Build ROBOTO_ORIGIN

Steps

20

Subassemblies

10

Hands-on time (sum)

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Critical path

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Your progress · this device

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20 steps have no time estimate; times above are lower bounds.

1. Fabrication
   01

   Order the CNC structural set

   Send the STEP files and PDF drawings in A2_cnc_atom01 (or the 送加 'to machine' copy) to a 3-axis CNC shop, with the material and finish per part from A2_CNCBOM: 6061/7075 aluminium sandblasted and black anodized, 45-steel links black oxided.

   CHECK26 part numbers and 64 pieces arrive, matching the CNC BOM quantities; the limit pins and dowel pins (4x18/4x22) slide into their bores by hand or with a rubber mallet.

   Parts in

   • Arm 1 (RB000152_02)cnc.arm-1
   • Arm 2 (RB000153_02)cnc.arm-2
   • Arm 3 (RB000154_02)cnc.arm-3
   • Arm 4 (RB000155_01)cnc.arm-4
   • Arm 5 (RB000179_01)cnc.arm-5
   • IMU carrier plate (RB000156_01)cnc.imu-plate
   • Side cross plate (RB000157_01)cnc.side-plate
   • Inner thigh (RB000158_02)cnc.inner-thigh
   • Battery bottom cover (with waist limit block) (RB000159_02)cnc.battery-cover
   • Shoulder (RB000160_02)cnc.shoulder
   • 20 cm foot (RB000161_01)cnc.foot-20cm
   • Sole connecting rod (RB000162_01)cnc.sole-link
   • Ankle roll connector (RB000163_01)cnc.ankle-roll
   • Hip joint mount (RB000164_01)cnc.hip-mount
   • Output flange connecting rod (RB000166_02)cnc.flange-link
   • Universal connector (RB000167_03)cnc.universal-connector
   • Universal connector reamed flange (RB000168_02)cnc.universal-flange
   • Shank (lower leg) (RB000169_02)cnc.shank
   • Chest rear clamp plate (RB000170_02)cnc.chest-rear
   • Chest front clamp plate (RB000171_01)cnc.chest-front
   • Limit pin (RB000172_01)cnc.limit-pin
   • Shank bearing lock (RB000173_01)cnc.shank-bearing-lock
   • Waist support (with waist limit block) (RB000174_03)cnc.waist-support
   • Long connecting rod (RB000175_02)cnc.long-link
   • Short connecting rod (RB000176_02)cnc.short-link
   • Hip clamp plate (RB000177_02)cnc.hip-plate

   Tools

   —

   Torque

   —

   Time

   —

   After

   Start

   Source

   github.com

2. 02

   Print the mounts and calibration jigs

   Print everything in PLA Tough+ at default settings. The rear-thigh and foot calibration jigs use 50% sparse infill and the orientation shown in the print notes; other parts have no orientation requirement.

   CHECKThe calibration jigs seat on the CNC thigh, foot and joint parts without forcing, and the PCB adapter holes line up with the controller board.

   Parts in

   • PCB adapter plate, Orange Pi variant (black)printed.pcb-adapter-orangepi
   • PCB adapter plate, RDK X5 variant (black)printed.pcb-adapter-rdk
   • Carrier board mount v2.0printed.carrier-mount
   • Rear-thigh calibration jig (50% sparse infill, orientation per print notes)printed.cal-thigh-rear
   • Foot calibration jig (50% sparse infill, orientation per print notes)printed.cal-foot
   • Joint calibration jig set: thigh locator x2, elbow x2, shoulder fixture x2, ankle x2, knee x2, waist x1 (quantities from file names)printed.cal-set

   Tools

   FDM printer

   Torque

   —

   Time

   —

   After

   Start

   Source

   github.com

3. 03

   Order and inspect the RBE power/CAN board

   Order the RBE_PWR_HUB V2.1 PCBA from the published Gerber, BOM and pick-and-place files. The board takes 48 V on XT60, gives 5 V (max 8 A) on USB-C for the controller, 4x XT30(2+2) 48 V + CAN outputs, and USB-C for USB-to-CAN.

   CHECKUnpowered, there is no short between the XT60 48 V and GND pins, and the board measures 80 x 60 mm with all four XT30(2+2) outputs populated.

