Mini devlog #3: 1. finished up cad, widened frame to accomodate for free rotation of the hip joint and added ziptie mount(temperory while find a better solution and figure out the wiring) added esp32 mount, imu mount, CAN bus transiever mount in progress, and added the odrive models in the cad(not shown in screenshot oops). 2. finished setting up motor firmware and tuned all actuators, found and issue with one of them having too much friction internally so I need to open it up and fix it(perhaps I printed the old version of the axle with the new design?). I soldered all the motors to the controllers and all the power connectors as well and tested them individually while in the cycloidal gearboxes. big thanks to justlovescience for his video on how to set up the brushless controllers, had to tweak quite a few things and the UI wasn’t working for me but was helpful regardless. mostly fixing mechanical bugs today, next steps are finalizing v1 of the whole robot and v3 of the leg, and upload model to the physics simulation. BOM coming soon. Thanks for reading allat