# Docs - Platform: undefined - [Menlo Platform](/platform): A coming-soon software platform for connected robot development and operation. - Asimov: undefined - Asimov 0: Open-source legs - [Before You Start](/asimov/0): What Asimov 0 is, who it is for, what to expect, and where to find the key resources. - [Introduction](/asimov/0/introduction): How the Asimov manual is organized and where to begin. - [Overview](/asimov/0/overview): How the Asimov manual is organized and where to begin. - Hardware Design: undefined - [Hardware Design](/asimov/0/hardware) - [Frame and Structural Components](/asimov/0/hardware/frame-and-structural-components) - [Joint Design and Actuation](/asimov/0/hardware/joint-design-and-actuation) - [3D Printing and Fabrication](/asimov/0/hardware/3d-printing-and-fabrication) - [Assembly Manual](/asimov/0/assembly-manual) - Asimov 1: Open full-body humanoid platform - **Lifecycle** - Overview: What Asimov 1 is, and how the machine fits together. - [Overview](/asimov/1/overview): The most developer-friendly humanoid robot! - System Tour: undefined - [Overview](/asimov/1/overview/system-tour): How the mechanical, electrical, and software systems of Asimov 1 fit together. - [Mechanical](/asimov/1/overview/system-tour/mechanical): Asimov 1 form factor, load capability, joint layout, motion limits, actuation, and mechanical design. - [Electrical](/asimov/1/overview/system-tour/electrical): Asimov 1 battery, power, control electronics, actuator communications, sensors, and media hardware. - [Software](/asimov/1/overview/system-tour/software): Asimov 1 firmware, motion control, edge services, telemetry, media, and application interfaces. - [Tools & Supplies](/asimov/1/overview/tools): Get ready before your Asimov 1 arrives. Find the required tools and supplies, optional extras, and product links to help you prepare for assembly. - Assemble Asimov 1: Assemble the robot from the kit. - Preparation: undefined - [Part Organisation](/asimov/1/build/assembly-preparations): Sort your Asimov 1 kit by module and keep track of the parts and hardware you have checked. - Module Checklists: undefined - [Left Leg Parts](/asimov/1/build/assembly-preparations/part-organisation/left-leg): Identify and count the parts and hardware for the left leg module. - [Right Leg Parts](/asimov/1/build/assembly-preparations/part-organisation/right-leg): Identify and count the parts and hardware for the right leg module. - [Pelvis Parts](/asimov/1/build/assembly-preparations/part-organisation/pelvis): Identify and count pelvis parts, hip actuators, and mounting hardware. - [Left Arm Parts](/asimov/1/build/assembly-preparations/part-organisation/left-arm): Identify and count the parts and hardware for the left arm module. - [Right Arm Parts](/asimov/1/build/assembly-preparations/part-organisation/right-arm): Identify and count the parts and hardware for the right arm module. - [Torso Parts](/asimov/1/build/assembly-preparations/part-organisation/torso): Identify and count torso, battery enclosure, and electronics parts. - [Head Parts](/asimov/1/build/assembly-preparations/part-organisation/head): Identify and count the head, camera, Raspberry Pi 5, and neck pitch parts. - [Cables](/asimov/1/build/assembly-preparations/part-organisation/cables): Identify and count every cable for Asimov 1 in one checklist. - [Battery Setup](/asimov/1/build/assembly-preparations/battery-setup): Assemble battery 100_11X and its connector hardware inside enclosure parts 100_10C and 100_12C. - Compute Module Setup: undefined - [Head Compute Unit Setup](/asimov/1/build/assembly-preparations/compute-module-setup/head-compute-unit-setup): Assemble the Head Board base, Raspberry Pi 5, and Media HAT Board top into the Head Compute Unit. - [RPU Setup](/asimov/1/build/assembly-preparations/compute-module-setup/rpu-setup): Assemble the Radxa Carrier Board, Radxa CM5, and Power Distribution Board into the Robot Processing Unit (RPU). - [Integration Setup](/asimov/1/build/assembly-preparations/compute-module-setup/integration-setup): Connect the Head Compute Unit to the Robot Processing