   Parts in

   • RBE_Board V2.0 / RBE_PWR_HUB V2.1 (RoboParty 3-in-1: 48→5 V buck, power distribution, 4-channel USB-to-CAN)electronics.rbe-board

   Tools

   Digital multimeter

   Torque

   —

   Time

   —

   After

   Start

   Source

   github.com

4. Preparation
   04

   Assign motor IDs and calibrate encoders

   Safety · human-verified required

   Before assembly, use the Damiao host tool and FDCAN analyzer to give each motor its slave ID from the body layout and run encoder calibration. IDs: left leg 0x01-0x06, right leg 0x07-0x0C, waist 0x0D, left arm 0x0E-0x12, right arm 0x13-0x17. Do not strike the motors.

   CHECKEach of the 23 motors answers the host tool on its assigned ID and is labeled with its joint.

   This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

   Parts in

   • Damiao DM-J4340P 48 V joint motor (ankles, arms)actuator.dm-j4340p
   • Damiao DM-J10010L 48 V joint motor (hip, knee, waist)actuator.dm-j10010l
   • Damiao FDCAN analyzer (motor ID setup and encoder calibration)electronics.dm-fdcan-analyzer

   Tools

   Damiao host tool

   Torque

   —

   Time

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   After

   Start

   Source

   github.com

5. Simulation
   05

   Train and Sim2Sim check (optional)

   Install Isaac Sim 5.1.0 + Isaac Lab, `pip install -e ./robolab ./rsl_rl`, train with robolab/scripts/rsl_rl/train.py, export ONNX with --exportonnx, and check it in MuJoCo with robolab/scripts/mujoco/sim2sim_rpo.py.

   CHECK`python robolab/scripts/tools/list_envs.py` lists the RPO tasks, and sim2sim_rpo.py runs an exported policy on the RPO MJCF without the robot falling.

   Parts in

   —

   Tools

   —

   Torque

   —

   Time

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   After

   Start

   Source

   github.com

6. Legs
   06

   Legs: thigh, shank, ankle linkage, foot

   Manual steps 1-16. Mount the DM-J10010L to the inner thigh (connector vertical, labeled end down) with M4x12 locating screws first, then M4x8 in a diagonal pattern, then swap the locators for M4x8. Fit the two DM-J4340P into the shank, press in the spherical bearings, press the ankle roll connector onto the U-joint cross bearing, add bearing locks, 20 cm foot and rubber sole, the AXK6085 cage (no outer washers) and the limit pin with M4x14. Thread-lock only the last 3-4 threads. Build the other leg as a mirror.

   CHECKBoth legs are mirror images; knee and both ankle axes turn by hand through the parallel linkage without binding; no rotor locks up after tightening (if it does, back out the locating screw or use a screw 2 mm shorter).

   Parts in

   • Damiao DM-J10010L 48 V joint motor (hip, knee, waist)actuator.dm-j10010l
   • Damiao DM-J4340P 48 V joint motor (ankles, arms)actuator.dm-j4340p
   • Inner thigh (RB000158_02)cnc.inner-thigh
   • Shank (lower leg) (RB000169_02)cnc.shank
   • Shank bearing lock (RB000173_01)cnc.shank-bearing-lock
   • Ankle roll connector (RB000163_01)cnc.ankle-roll
   • 20 cm foot (RB000161_01)cnc.foot-20cm
   • Sole connecting rod (RB000162_01)cnc.sole-link
   • Long connecting rod (RB000175_02)cnc.long-link
   • Short connecting rod (RB000176_02)cnc.short-link
   • Output flange connecting rod (RB000166_02)cnc.flange-link
   • Limit pin (RB000172_01)cnc.limit-pin
   • Radial spherical plain bearing, G-series 8 mm, GB/T 9161-2001structure.spherical-bearing-g8
   • Universal-joint cross bearing 16x40 (ankle)structure.ujoint-cross-16x40
   • Thrust needle roller and cage assembly AXK6085 (fit the cage only, not the two washers)structure.axk6085
   • Rubber sole pad (CAD: Roboto_Origin_ShoePad_01-0225.stp)structure.rubber-sole
   • Socket head cap screws M2.5x8 (20), M3x6 (20), M3x8 (80), M3x10 (80), M3x12 (50), M3x16 (80)fastener.shcs-m2.5-m3
   • Socket head cap screws M4x8 (200), M4x10 (100), M4x12 (100), M4x14 (20)fastener.shcs-m4
   • Socket head cap screws M5x10 (80), M5x12 (100), M5x14 (100)fastener.shcs-m5
   • Flat-head screws M4x8 (20), M4x12 (20), M5x16 (20)fastener.flat-head

