover A / Shoulder-yaw cover B / Shoulder-yaw cover C: the own body of the Fusion shoulder_yaw_protection cover group (role not labelled in CAD)	8
P37 / P38	3DP_armP01_elbow_cover_a 3DP_armP02_elbow_cover_b	Elbow cover, half A / Elbow cover, half B	4
P39	3DP_armP03_shoulder_cover_a 3DP_armP04_shoulder_cover_b 3DP_armP05_shoulder_cover_c 3DP_armP06_shoulder_cover_d	Shoulder cover A / Shoulder cover B / Shoulder cover C / Shoulder cover D	8

9Route the harness and fit the covers

Run three cable groups down the arm — can22 to shoulder_1, the arm bus to the other six joints, and the gripper servo cable to the wrist — leaving the tails free at the shoulder for Final integration; then fit the covers.

✅ Check: all seven joints move through their travel with no cable stretched or pinched; nothing rattles.

Build the second arm

The left arm: the same chain with the left wrist housing P9 in place of P7.

Label	Part ID	Description	Qty per robot
P9	3DP_arm14_wrist_block	Wrist block	1

Repeat steps 2–9 with the left IDs, the left wrist housing (P9) and every A cover swapped with its B cover (P33/P34, P37/P38).

Torso and waist

The torso: a machined plate frame carrying the waist actuator, both shoulder-pitch actuators, the electronics and the battery packs, closed by printed covers.

At a glance

• You will: build the frame, seat the three actuators, mount the electronics and packs, fit the covers.
• Before this: Arm.

1Set the waist actuator ID

Joint	Actuator	ID	Bus
waist	RobStride 03	1	can22 (shared with both shoulder_1)

✅ Check: answers at ID 1; labelled.

Frame

The frame: plates C0–C3, interior plate P0, actuators E3, bearings H0.

Label	Part ID	Description	Qty per robot
C0	CNC_body03_top_plate	Body Plate - Top	1
C1	CNC_body01_bottom_plate	Body Plate - Bottom	1
C2	CNC_body02_side_plate	Body Plate - Side	2
C3	CNC_body04_front_plate	Body Plate - Front/Back	4
P0	3DP_body05_interior_plate	Torso interior plate (carries the electronics)	1
E3	ACT_RS03	RobStride 03 quasi-direct-drive actuator	11
H0	FAS_BEARING_45X58X7	Ball bearing, 45 x 58 x 7 mm	13

Plates, interior plate, both shoulder-pitch actuators and the waist actuator. Click to pause; drag the bar to scrub.

2Assemble the plate frame

Bolt the two side plates (C2) and the four front/back plates (C3) to the bottom plate (C1); fit the interior plate (P0). Square the frame before anything goes in: every limb and camera references it.

✅ Check: flat on a surface plate, square, no racking when pushed.

3Seat the waist actuator

Seat the actuator (E3) in the bottom plate's round opening, driver board up, output down into the pelvis, with its output shaft (C5), retainer (C4) and bearing (H0) as on the hip joints.

✅ Check: turns freely, no axial play; square to the pelvis at zero.

4Seat the shoulder-pitch actuators and fit the top plate

Seat one shoulder-pitch actuator (E3) in each side plate, output outward, with its bearing (H0). Bolt the top plate (C0) on last: it is the datum for both camera columns.

✅ Check: flat and square to the frame; both shoulder outputs turn freely.

Electronics and packs

Computer E0 on the interior plate; packs E7; CAN adapters E13, hubs E16, IMU E17, surge protector E18, distribution blocks E19, voltage checkers E20.

Label	Part ID	Description	Qty per robot
E0	EL_COMPUTE_MINIPC	MINISFORUM X1-470 mini PC (onboard computer)	1
E7	EL_BATTERY_6S	Zeee 6S LiPo battery, 10000 mAh, 22.2 V, 2-pack	1
E13	EL_CAN_ADAPTER	CANable PRO V2.0 USB-CAN controller	6
E16	EL_USB_HUB	Vention USB hub	3
E17	EL_IMU_TM171	SYD Dynamics TransducerM TM171 9-axis AHRS, dual-port	1
E18	EL_SURGE_PROTECTOR	TTocas surge protector	1
E19	EL_DIST_BLOCK	Power distribution block terminals	4
E20	EL_VOLTAGE_CHECKER	LiPo voltage checker, 1-8S, with case	2

Front bay: CAN adapters, the computer on the interior plate, distribution blocks. Click to pause; drag the bar to scrub.

Rear bay: the two packs upright behind the interior plate. Click to pause; drag the bar to scrub.

5Mount the computer

Bolt the computer (E0) to the interior plate above the waist, intake, exhaust and ports clear.

