# Step 7: Install the RPU and Connect Its Cable Connectors

> Mount the RPU in the torso and connect the pelvis, shoulder, and neck cable connectors to their labeled ports on the RPU.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/torso-module/attach-lower-half-and-wiring/step-7
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Torso Module › Attach Lower Half + Wiring
- Previous: [Step 6: Attach the Torso to the Pelvis](https://docs.menlo.ai/asimov/1/build/assembly-steps/torso-module/attach-lower-half-and-wiring/step-6.md)
- Next: [Step 8: Install the Neck Pitch Actuator and Head Base](https://docs.menlo.ai/asimov/1/build/assembly-steps/torso-module/head-assembly/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 |
| - | -: |
| Integrated torso and pelvis assembly from Step 6 | 1 |
| Robot Processing Unit (RPU) | 1 |
| M3x8 Socket bolt | 4 |
| 400 mm double-ended XT30 (2+2) cable | 2 |

## Instructions

1. Take the RPU and align the 4 holes with the 4 threaded insert at the the bottom of part `100_01C`.

2. Take **4 of** M3x8 Socket bolts and secure the RPU to the part `100_01C`

3. Connect each of the three pelvis cable connectors to its corresponding labeled port on the RPU as shown below.

   You should be able to see the following value written next to the port:

   1. W => waist
   2. RL => Right Leg
   3. LL => Left Leg

4. Connect one connector of each 400 mm double-ended XT30 (2+2) cable to the specified port on right shoulder pitch EC-A5013-H17-100 actuator (part `300_17X`) (ID 18) and left shoulder pitch EC-A5013-H17-100 actuator (part `400_17X`) (ID 13). Route the free connectors and the neck yaw cable connector through the side cable cutout in part `100_01C`, then connect each connector to its labeled port on the RPU as shown below.

   You should be able to see the following value written next to the port:

   1. NY => Neck Yaw
   2. RA => Right Arm
   3. LA => Left Arm