Motor Power and Zeroing

1. Power-On Preparation

Use this step to verify motor behavior after assembly.

Before enabling motor power, stand at least 1.5 m away from the robot and wear safety goggles.

Support the robot with a crane.

Enable the motors using the E-stop switch.

Check the mobility of each motor and confirm that every joint moves as expected.

Zeroing the motors defines each motor's zero position so it aligns with the URDF used in simulation.

Home the robot through the edge API or the Raspberry Pi-hosted web app.

Keep the robot on the crane during the full homing process.

Make sure the homing pose matches the URDF zero position.