Unit (RPU), and connect the battery. - Firmware & Software Flashing: undefined - [Firmware & Software Flashing](/asimov/1/build/assembly-preparations/software-setup): Get the software images, flash the Radxa CM5 and Raspberry Pi 5, then connect the Head Compute Unit and the RPU and sign in to Asimov Manager. - [Flash the Radxa CM5](/asimov/1/build/assembly-preparations/software-setup/flash-rpu): Install the flashing tool, enter MaskROM mode, and write the image to the Radxa CM5. - [Flash the Raspberry Pi 5](/asimov/1/build/assembly-preparations/software-setup/flash-raspberry-pi): Install Raspberry Pi Imager, write the Asimov image, and configure the robot's name, account, and WiFi. - [Connect and Sign In](/asimov/1/build/assembly-preparations/software-setup/connect-and-sign-in): Connect the Head Compute Unit and the RPU, power them on, sign in to Asimov Manager and check the link between them. - [Enable the Battery BMS Switch](/asimov/1/build/assembly-preparations/software-setup/enable-bms-switch): Turn on the BMS hardware switch. - [Assign Actuator IDs](/asimov/1/build/assembly-preparations/assign-actuator-ids): Program each of the 25 actuators with its sticker number, one at a time on the bench, before the robot is assembled. - [Electronics Disassembly](/asimov/1/build/assembly-preparations/electronics-disassembly): Power down and separate the Head Compute Unit from the RPU so the RPU can be installed in the torso. - Assemble: undefined - [Assembly Conventions](/asimov/1/build/assembly-steps): Read bolt sizes and counts, measure Socket and Flat bolts, and follow the threadlocker and tightening guidance. - Left Leg Module: undefined - Thigh Assembly: undefined - [Step 1: Set Up Actuator ID 3](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-1): Connect the XT30 (2+2) cable connectors to actuator ID 3, route the 280 mm cable through the actuator shaft, and leave the 150 mm cable and its free connector accessible. - [Step 2: Install Actuator ID 3](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-2): Route the actuator cable through part 600_03C, install actuator ID 3, and secure it with eight bolts. - [Step 3: Install Actuator ID 4](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-3): Install actuator ID 4 in its mount, connect it to actuator ID 3, and secure the assembly. - [Step 4: Attach Part 600_06A](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-4): Fit part 600_06A over actuator ID 4 and fasten it to the existing assembly. - [Step 5: Attach Part 600_12A](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-5): Attach part 600_12A in the L-shaped groove on part 600_03C. - [Step 6: Install the Outer Housing](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-6): Enclose the assembly with parts 600_14C and 600_04C and secure it with 17 bolts. - [Step 7: Attach the Actuator Hub](/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-7): Route the actuator cable through part 600_01B and fasten the part to actuator ID 3. - Knee + Calf Assembly: undefined - [Step 8: Assemble the Knee Housing](/asimov/1/build/assembly-steps/left-leg-module/knee-and-calf-assembly/step-8): Fit the thigh assembly from Step 7 into the knee housing and install both side plates. - [Step 9: Install Left Ankle A and B Actuators](/asimov/1/build/assembly-steps/left-leg-module/knee-and-calf-assembly/step-9): Connect and install left ankle A actuator ID 5 and left ankle B actuator ID 6. - [Step 10: Install the Linkage Cranks and Cover](/asimov/1/build/assembly-steps/left-leg-module/knee-and-calf-assembly/step-10): Install and align the ankle linkage cranks, attach the rear cover, and connect the XT30 (2+2) cable connectors to actuator IDs 5 and 4. - Foot Assembly: undefined - [Step 11: Install the Linkage Shaft](/asimov/1/build/assembly-steps/left-leg-module/foot-assembly/step-11): Assemble the D-shaft linkage and mount it between parts 600_36A, 600_39C, and 600_37C to build the foot. - [Step 12: Assemble the Foot Pivot](/asimov/1/build/assembly-steps/left-leg-module/foot-assembly/step-12): Build the foot pivot from parts 600_26B and 600_25A