# Step 2: Install the Waist Plate

> Install four M6 nylon-insert locknuts and attach waist plate 100_02A to the torso shell with four M6x25 Flat bolts.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-2
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Torso Module › Torso Assembly
- Previous: [Step 1: Install the Shoulder Hardware](https://docs.menlo.ai/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-1.md)
- Next: [Step 3: Install the Neck Yaw Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-3.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 |
| - | -: |
| Torso assembly from Step 1 | 1 |
| `100_02A` waist plate | 1 |
| M6 nylon-insert locknuts | 4 |
| M6x25 Flat bolt | 4 |
| Masking tape or temporary retainer | As needed |

## Instructions

1. Take part `100_01C` and lay the chest flat on the surface. The hollow part should be facing toward the ceiling. The waist should be pointing away from you, the neck should be facing you.

2. Take a look at the waist portion inside the hollow part. You should see 4 insert holes at 4 corners of the waist. Take **4 of** M6 nylon-insert locknuts and place them inside, make sure that the white part of the locknuts is facing toward you, not toward the waist.

   > [!NOTE]
   >
   > **Use masking tape to secure locknuts in place**
   >
   > A tip is to use masking tape or something similar to secure the locknuts in place, so they don't fall out while you move the part around.

3. Take part `100_01C` and put it down such that the neck is facing toward the surface while the waist is pointing toward the ceiling. The hollow part should be facing you.

4. Take part `100_02A` and align it with the waist surface of part `100_01C`.

5. Take **4 of** M6x25 Flat bolts and tighten in the 4 holes at 4 corners of part `100_02A` such that it is secured with the M6 nylon-insert locknuts before, and align part `100_02A` with part `100_01C`. You might want to use your finger to help secure the locknut in place to make it easier to tighten.