Problem with the first start

[Matthieu]

So is it a problem with the motors assembly. From the picture it seems several motors are not oriented correctly.

Please check this:

[Assembly tips] Correct alignement between Dynamixels and 3D printed parts

As you should take care of the alignement when you put the horn on the Dynamixel motor shaft (see this topic), you should pay attention when you attach the 3D printed parts on the horn. The zero position has to be correctly aligned with the part to ensure both a good range of motion and the compatibility with the pypot robot configuration. To do so, I have added a tip directly on the part. If you look around the horn fixation, you will see 3 dots. Here the example with the left thigh: [image…

For the shoulder, it is a bit more complicated as you have the “beta” version and there is no 3D printed part as support for indications… Yet first check the torso, from the picture there are at least 2/3 motors not correctly oriented.