with four pillow blocks, then fasten it to the foot assembly from Step 11 with M4 bolts. - Ankle Assembly: undefined - [Step 13: Join the Ankle Assemblies](/asimov/1/build/assembly-steps/left-leg-module/ankle-assembly/step-13): Join the leg assembly from Step 10 and the foot assembly from Step 12 with two M4x25 Socket bolts, then connect the ankle linkages with rod ends, steel bars, two M3 steel washers, and two M3x6 Socket bolts. - Complete Left Leg Review: undefined - [Step 14: Complete the Left Leg Module](/asimov/1/build/assembly-steps/left-leg-module/complete-left-leg-review/step-14): Complete the left leg module assembly before attaching it to the pelvis module. - Right Leg Module: undefined - Thigh Assembly: undefined - [Step 1: Set Up Actuator ID 9](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-1): Connect the XT30 (2+2) cable connectors to actuator ID 9, route the 280 mm cable through the actuator shaft, and leave the 150 mm cable and its free connector accessible. - [Step 2: Install Actuator ID 9](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-2): Route the actuator cable through part 500_03C, install actuator ID 9, and secure it with eight bolts. - [Step 3: Install Actuator ID 10](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-3): Install actuator ID 10 in its mount, connect it to actuator ID 9, and secure the assembly. - [Step 4: Attach Part 500_06A](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-4): Fit part 500_06A over actuator ID 10 and fasten it to the existing assembly. - [Step 5: Attach Part 500_12A](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-5): Attach part 500_12A in the L-shaped groove on part 500_03C. - [Step 6: Install the Outer Housing](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-6): Enclose the assembly with parts 500_14C and 500_04C and secure it with 17 bolts. - [Step 7: Attach the Actuator Hub](/asimov/1/build/assembly-steps/right-leg-module/thigh-assembly/step-7): Route the actuator cable through part 500_01B and fasten the part to actuator ID 9. - Knee + Calf Assembly: undefined - [Step 8: Assemble the Knee Housing](/asimov/1/build/assembly-steps/right-leg-module/knee-and-calf-assembly/step-8): Fit the thigh assembly from Step 7 into the knee housing and install both side plates. - [Step 9: Install Right Ankle A and B Actuators](/asimov/1/build/assembly-steps/right-leg-module/knee-and-calf-assembly/step-9): Connect and install right ankle A actuator ID 11 and right ankle B actuator ID 12. - [Step 10: Install the Linkage Cranks and Cover](/asimov/1/build/assembly-steps/right-leg-module/knee-and-calf-assembly/step-10): Install and align the ankle linkage cranks, attach the rear cover, and connect the XT30 (2+2) cable connectors to actuator IDs 11 and 10. - Foot Assembly: undefined - [Step 11: Install the Linkage Shaft](/asimov/1/build/assembly-steps/right-leg-module/foot-assembly/step-11): Assemble the D-shaft linkage and mount it between parts 500_36A, 500_39C, and 500_37C to build the foot. - [Step 12: Assemble the Foot Pivot](/asimov/1/build/assembly-steps/right-leg-module/foot-assembly/step-12): 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. - Ankle Assembly: undefined - [Step 13: Join the Ankle Assemblies](/asimov/1/build/assembly-steps/right-leg-module/ankle-assembly/step-13): Join the leg assembly from Step 10 and the foot assembly from Step 12 with two M4x25 Socket bolts, then connect the ankle linkages with rod ends, steel bars, two M3 steel washers, and two M3x6 Socket bolts. - Complete Right Leg Review: undefined - [Step 14: Complete the Right Leg Module](/asimov/1/build/assembly-steps/right-leg-module/complete-right-leg-review/step-14): Complete the right leg module assembly before attaching it to the pelvis module. - Pelvis Module: undefined - Pelvis: undefined - [Step 1: Install the Waist Yaw Actuator](/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-1): Mount the waist yaw actuator in the pelvis housing. - [Step 2: Install the Left Hip Pitch Actuator](/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-2): Attach the left hip