# Step 4: Route the Hip Cables and Install the Cover

> Connect 3 of the 300 mm double-ended XT30 (2+2) cables to the waist yaw and hip pitch actuators, route and label them, and secure the pelvis cover.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-4
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Pelvis Module › Pelvis
- Previous: [Step 3: Install the Right Hip Pitch Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-3.md)
- Next: [Step 5: Install the Right Hip Roll Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/right-and-left-hip-roll/step-5.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 from Step 3 | 1 |
| `200_15C` | 1 |
| M3x8 Flat bolt | 4 |
| 300 mm double-ended XT30 (2+2) cable | 3 |
| Masking tape | As needed |

## Instructions

1. Lay the pelvis assembly from Step 3 flat on a surface such that the rectangular hole with access to the actuator port facing upward toward the ceiling.

2. Connect one connector of each 300 mm double-ended XT30 (2+2) cable to the corresponding waist and hip pitch actuator ports.
   Route all **3 of** the 300 mm double-ended XT30 (2+2) cables through the port cut-out of part `200_16A`.

   > [!NOTE]
   >
   > **Label each cable**
   >
   > Label each cable with masking tape so its free connector can be matched to the corresponding port on the RPU later.

3. Take part `200_15C` and lay it over the hole to cover it up, align the holes on part `200_15C` with the threaded insert.

4. Take **4 of** M3x8 Flat bolts and secure part `200_15C` to part `200_01C`