# Step 7: Attach the Right Leg Module to the Pelvis

> Solder the corresponding conductors from the right hip roll and hip yaw cable leads, then attach the right leg module with five M5x25 Socket bolts.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/attach-left-and-right-legs/step-7
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Pelvis Module › Attach Left & Right Legs
- Previous: [Step 6: Install the Left Hip Roll Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/right-and-left-hip-roll/step-6.md)
- Next: [Step 8: Attach the Left Leg Module to the Pelvis](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/attach-left-and-right-legs/step-8.md)

> [!IMPORTANT]
> **Assign actuator IDs before assembly**
>
> Assign and verify all 25 actuator IDs before assembling the robot. The robot will not work correctly with missing or incorrect IDs. IDs must be assigned one actuator at a time on the bench; you may need to disassemble the robot if you skip this step. See [Assign Actuator IDs](https://docs.menlo.ai/asimov/1/build/assembly-preparations/assign-actuator-ids.md).

## Parts needed

| Part | Count |
| - | -: |
| Pelvis assembly containing right hip roll EC-A5013-H17-100 actuator (part `200_13X`) (ID 8) | 1 |
| Completed Right Leg Module | 1 |
| M5x25 Socket bolt | 5 |
| Threadlocker | As needed |
| Approved soldering and insulation supplies | As needed |

## Instructions

1. Take the Right Leg Module and route the wire from the thigh through the hole on part `500_01B` as shown in the picture below.

   ![The leg's thigh cable leads routed through the hole in the hip bracket, with an arrow showing the routing direction, next to the pelvis hip roll actuator](https://docs.menlo.ai/manual/v1/images/pelvis-module/thigh-wire-routing.webp)

2. Solder each wire from the leg to the matching wire from the hip so they form one continuous cable. Watch the video below to see how to solder them.

   Video: [Joining the leg and hip wires and attaching the leg to the pelvis](https://static.asimov.inc/manual/v1/videos/attach-leg-to-pelvis-7968a71928d3.mp4)

3. Take the Right Leg Module and align part `500_01B` with the EC-A5013-H17-100 actuator (ID 8).

4. Twist the Right Leg body such that you can see the 5 holes on part `500_01B` clearly and make sure it is aligned with the holes on the actuator shaft.

5. Take **5 of** M5x25 Socket bolts and lightly tighten them into the 5 holes on part `500_01B` to align with the right hip roll actuator (ID 8).

6. After the parts are aligned:

   > [!NOTE]
   >
   > **Not ready to apply threadlocker?**
   >
   > You can assemble without threadlocker while you check the fit, alignment, and orientation. When you are confident, disassemble as needed, apply threadlocker to the bolts, and reassemble them following these instructions.

   - remove **5 of** M5x25 Socket bolts one at a time in a star formation,
   - apply threadlocker,
   - then tighten them back to secure Part `500_01B` and the actuator together.

7. Twist the Right leg body back to its original position so that the leg is straight and front facing.