6Mount the CAN adapters, hubs and power parts

Mount the six CAN adapters (E13), three USB hubs (E16), surge protector (E18), four distribution blocks (E19) and two voltage checkers (E20) in the front bay. Label each CAN adapter with its bus before wiring; wire per Power system and CAN bus.

✅ Check: every adapter carries its bus label; no board hangs on its cable.

7Mount the IMU

Bolt the IMU (E17) rigidly, its axes parallel to the robot base frame: the control software applies no mounting rotation.

✅ Check: rigid; axes checked against the frame.

8Fit the battery packs

Stand the two packs (E7) upright, side by side, in the rear bay. Leave both disconnected until Pre-power checks pass.

✅ Check: packs cannot shift; no lead is taut or on an edge; each pack comes out.

Covers

Printed covers P1, front plate P2, back plate P3.

Label	Part ID	Description	Qty per robot
P1	3DP_body06_front_plate 3DP_body08_back_plate	Torso front plate / Torso back plate	2
P2	3DP_body07_front_plate_removable	Torso front plate, removable	1
P3	3DP_body09_back_plate_removable	Torso back plate, removable	1

Front and back covers: each a perforated frame plus a removable panel. Click to pause; drag the bar to scrub.

9Fit the covers

Fit the two covers (P1) front and back, then the removable front plate (P2) and back plate (P3).

✅ Check: nothing inside moves when the torso is tilted; the waist still turns.

Head and camera gimbal

Two identical camera columns: a RealSense D436 on a yaw–pitch gimbal of two RobStride 05.

At a glance

• You will: build one column, repeat it, then bolt both to the top plate.
• Before this: Torso and waist.

One column (build two). Base P16, yaw actuator E5, neck P17, pitch actuator E5, arms P18 and P19, bearing H5, camera E14, USB-C adapter E21.

Label	Part ID	Description	Qty per robot
P16	3DP_cam01_gimbal_mount	Camera-column base	2
P17	3DP_cam02_gimbal_neck	Camera-column neck	2
P18	3DP_cam03_gimbal_arm	Camera-column arm	2
P19	3DP_cam04_gimbal_arm_link	Camera-column arm link	2
E5	ACT_RS05	RobStride 05 quasi-direct-drive actuator	6
E14	EL_CAM_D436	Intel RealSense D436 depth camera	2
E21	EL_USBC_ADAPTER	USB-C right-angle adapter, camera cable to the D436	2
H5	FAS_BEARING_10X15X4	Ball bearing, 10 x 15 x 4 mm	2

How the column comes together. Click to pause; drag the bar to scrub.

1Set the actuator IDs

Set and label the four IDs on the bench, before anything is assembled.

Joint	ID	Bus
cam_yaw_left	7	can25
cam_pitch_left	8	can25
cam_yaw_right	5	can25
cam_pitch_right	6	can25

✅ Check: IDs 5 to 8 answer on can25.

2Fit the yaw actuator into the base

Seat the yaw actuator (E5) in the base (P16), body on the yaw axis.

✅ Check: the output turns freely, no axial play.

3Fit the neck to the yaw output

Bolt the neck (P17) to the yaw actuator output.

✅ Check: the neck turns square to the yaw axis, no wobble.

4Fit the pitch actuator into the neck

Seat the pitch actuator (E5) in the neck (P17), its axis horizontal and crossing the yaw axis.

5Fit the two arms

Bolt the arm (P18) to the pitch actuator output. On the other side, press the bearing (H5) into the support arm (P19) and fit it over the neck's idler pin.

✅ Check: both arms swing together through the full pitch travel without binding.

6Mount the camera

Fit the camera (E14) between the two arms and plug the right-angle USB-C adapter (E21) into it. Hold the camera by its body; leave the lens film on until the build is done.

✅ Check: the camera does not move under hand pressure.

7Route the camera cable

Run the USB-A to USB-C cable (E9) from the adapter (E21) down the column and into the torso, with slack across the pitch and yaw axes and no tight bends: a flexed USB 3 cable drops the camera to USB 2. Fix it to the neck so it cannot snag anywhere in the yaw travel.

✅ Check: the camera streams USB 3 at every extreme of hand-turned travel.

8Build the second column

Repeat steps 2–7 with the other side's IDs.

9Mount both columns on the top plate

Bolt each base flush on the top plate (CNC_body03_top_plate), through the concentric holes, yaw axes 130 mm apart. The right column is the left rotated 180°. cam_yaw_left (IDs ⅞) is the column on the robot's left.

✅ Check: yaw axes 130 mm apart; the columns never touch through full travel.

10Zero the joints

Zero each joint with the camera looking straight out and level; the control code assumes encoder zero is that pose. Record the camera serial per side for Camera calibration.

Gripper

A rack-and-pinion parallel gripper: one serial-bus servo drives both jaws through a pinion. Build two.