   Tools

   Hex keys, Hand press, Thread locker

   Torque

   —

   Time

   —

   After

   01, 04

   Source

   github.com

7. Hip
   07

   Hip: hip plates, universal connectors, yaw/roll motors

   Manual steps 17-29. Clamp the hip DM-J10010L between the two hip plates (tap the second plate until it sounds solid), tighten diagonally, then re-tighten at least two rounds. Fit AXK6085 cages, universal connectors with the motor power hole aligned to the threaded hole, and the reamed flanges.

   CHECKEach hip motor sits flat in its plates with all screws re-torqued twice, and each hip axis rotates freely by hand.

   Parts in

   • Damiao DM-J10010L 48 V joint motor (hip, knee, waist)actuator.dm-j10010l
   • Hip clamp plate (RB000177_02)cnc.hip-plate
   • Universal connector (RB000167_03)cnc.universal-connector
   • Universal connector reamed flange (RB000168_02)cnc.universal-flange
   • Thrust needle roller and cage assembly AXK6085 (fit the cage only, not the two washers)structure.axk6085
   • Socket head cap screws M4x8 (200), M4x10 (100), M4x12 (100), M4x14 (20)fastener.shcs-m4
   • Socket head cap screws M5x10 (80), M5x12 (100), M5x14 (100)fastener.shcs-m5
   • Socket head cap screws M2.5x8 (20), M3x6 (20), M3x8 (80), M3x10 (80), M3x12 (50), M3x16 (80)fastener.shcs-m2.5-m3

   Tools

   Electric screwdriver, Hammer

   Torque

   —

   Time

   —

   After

   01, 04

   Source

   github.com

8. Bring-up
   08

   Flash the USB-to-CAN firmware if the board is blank

   roboto_usb2can is gs_usb (candleLight) compatible Zephyr firmware for the STM32G431. The RBE board carries four STM32G431 + ISO1050 CAN channels with 4-pin programming headers. Build with `west build -b roboto_usb2can` or use the release .bin, and flash with `west flash`. Upstream does not say outright that this is the RBE board's image, so check with RoboParty first.

   CHECKOn Linux, plugging in the board's USB creates four SocketCAN interfaces (visible in `ip link`).

   Parts in

   • RBE_Board V2.0 / RBE_PWR_HUB V2.1 (RoboParty 3-in-1: 48→5 V buck, power distribution, 4-channel USB-to-CAN)electronics.rbe-board

   Tools

   STLINK-V3MINIE or other SWD probe, Zephyr SDK / west

   Torque

   —

   Time

   —

   After

   03

   Source

   github.com

9. Hip
   09

   Join legs to hip

   Manual steps 30-32: fit the remaining thrust cage and bolt each leg to the hip with M5x10.

   CHECKLower body stands on its feet on the bench; each leg swings through hip pitch by hand without touching the other leg.

   Parts in

   • Thrust needle roller and cage assembly AXK6085 (fit the cage only, not the two washers)structure.axk6085
   • Socket head cap screws M5x10 (80), M5x12 (100), M5x14 (100)fastener.shcs-m5

   Tools

   —

   Torque

   —

   Time

   —

   After

   06, 07

   Source

   github.com

10. Torso
    10

    Waist joint, IMU, waist support and battery cover

    Manual steps 33-41. Mount the waist DM-J10010L in the hip joint mount, add the IMU on its carrier plate, place the assembly on the hip and fasten with M4x12. Fit the 130x165x18 bearing, waist support (limit slot facing the robot's front) and battery cover (limit slot facing the back).

    CHECKUpper body turns about ±120° each way before it contacts the limit block, and the IMU plate does not move under finger pressure.

