Getting started

Seven stages from an empty desk to a walking robot. Each stage links to the page with the details; the Learn wiki explains the engineering behind them.

1 · Print

Easiest: the print kit page builds a ready-to-print package (pick complete robots or single parts; STLs named with their quantity, the slicer profile, a parts sheet and the ready plates), or take the whole build kit from the downloads page. Import the included prusaslicer.ini (PrusaSlicer: File › Import › Import Config; other slicers: enter the values from the print list), then print the plates (220 × 220 mm bed or larger) or the single STLs. Every part and plate was sliced with exactly this profile (printability); about 1.0 kg PETG and 100 h of printing. Lime parts are the shells and shoulders; everything else graphite. After printing, follow the warnings in the fit report.

2 · Buy

The shop sells the complete robot as one kit (or single parts) with real shop offers: pick one of the four buying plans or change the shop per part, see the total with every shop's shipping in the cart, and check out per shop with a guided checklist that opens each item's shop page in turn (plus a copyable order list for shops with a quick-order form). Fasteners include 10 % spares. Tools: section E of the catalogue PDF.

3 · Assemble

Follow the assembly manual or the PDF. The 3D viewer replays every step on the full model. Before step 1: centre all twelve servos (step 5 below can be done on the bench first).

4 · Wire

Electronics: power tree, wiring list, the routed wiring harness, pin map and the first smoke test without servos. The pin map is machine-checked against the firmware (electronics check).

5 · Flash and calibrate

uv sync --locked                                   # Python tools (strido-cli)
cd firmware/strido_esp32s3 && pio run -e xiao_esp32s3 -t upload
uv run strido-cli --port /dev/ttyACM0 center      # assembly reference: hip vertical, femur 45° back, crank 35°
uv run strido-cli --port /dev/ttyACM0 calibrate   # per-joint trim, stored in flash

Details: software › firmware and electronics › wiring harness.

6 · Run

On the Raspberry Pi 5 (Docker): docker compose -f docker/compose.yaml run --rm robot, then ros2 run teleop_twist_keyboard teleop_twist_keyboard. Topics and launch files: software.

7 · Simulate, train, integrate

make sim-walk, make sim-gazebo, make rl-train, and the NT-X harness via make ntx-smoke: simulation, NT-X integration.

Developing on this repository

Changing the design, running the verification gates or rebuilding this site: see the harness runbook.