pitch actuator to the pelvis housing and route its XT30 (2+2) cable through the front cutout. - [Step 3: Install the Right Hip Pitch Actuator](/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-3): Attach the right hip pitch actuator to the pelvis housing and route its XT30 (2+2) cable through the front cutout. - [Step 4: Route the Hip Cables and Install the Cover](/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-4): 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. - Right + Left Hip Roll: undefined - [Step 5: Install the Right Hip Roll Actuator](/asimov/1/build/assembly-steps/pelvis-module/right-and-left-hip-roll/step-5): Mount and connect the right hip roll actuator, then secure its outer support components. - [Step 6: Install the Left Hip Roll Actuator](/asimov/1/build/assembly-steps/pelvis-module/right-and-left-hip-roll/step-6): Mount and connect the left hip roll actuator, then secure its outer support components. - Attach Left & Right Legs: undefined - [Step 7: Attach the Right Leg Module to the Pelvis](/asimov/1/build/assembly-steps/pelvis-module/attach-left-and-right-legs/step-7): 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. - [Step 8: Attach the Left Leg Module to the Pelvis](/asimov/1/build/assembly-steps/pelvis-module/attach-left-and-right-legs/step-8): Solder the corresponding conductors from the left hip roll and hip yaw cable leads, then attach the left leg module with five M5x25 Socket bolts. - Final Review: undefined - [Step 9: Complete the Pelvis Module](/asimov/1/build/assembly-steps/pelvis-module/final-review/step-9): Complete the pelvis module and the full lower-body assembly. - Left Arm Module: undefined - Shoulder Joint Assembly: undefined - [Step 1: Mount the Shoulder Actuator](/asimov/1/build/assembly-steps/left-arm-module/shoulder-joint-assembly/step-1): Mount actuator ID 13 in part 400_04B and secure it with threadlocked M4x8 Flat bolts. - [Step 2: Attach the Shoulder Base and Route the Cable](/asimov/1/build/assembly-steps/left-arm-module/shoulder-joint-assembly/step-2): Fasten part 400_02A to actuator ID 13, connect the cable's XT30 (2+2) connector to the actuator port, and route the cable through the actuator shaft. - Upper Arm Assembly: undefined - [Step 3: Prepare the Bearing Housing](/asimov/1/build/assembly-steps/left-arm-module/upper-arm-assembly/step-3): Install three M4 square nuts, lightly tighten three M4x16 Socket bolts, and fit one flanged ball bearing in part 400_13C. - [Step 4: Prepare the Actuator Housing](/asimov/1/build/assembly-steps/left-arm-module/upper-arm-assembly/step-4): Install seven M4 square nuts in part 400_14C and retain them with three M4x16 Socket bolts and four M4x25 Socket bolts. - [Step 5: Connect the Shoulder Cable Connectors and Position the Actuators](/asimov/1/build/assembly-steps/left-arm-module/upper-arm-assembly/step-5): Seat actuator ID 14 in part 400_14C, connect the XT30 (2+2) cable connectors to actuators ID 14 and ID 15, and route the single-ended cable through actuator ID 15. - [Step 6: Close the Shoulder Actuator Housing](/asimov/1/build/assembly-steps/left-arm-module/upper-arm-assembly/step-6): Join parts 400_13C and 400_14C around the actuators with the carried socket bolts and secure part 400_13C to actuator ID 15 with three threadlocked M4x8 Socket bolts. - Shoulder + Upper Arm Connection: undefined - [Step 7: Connect and Join the Shoulder Assemblies](/asimov/1/build/assembly-steps/left-arm-module/shoulder-and-upper-arm-connection/step-7): Connect the XT30 (2+2) connector to actuator ID 14, solder the corresponding cable conductors from actuators ID 13 and ID 14, and join the shoulder and upper arm assemblies with plates 400_03A and 400_01A and threadlocked flat bolts. - [Step 8: Attach the Shoulder Yaw Joint Plate and Shaft Mount](/asimov/1/build/assembly-steps/left-arm-module/shoulder-and-upper-arm-connection/step-8): Secure part 400_05A to actuator ID 15 with eight threadlocked M3x12 Flat bolts, then route the cable through part 400_06B and secure it to the actuator shaft with six threadlocked M4x20 Socket bolts. - Forearm Assembly: undefined - [Step 9: Install the Elbow Actuator and Route Its Cables](/asimov/1/build/assembly-steps/left-arm-module/forearm-assembly/step-9): Connect the XT30 (2+2) cable connectors to actuator ID 16, seat it in part 400_15C, and route both cables through their designated openings. - [Step 10: Attach the Elbow Housing Plates](/asimov/1/build/assembly-steps/left-arm-module/forearm-assembly/step-10): Attach parts 400_08A and 400_07A to part 400_15C with threadlocked M4x16 Flat bolts, and secure part 400_07A to actuator ID 16 with threadlocked M3x12 Flat bolts. - [Step 11: Attach the Elbow Shaft Plate and Actuator Housing](/asimov/1/build/assembly-steps/left-arm-module/forearm-assembly/step-11): Attach part 400_09A to the shaft of actuator ID 16 with six threadlocked M3x16 Flat bolts and attach part 400_16C with three threadlocked M4x10 Flat bolts. - [Step 12: Install and Connect the Wrist Actuator](/asimov/1/build/assembly-steps/left-arm-module/forearm-assembly/step-12): Attach part 400_10A to part 400_16C with threadlocked M4x10 Flat bolts, install actuator ID 17 with parts 400_11A and 400_12B and threadlocked M3x12 Flat bolts, then connect it to actuator ID 16. - Upper Arm + Forearm Connection: undefined - [Step 13: Connect the Shoulder and Elbow Assemblies](/asimov/1/build/assembly-steps/left-arm-module/upper-arm-and-forearm-connection/step-13): Connect the leads from actuators ID 15 and ID 16 with four WAGO connectors, join parts 400_15C and 400_06B with six threadlocked M4x12 Socket bolts, and stage twelve M4x30 Socket bolts for torso installation. - Final Assembly: undefined - [Step 14: Complete the Left Arm Module](/asimov/1/build/assembly-steps/left-arm-module/final-assembly/step-14): Confirm that the left arm module is assembled and ready for later torso installation. - Right Arm Module: undefined - Shoulder Joint Assembly: undefined - [Step 1: Mount the Shoulder Actuator](/asimov/1/build/assembly-steps/right-arm-module/shoulder-joint-assembly/step-1): Mount actuator ID 18 in part 300_04B and secure it with threadlocked M4x8 Flat bolts. - [Step 2: Attach the Shoulder Base and Route the Cable](/asimov/1/build/assembly-steps/right-arm-module/shoulder-joint-assembly/step-2): Fasten part 300_02A to actuator ID 18, connect the cable's XT30 (2+2) connector to the actuator port, and route the cable through the actuator shaft. - Upper Arm Assembly: undefined - [Step 3: Prepare the Bearing Housing](/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-3): Install three M4 square nuts, lightly tighten three M4x16 Socket bolts, and fit one flanged ball bearing in part 300_13C. - [Step 4: Prepare the Actuator Housing](/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-4): Install seven M4 square nuts in part 300_14C and retain them with three M4x16 Socket bolts and four M4x25 Socket bolts. - [Step 5: Connect the Shoulder Cable Connectors and Position the Actuators](/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-5): Seat actuator ID 19 in part 300_14C, connect the XT30 (2+2) cable connectors to actuators ID 19 and ID 20, and route the single-ended cable through actuator ID 20. - [Step 6: Close the Shoulder Actuator Housing](/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-6): Join parts 300_13C and 300_14C around the actuators with the carried socket bolts and secure part 300_13C to actuator ID 20 with three threadlocked M4x8 Socket bolts. - Shoulder + Upper Arm Connection: undefined - [Step 7: Connect and Join the Shoulder Assemblies](/asimov/1/build/assembly-steps/right-arm-module/shoulder-and-upper-arm-connection/step-7): Connect the XT30 (2+2) connector to actuator ID 19, solder the corresponding cable conductors from actuators ID 18 and ID 19, and join the shoulder and upper arm assemblies with plates 300_03A and 300_01A and threadlocked flat bolts. - [Step 8: Attach the Shoulder Yaw Joint Plate and Shaft Mount](/asimov/1/build/assembly-steps/right-arm-module/shoulder-and-upper-arm-connection/step-8): Secure part 300_05A to actuator ID 20 with eight threadlocked M3x12 Flat bolts, then route the cable through part 