    Parts in

    • Damiao DM-J10010L 48 V joint motor (hip, knee, waist)actuator.dm-j10010l
    • Hip joint mount (RB000164_01)cnc.hip-mount
    • IMU carrier plate (RB000156_01)cnc.imu-plate
    • HiPNUC HI14M0-USB IMU/VRU (USB-232), 921600 baud, 500 Hzsensor.imu
    • Deep-groove ball bearing 130x165x18 (waist), GB/T 276-2013structure.bearing-130x165x18
    • Waist support (with waist limit block) (RB000174_03)cnc.waist-support
    • Battery bottom cover (with waist limit block) (RB000159_02)cnc.battery-cover
    • Socket head cap screws M4x8 (200), M4x10 (100), M4x12 (100), M4x14 (20)fastener.shcs-m4
    • Flat-head screws M4x8 (20), M4x12 (20), M5x16 (20)fastener.flat-head
    • Socket head cap screws M2.5x8 (20), M3x6 (20), M3x8 (80), M3x10 (80), M3x12 (50), M3x16 (80)fastener.shcs-m2.5-m3

    Tools

    Hand hex wrench for deep screws

    Torque

    —

    Time

    —

    After

    09

    Source

    github.com

11. 11

    Chest plates, shoulders, shoulder motors

    Manual steps 42-48. Fit the chest clamp plates (M5x10, M4x10), shoulders and side cross plates, leaving one side plate off for the battery. Mount the shoulder DM-J4340P with the connector pointing up, then arm 5 with M3x16; mirror for the other side.

    CHECKBoth shoulder motors are connector-up and turn freely; one side plate is still open for battery insertion.

    Parts in

    • Chest front clamp plate (RB000171_01)cnc.chest-front
    • Chest rear clamp plate (RB000170_02)cnc.chest-rear
    • Shoulder (RB000160_02)cnc.shoulder
    • Side cross plate (RB000157_01)cnc.side-plate
    • Arm 5 (RB000179_01)cnc.arm-5
    • Damiao DM-J4340P 48 V joint motor (ankles, arms)actuator.dm-j4340p
    • Socket head cap screws M4x8 (200), M4x10 (100), M4x12 (100), M4x14 (20)fastener.shcs-m4
    • Socket head cap screws M5x10 (80), M5x12 (100), M5x14 (100)fastener.shcs-m5
    • Socket head cap screws M2.5x8 (20), M3x6 (20), M3x8 (80), M3x10 (80), M3x12 (50), M3x16 (80)fastener.shcs-m2.5-m3

    Tools

    —

    Torque

    —

    Time

    —

    After

    10

    Source

    github.com

12. Arms
    12

    Upper arms, elbows, forearms

    Manual steps 49-55. Build each arm with its DM-J4340P motors (elbow connector down, shoulder connector up), M3x8/M3x10/M3x16 screws with the diagonal locate-then-tighten method; the other arm is a mirror.

    CHECKEach arm has 5 motors and every arm joint moves by hand through its range without the arm hitting the torso.

    Parts in

    • Arm 1 (RB000152_02)cnc.arm-1
    • Arm 2 (RB000153_02)cnc.arm-2
    • Arm 3 (RB000154_02)cnc.arm-3
    • Arm 4 (RB000155_01)cnc.arm-4
    • Damiao DM-J4340P 48 V joint motor (ankles, arms)actuator.dm-j4340p
    • Socket head cap screws M2.5x8 (20), M3x6 (20), M3x8 (80), M3x10 (80), M3x12 (50), M3x16 (80)fastener.shcs-m2.5-m3

    Tools

    —

    Torque

    —

    Time

    —

    After

    11

    Source

    github.com

13. Electrical
    13

    Install the battery and close the side plate

    Safety · human-verified required

    Manual steps 56-57. Keep the battery connector capped or taped until it is plugged into the board. Any pack dropped from more than 30 cm must not be installed; quarantine it for 24 h.

    CHECKThe battery sits in the torso with the side plate closed (M4x10) and its connector is still insulated.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • 48 V 15 Ah Li-ion pack, 140x140x115 mm (Fu Xiao Er)power.battery
    • Side cross plate (RB000157_01)cnc.side-plate
    • Socket head cap screws M4x8 (200), M4x10 (100), M4x12 (100), M4x14 (20)fastener.shcs-m4

    Tools

    —

    Torque

    —

    Time

    —

    After

    12

    Source

    github.com

14. 14

    Motor daisy-chains and RBE board wiring

    Safety · human-verified required

    Follow the wiring guide. Chains: left leg 0x01-0x06, right leg 0x07-0x0C with waist 0x0D on 0x07, left arm 0x0E-0x12, right arm 0x13-0x17. Run 0x01 to CAN0, 0x07 to CAN1, 0x0E to CAN2, 0x13 to CAN3 on the RBE board (left before right, legs before arms). Connect the controller's USB 3.0 port to the board's USB-to-CAN, and the IMU and gamepad receiver to USB 2.0. Fit the wire-guide plates (manual steps 58-63, all M4x8 flat-head), clamp harnesses at the ports and UV-glue the CAN plugs.

