# Step 12: Assemble the Foot Pivot

> Build the foot pivot from parts 500_26B and 500_25A with four pillow blocks, then fasten it to the foot assembly from Step 11 with M4 bolts.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/right-leg-module/foot-assembly/step-12
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Right Leg Module › Foot Assembly
- Previous: [Step 11: Install the Linkage Shaft](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-leg-module/foot-assembly/step-11.md)
- Next: [Step 13: Join the Ankle Assemblies](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-leg-module/ankle-assembly/step-13.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 |
| - | -: |
| Foot assembly from Step 11 | 1 |
| `500_26B` | 1 |
| `500_25A` | 1 |
| 12mm Bore 1-Side, 2-Post Pillow Block (part `500_27X`) | 4 |
| M4x20 Socket bolt | 4 |
| M4x16 Flat bolt | 4 |
| Threadlocker | As needed |

## Instructions

1. Take part `500_26B` and put it on a flat surface. Oriented it such that the part is standing on the portion with the two little legs.

2. Take **2 of** 12mm Bore 1-Side, 2-Post Pillow Blocks and fit them into the 2 poles nearest to the top of the part. The legs of the Pillow Block should be pointing upward toward the ceiling. Make sure that the bearing facing outward on the Pillow Block is sunken into the hole instead of flat against it. Please view the visualization for the correct orientation of the bearing.

3. Take part `500_25A` and put it on top of the legs of the Pillow Block. Make sure the 4 holes on the surface of the circumference of part `500_25A` aligned with the Pillow Block leg.

4. Take **4 of** M4x20 Socket bolts and lightly tighten them into the 4 holes on the circumference of part `500_25A` to align it to the 2 Pillow Blocks.

5. 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 **4 of** M4x20 Socket bolts one at a time,
   - apply threadlocker,
   - then tighten them back to secure Part `500_25A` and the 2 Pillow Blocks.

6. Now flip the current assembly upside down so that the part `500_25A` is facing downward toward the floor. Put the assembly to one side.

7. Take the assembly with part `500_25A` and put the remaining **2 of** 12mm Bore 1-Side, 2-Post Pillow Blocks onto the 2 poles that have not been used yet on part `500_26B`. Make sure that the legs of the 2 Pillow Block are facing upward toward the ceiling.

8. Take the foot assembly from Step 11 and try to align the 2 Pillow Block on part `500_26B` with part `500_36A`.

9. Take **4 of** M4x16 Flat bolts and lightly tighten into the 4 holes of part `500_39C` that are aligned with the 2 Pillow Block to align the parts.

10. 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 **4 of** M4x16 Flat bolts one at a time,
    - apply threadlocker,
    - then tighten them back to secure Part `500_39C` and the 2 Pillow Block.