At a glance

• You will: set the servo IDs, build the housing, racks and fingers, fit the tags, wire the servo.
• Before this: Head and camera gimbal.

1Set the two servo IDs

Set each servo (E15) ID on its driver board (E10), one at a time; mark ID and hand on the servo, and record each board's USB serial against its hand.

	Left	Right
Servo ID	5	19

✅ Check: each servo answers at its ID; hands and board serials recorded.

One gripper (build two): housing P10, racks P11, pinion P12, fingers P13, AprilTag holders P14, tags P15, servo E15, driver board E10, buck converter E12.

Label	Part ID	Description	Qty per robot
P10	3DP_grip01_base	Gripper base	2
P11	3DP_grip03_rail	Gripper slide rail	4
P12	3DP_grip05_pinion	Double-helix drive pinion, 16 teeth, 6 mm	2
P13	3DP_grip02_finger	Gripper finger	4
P14	3DP_grip04_apriltag_holder	AprilTag holder on the gripper base	4
P15	3DP_grip06_apriltag_tile	AprilTag tile	12
E10	EL_SERVO_DRIVER	Waveshare serial bus servo driver board, ST/SC series	2
E12	EL_BUCK_48V_12V	48 V to 12 V buck converter	2
E15	EL_SERVO_FEETECH	Feetech HL-3915-C001 12 V servo, 14.2 kg-cm	2

2Fit the servo and pinion into the housing

Bolt the servo (E15) into the housing (P10) and the pinion (P12) onto its output.

✅ Check: the servo is fixed and turns the pinion with no lost motion.

3Fit both racks

Slide the two racks (P11) into the housing from opposite sides, both engaged on the pinion, jaws symmetric about the centreline.

✅ Check: the jaws move together, parallel and symmetric, without binding.

4Fit the fingers

Fit one finger (P13) to each rack.

✅ Check: the fingers meet flat when the jaws close.

5Fit the AprilTags

Fit the two tag holders (P14) to the housing and seat the eight tag tiles (P15) square in their pockets, each with the tag ID the perception configuration assigns to that slot and hand.

✅ Check: all eight tags sit square and carry the right IDs.

6Wire the servo

Wire the servo to its driver board (E10), fed 12 V by its buck converter (E12); the board plugs into a torso USB hub (CAN bus).

7Mount the gripper on the wrist

Bolt the housing to the wrist output (P8) with the jaws opening front-to-back at encoder zero; the control software checks this on every model rebuild.

✅ Check: the gripper is square to the wrist; the jaws open front-to-back.

Open and closed positions are set at Bring-up.

Final integration

Join the subassemblies into one robot, battery disconnected throughout. Two people or a hoist from here on: lift by the top plate.

At a glance

• You will: attach legs, arms, camera columns and grippers to the torso, join the harnesses, inspect and hang the robot.
• Before this: Gripper; every actuator labelled with joint, ID and bus.

1Support the torso

Support it level, waist free, hips and shoulders reachable.

✅ Check: the torso cannot fall or rotate when a limb is offered up.

2Attach the legs

Bolt each leg's hip-pitch bracket (C6) to the pelvis, supporting the leg's weight. Check the side: the legs differ by bus and IDs.

✅ Check: all twelve leg joints move; each harness tail reaches the torso, unconnected.

3Attach the arms

Bolt each arm to its shoulder-pitch coupler (C27). Check the side: the arms differ by bus, IDs and wrist housing.

✅ Check: each arm moves through its travel without touching the torso or a leg.

Camera columns onto the top plate; grippers onto the wrists. Click to pause; drag the bar to scrub.

4Mount the camera columns

Bolt both columns to the top plate as in Head and camera gimbal, step 9.

✅ Check: yaw axes 130 mm apart; no column touches an arm in any pose.

5Mount the grippers

Bolt each gripper to its wrist output (P8) as in Gripper, step 7; run the servo cable up the arm to its driver board.

✅ Check: both grippers work; their tags face the cameras in some arm pose.

6Join the harnesses

Join one branch at a time against the bus table; wiring detail is on Electrical.

Bus	Carries
can22	Waist (ID 1), both shoulder_1 (10, 20)
can9 / can21	Left / right arm, IDs 11–16 / 21–26
can24 / can23	Left / right leg, IDs 31–36 / 41–46
can25	Camera gimbals, IDs 5–8

✅ Check: every branch is labelled; waist, hips and shoulders move with nothing pulled or pinched.

7Inspect and hang the robot

Every joint moves by hand, alone and in combination; no cable is stretched, pinched or kinked in any pose; nothing rattles; lenses clean; packs disconnected. Hang the robot from the top plate with the legs straight.

✅ Check: it hangs level, legs straight.

Next: Electrical, then Bring-up.