300_06B and secure it to the actuator shaft with six threadlocked M4x20 Socket bolts. - Forearm Assembly: undefined - [Step 9: Install the Elbow Actuator and Route Its Cables](/asimov/1/build/assembly-steps/right-arm-module/forearm-assembly/step-9): Connect the XT30 (2+2) cable connectors to actuator ID 21, seat it in part 300_15C, and route both cables through their designated openings. - [Step 10: Attach the Elbow Housing Plates](/asimov/1/build/assembly-steps/right-arm-module/forearm-assembly/step-10): Attach parts 300_08A and 300_07A to part 300_15C with threadlocked M4x16 Flat bolts, and secure part 300_07A to actuator ID 21 with threadlocked M3x12 Flat bolts. - [Step 11: Attach the Elbow Shaft Plate and Actuator Housing](/asimov/1/build/assembly-steps/right-arm-module/forearm-assembly/step-11): Attach part 300_09A to the shaft of actuator ID 21 with six threadlocked M3x16 Flat bolts and attach part 300_16C with three threadlocked M4x10 Flat bolts. - [Step 12: Install and Connect the Wrist Actuator](/asimov/1/build/assembly-steps/right-arm-module/forearm-assembly/step-12): Attach part 300_10A to part 300_16C with threadlocked M4x10 Flat bolts, install actuator ID 22 with parts 300_11A and 300_12B and threadlocked M3x12 Flat bolts, then connect it to actuator ID 21. - Upper Arm + Forearm Connection: undefined - [Step 13: Connect the Shoulder and Elbow Assemblies](/asimov/1/build/assembly-steps/right-arm-module/upper-arm-and-forearm-connection/step-13): Connect the leads from actuators ID 20 and ID 21 with four WAGO connectors, join parts 300_15C and 300_06B with six threadlocked M4x12 Socket bolts, and stage twelve M4x30 Socket bolts for torso installation. - Final Assembly: undefined - [Step 14: Complete the Right Arm Module](/asimov/1/build/assembly-steps/right-arm-module/final-assembly/step-14): Confirm that the right arm module is assembled and ready for later torso installation. - Torso Module: undefined - Torso Assembly: undefined - [Step 1: Install the Shoulder Hardware](/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-1): Install two M6 nylon-insert locknuts and two chain shackles in the torso shell with two M6x85 Socket bolts. - [Step 2: Install the Waist Plate](/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-2): Install four M6 nylon-insert locknuts and attach waist plate 100_02A to the torso shell with four M6x25 Flat bolts. - [Step 3: Install the Neck Yaw Actuator](/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-3): Attach neck yaw actuator ID 24 to part 100_03A, connect the 200 mm and 600 mm XT30 (2+2) cable connectors to its ports, and secure it in the torso neck. - [Step 4: Install the Speaker](/asimov/1/build/assembly-steps/torso-module/torso-assembly/step-4): Seat speaker 100_13X in the front torso opening and secure it with four socket bolts. - Attach Left + Right Arms: undefined - [Step 5: Attach the Arm Modules](/asimov/1/build/assembly-steps/torso-module/attach-left-and-right-arms/step-5): Attach the completed left and right arm modules to the torso shell with mounting plates 100_05A and 100_08A and 24 M4x30 Socket bolts. - Attach Lower Half + Wiring: undefined - [Step 6: Attach the Torso to the Pelvis](/asimov/1/build/assembly-steps/torso-module/attach-lower-half-and-wiring/step-6): Secure the torso waist plate to waist yaw actuator ID 23 on the completed pelvis module with six M4x20 Socket bolts. - [Step 7: Install the RPU and Connect Its Cable Connectors](/asimov/1/build/assembly-steps/torso-module/attach-lower-half-and-wiring/step-7): Mount the RPU in the torso and connect the pelvis, shoulder, and neck cable connectors to their labeled ports on the RPU. - Head Assembly: undefined - [Step 8: Install the Neck Pitch Actuator and Head Base](/asimov/1/build/assembly-steps/torso-module/head-assembly/step-8): Attach bracket 700_02B to neck yaw actuator ID 24, install neck pitch actuator ID 25, and secure the prepared head assembly through head base 700_03C. - [Step 9: Complete the Head Enclosure](/asimov/1/build/assembly-steps/torso-module/head-assembly/step-9): Route the head Ethernet and power