    CHECKWith the battery unplugged, every chain is continuous from the board to its last motor ID, and CAN0-CAN3 go to left leg, right leg + waist, left arm and right arm.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • RBE_Board V2.0 / RBE_PWR_HUB V2.1 (RoboParty 3-in-1: 48→5 V buck, power distribution, 4-channel USB-to-CAN)electronics.rbe-board
    • Carrier board mount v2.0printed.carrier-mount
    • Arm harness RBW_Origin_01-04 (Arm01-Arm04), XT30(2+2) to XT30(2+2), 20 cm, 2 of eachcable.arm
    • Leg harness RBW_Origin_05-09 (Leg01-Leg05), XT30U / XT30(2+2) with GH1.25 2-pin reversed CAN lead, 10-40 cm, 2 of eachcable.leg
    • RBW_Origin_10 Body01, XT30U-XT30U, 20 cm (waist 0x0D to right leg 0x07)cable.body01
    • RBW_Origin_11 Body02, XT30(2+2)-XT30(2+2), 20 cm (arms to RBE board)cable.body02
    • RBW_Origin_12 Body03, XT30(2+2)-XT30U, 60 cm (left leg 0x01 to RBE board)cable.body03
    • RBW_Origin_13 Body04, XT30(2+2)-XT30U, 50 cm (right leg 0x07 to RBE board)cable.body04
    • USB-A to USB-C 3.0 cable, 30 cm (controller to RBE USB-to-CAN)cable.usb-a-c
    • USB-C to USB-C cable, 30 cm, flexible, fast-charge, side-bend (RBE 5 V to controller)cable.usb-c-c
    • Cable-tie mounts (listed as 1 set)other.cable-tie-mount
    • Brass standoff M3x15+3fastener.standoff-m3
    • Flat-head screws M4x8 (20), M4x12 (20), M5x16 (20)fastener.flat-head

    Tools

    UV glue

    Torque

    —

    Time

    —

    After

    13, 03

    Source

    github.com

15. 15

    Back panel: power switch, e-stop, charge port, handle

    Safety · human-verified required

    Manual steps 64-67. Tighten the switch and e-stop in the back plate and clip the e-stop's internal board in place, then fit the charge port and the metal handle. Without the back-panel switch connected, the RBE board has no power output.

    CHECKWith the battery connected: the switch turns the board on and off, the voltmeter reads pack voltage (charge if below 50 V), and pressing the e-stop cuts main power.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Metal push-button switch, self-locking, 5 V green ring light, with leadpower.switch
    • Emergency stop button, Lanbo M3 oxidized head, no lightpower.estop
    • WEIPU SF1212/S2 aviation connector (charge port)power.charge-port
    • Digital voltmeter (GH1.25 connection on the RBE board)power.voltmeter
    • Li-ion charger with 3-pin aviation plugpower.charger
    • Metal carry handle (back)structure.handle
    • Socket head cap screws M6x12 (2), M6x16 (2)fastener.shcs-m6

    Tools

    —

    Torque

    —

    Time

    —

    After

    14

    Source

    github.com

16. Bring-up
    16

    Controller OS, ROS 2 and deployment stack

    RDK X5: flash the provided image with the RT kernel preinstalled (built by x5-rdk-gen). Orange Pi 5 Plus: Ubuntu 22.04 and the 5.10 RT kernel .debs in roboparty_deploy/assets. Install ROS 2 Humble, ccache, fmt, spdlog, eigen3, screen, ros-humble-joy, then clone roboparty_deploy with --recursive and add rtprio 98 / memlock unlimited for your user in limits.conf.

    CHECKAfter a reboot, `ulimit -r` prints 98 and `colcon build --symlink-install` finishes with no errors.