cables to the RPU, connect the speaker cable, and install the three head covers. - Battery + Cover Installation: undefined - [Step 10: Install the Battery Assembly and Torso Covers](/asimov/1/build/assembly-steps/torso-module/battery-and-cover-installation/step-10): Connect the battery assembly to the RPU with the robot powered off, then install the battery and torso covers. The robot stays powered off until actuator calibration. - [Finish Assembly](/asimov/1/build/assembly-steps/finish-assembly): Confirm that all modules are mechanically integrated and that the robot is still powered off before beginning actuator calibration. - Operate Asimov 1: Bring the robot up, drive it, and keep it running. - **Safety** - [Safety & Handling](/asimov/1/operate/safety): The robot's states, how to support and carry it, and the rules for working around it. Read this before the firmware first runs. - [Stopping the Robot](/asimov/1/operate/safety/stopping): Every way to stop Asimov 1, what each leaves the robot doing, and how to recover after an E-Stop or a fall. - **Set Up** - [Set Up Overview](/asimov/1/operate/setup): Commission an assembled Asimov 1: connect to it, calibrate its actuators, confirm assembly and start the firmware. - [Connect & Sign In](/asimov/1/operate/setup/connect): Reach Asimov Manager in a browser, put the robot on your Wi-Fi and replace the default password. - [Calibrate Actuators](/asimov/1/operate/setup/calibrate-actuators): Check that all 25 actuators respond and record their zero positions, before the firmware ever runs. - [First Start](/asimov/1/operate/setup/first-start): Confirm the robot is assembled, start the motion-control firmware for the first time and check that it came up healthy. - **Everyday Use** - [Power On and Off](/asimov/1/operate/power): Power the robot on, start it, turn it off, power it down, and decide whether the firmware starts on boot. - [Stand Up and Walk](/asimov/1/operate/drive/stand-up): Take control in the Cockpit, bring a supported robot from Damp to Walk, release its support, and bring it back down. - [Cockpit Controls](/asimov/1/operate/drive/cockpit): Drive Asimov 1 from a keyboard or a phone, set speed limits, and read telemetry and logs. - [Gamepad](/asimov/1/operate/drive/gamepad): Drive Asimov 1 with a gamepad, either paired to the robot over Bluetooth or connected to your browser. - [Drive from Python](/asimov/1/operate/drive/python-sdk): Give the Python SDK a way in, install it on your computer, then stand, balance, walk, record and play sound from short scripts. - [Software Updates](/asimov/1/operate/software-updates): Update the whole robot with one signed file from the Updates page. - **Reference** - [Asimov Manager](/asimov/1/operate/asimov-manager): Reference for the robot's on-board console: its pages, the Overview panels, account and access, and the command line. - [Troubleshooting](/asimov/1/operate/troubleshooting): Symptom-first fixes: reach the console, restore the RPU link, find out why the robot stopped, and read its logs. - Program Asimov 1: Build software that drives the robot. - [Python SDK](/asimov/1/program/sdk): Install menlo-sdk, run the example scripts and operate the robot from the command line. - Asimov API: undefined - [Overview](/asimov/1/program/api): Software architecture, data flow, and API overview for the Asimov humanoid robot. - [Robot Control](/asimov/1/program/api/robot-control): Control modes, state machine, commands, and telemetry for the Asimov robot. - [Media](/asimov/1/program/api/media): Camera, video, and bidirectional audio for the Asimov robot. - [Protocols](/asimov/1/program/api/protocols): Command and telemetry field reference for the Asimov robot API. - [Wire format](/asimov/1/program/api/wire-format): Asimov session channels, EdgeTelemetry fields, CloudCommand structure, and EdgeEvent types. - Train Asimov 1: Train new policies and deploy them to the robot. - [Train Asimov 1](/asimov/1/train): Train new locomotion policies and deploy them to Asimov 1. - Extend Asimov 1: Add hands, sensors, compute, and custom hardware. - [Extend Asimov 1](/asimov/1/extend): Validated Asimov 1 extension guidance is coming soon. - **Resources** - Resources: Further reading, community, support, and other material. - [Resources](/asimov/1/resources): Further reading, community, support, videos, and other resources for Asimov 1. - Asimov 2: Concepts. Timeline TBA - [Overview](/asimov/2): Asimov 2 product specifications, including physical specs, compute architecture, and software stack. - Digital Asimov: undefined - [Overview](/asimov/digital-asimov): A free, browser-based digital twin of the Asimov robot. Test-drive it in your browser — no hardware required. - [Quickstart](/asimov/digital-asimov/quickstart): Drive a robot in your browser in under a minute. No hardware, no install. - [Telemetry](/asimov/digital-asimov/telemetry): Read live robot state from the Event log, Joints, and Subsystem Health panels. - Python SDK: Drive Asimov from Python. - **Get Started** - [Overview](/sdk): menlo-sdk: walking, joint control, robot state, camera and audio for Asimov 1 from Python. - [Safety](/sdk/safety): What to check before a script runs, how to stand, balance and rest the robot, what to do when something goes wrong, what the SDK, the robot and the firmware each stop, what the SDK reports, and how to write your own guard. - [Quickstart](/sdk/quickstart): Install menlo-sdk, save the robot, check it, then stand, balance, walk for 3 s and damp from Python. - [Connection Modes](/sdk/connection-modes): UDP, Hybrid and LiveKit: what each carries, what it needs, and how the SDK picks one. - **Guides** - [Move the Robot](/sdk/move): stand, balance, set_velocity, what each command waits for, and the velocity limits. - [Control Joints](/sdk/joints): set_joints and trajectory: per-joint targets on a supported robot, with the walking policy off. - [Read State](/sdk/state): One snapshot of everything the robot reports, the facts `preflight()` reports, and how to wait on it. - [Camera and Audio](/sdk/media): Frames, clips, microphone and speaker over the robot's LiveKit room, on hybrid and livekit. - [Record a Session](/sdk/recording): Every state sample and every command as JSON lines, and how to read the file back. - [Command Line](/sdk/cli): menlo: save a robot, check it, and stand, balance, walk and damp it from a terminal. - [Without the SDK](/sdk/without-the-sdk): State, commands, camera and audio over the robot's LiveKit room with the livekit and asimov-protocol packages alone. - [Coding Agents](/sdk/coding-agents): Give a coding agent the menlo-sdk skill and the docs, so the scripts it writes use the SDK the way it expects. - **Reference** - [Examples](/sdk/examples): The runnable scripts that ship with the SDK, grouped by what they show. - [SDK Reference](/sdk/reference): The public surface of menlo-sdk: Robot, connection configs, preflight, Sent, State, media, the store, transports and errors. - [Troubleshooting](/sdk/troubleshooting): What each SDK error means and what to do about it. - Guides: undefined - Locomotion Training: undefined - [Overview](/guides/locomotion-training) - [Understanding Your Simulation Environment](/guides/locomotion-training/understanding-your-simulation-environment) - [Reinforcement Learning for Locomotion](/guides/locomotion-training/reinforcement-learning-for-locomotion) - [Deep Dive: System Identification](/guides/locomotion-training/reinforcement-learning-deep-dive-system-identification) - [Simulation Training Environment](/guides/locomotion-training/reinforcement-learning-simulation-training-environment) - [Reward Design](/guides/locomotion-training/reinforcement-learning-reward-design) - [Domain Randomization](/guides/locomotion-training/reinforcement-learning-domain-randomization) - [Practical Issues in Policy Deployment](/guides/locomotion-training/reinforcement-learning-policy-deployment) - Partners: Information for manufacturers & OEMs working with Asimov. - [Supply Chain Partners](/partners): Open supply chain model for manufacturing and supplying Asimov humanoid robots. - [Resources](/partners/resources): Information on key resources for partners supplying Asimov.