    Parts in

    • D-Robotics RDK X5 8 GB single-board computercompute.rdk-x5
    • SanDisk 32 GB high-speed microSD card (controller OS image)electronics.sd-card
    • RTC module for the controllerelectronics.rtc
    • Wi-Fi antenna, IPEX gen-1, 15 cm leadelectronics.antenna
    • Controller cooling kit (heatsink/fan set)electronics.cooling-kit
    • PCB adapter plate, RDK X5 variant (black)printed.pcb-adapter-rdk
    • PCB adapter plate, Orange Pi variant (black)printed.pcb-adapter-orangepi

    Tools

    —

    Torque

    —

    Time

    —

    After

    15

    Source

    github.com

17. 17

    CAN and IMU interfaces (udev)

    Set the IMU to 921600 baud and 500 Hz (must be above 200 Hz). Copy 99-auto-up-devs-sunrise.rules (RDK X5) or -orangepi.rules into /etc/udev/rules.d, editing KERNELS if your USB ports differ, then reload and reboot. Put the gamepad in XInput mode.

    CHECK`ip a` shows can0-can3 up at 1 Mbit/s, the IMU enumerates as /dev/ttyUSB0, and `ros2 service call /read_imu std_srvs/srv/Trigger` returns data.

    Parts in

    • HiPNUC HI14M0-USB IMU/VRU (USB-232), 921600 baud, 500 Hzsensor.imu
    • Gamepad with USB receiver (XInput mode)other.gamepad

    Tools

    HiPNUC host tool

    Torque

    —

    Time

    —

    After

    16, 08, 14

    Source

    github.com

18. Calibration
    18

    Pin calibration and motor zeroing

    Safety · human-verified required

    Lock the arms with 4x18 pins and the legs with 4x22 pins (manual 2.3), and turn the waist yaw counter-clockwise onto its limit block (or fix it with the printed waist jig). A pin only has to go deep enough to stop the joint. Then run `python3 scripts/set_zero.py`, or `/init_motors` followed by `/set_zeros`. In src/inference/robots/rpo/robot.yaml, keep the waist zero offset at 2.093 for limit-block calibration and set it to 0.0 if you used the printed jig.

    CHECKWith the pins removed and the robot hung from a gantry, the joint-offset readout shows every joint near joint_default_angle.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Dowel pin 4x18, 45 steel, GB/T 119.2 (arm calibration pins)fastener.pin-4x18
    • Dowel pin 4x22, 45 steel, GB/T 119.2 (leg calibration pins)fastener.pin-4x22
    • Limit pin (RB000172_01)cnc.limit-pin
    • Rear-thigh calibration jig (50% sparse infill, orientation per print notes)printed.cal-thigh-rear
    • Foot calibration jig (50% sparse infill, orientation per print notes)printed.cal-foot
    • Joint calibration jig set: thigh locator x2, elbow x2, shoulder fixture x2, ankle x2, knee x2, waist x1 (quantities from file names)printed.cal-set

    Tools

    Rubber mallet, Needle-nose pliers

    Torque

    —

    Time

    —

    After

    17

    Source

    github.com

19. Bring-up
    19

    First enable and reset on a safety gantry

    Safety · human-verified required

    With the robot hanging from a load-rated gantry, run `./tools/start_robot.sh`. Press X to enable (all motor LEDs go from red to green) and X again to confirm disable works, then re-enable. Pose the limbs close to joint_default_angle before pressing A to reset, because a large offset causes a step response that can strip gearboxes.

    CHECKX toggles all 23 motor LEDs between red and green, and A moves the robot smoothly to the default pose with no oscillation.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Gamepad with USB receiver (XInput mode)other.gamepad

    Tools

    —

    Torque

    —

    Time

    —

    After

    18

    Source

    github.com

20. 20

    Default walking policy on the ground

    Safety · human-verified required

    Lower the robot until both feet are flat, sweep both sticks and press LT/RT a few times to clear drift, check `screen -r inference_session` for errors, then press B to start inference with a spotter on the gantry rope. X disables the motors and the physical e-stop cuts power. Keep people at least 1 m away.

    CHECKThe robot stands and steps in place when B is pressed, and it follows right-stick commands without drifting sideways.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • 48 V 15 Ah Li-ion pack, 140x140x115 mm (Fu Xiao Er)power.battery

    Tools

    —

    Torque

    —

    Time

    —

    After

    19

    Source

    github.com

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