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BUILT BY AUTONOMOUS SYSTEMS · WORK IN PROGRESS

# Leg rig: the order list (milestone M3)

Everything the first leg and its single-leg test rig need that is not printed: bought off the shelf with a listed price, or a custom part ordered online at an instant price (docs/decisions.yaml D40: nothing on quote). Prices and stock as read on 2026-10-27 unless a line says otherwise; links go to the product page. Generated by `tools/rig_orders.py` from `catalog/rig.json`, `exports/leg/bom.json` and the print plans: re-run it after a price check.

## Totals

| Group | Lines | Cost |
| --- | --- | --- |
| The leg (one leg) | 19 | $1,235.06 |
| Filament | 3 | $483.91 |
| The rig: guide, frame, ballast, safety | 34 | $1,091.77 |
| Electronics and wiring | 31 | $634.01 |
| The bench tests (B1-B6) | 10 | $139.16 |
| **All** | 97 | **$3,583.91** |

Shipping, tax and the motors' duties are not included. Upload-priced parts count at the middle of their estimate: Output adapter (instant price on upload (est. $40 each)), Carriage plate (instant price on upload (est. $60-90 each)). Several lines buy a pack (McMaster sells screws by 25-100): the cost is the packs'.

## Order first (long leads)

1.  **RobStride RS-04 x 2** : Seeed Studio (China warehouse; 1-3 weeks). Everything on the bench waits on them: order today.
2.  **ODrive BotWheels (2-pack)** : the second wheel is the robot's other leg.
3.  **LCSC (China)** : the GH headers; **BIQU (China)** : the U2C adapter. Same week as the motors.
4.  **Bearings Direct** : only 5 x 6812-2RS on hand; the leg needs 4.
5.  **SendCutSend** (the carriage plate) and **JLCCNC** (the two adapters): upload the files, read the instant price, order.
6.  Everything else ships in days (MISUMI same day; McMaster next day; Adafruit, SparkFun, TTI, AutomationDirect, Galco in stock).

## By vendor

| Vendor | Lines | Cost |
| --- | --- | --- |
| McMaster-Carr | 30 | $513.82 |
| Seeed Studio | 1 | $510.00 |
| MISUMI | 10 | $484.86 |
| Bambu Lab | 3 | $483.91 |
| ODrive Robotics | 1 | $269.00 |
| Amazon | 6 | $218.01 |
| Bearings Direct | 2 | $162.84 |
| TTI, Inc. | 3 | $139.24 |
| Bravo Electro | 2 | $89.20 |
| JLCCNC | 1 | $80.00 |
| SendCutSend | 1 | $75.00 |
| AbleNet | 1 | $75.00 |
| AutomationDirect | 2 | $65.70 |
| Phidgets | 1 | $50.00 |
| Grizzly | 1 | $49.95 |
| Adafruit | 3 | $49.80 |
| Standard Electric Supply | 1 | $31.70 |
| Fastenal | 1 | $31.02 |
| Galco | 1 | $28.99 |
| BIQU Equipment | 1 | $23.99 |
| The Home Depot | 1 | $23.76 |
| IWISS | 1 | $19.99 |
| Body-Solid | 2 | $19.96 |
| SparkFun | 3 | $19.40 |
| RaceDayQuads | 3 | $16.92 |
| BNTECHGO | 1 | $14.98 |
| 80/20 Inc. | 1 | $9.76 |
| Digi-Key | 2 | $9.16 |
| Bolt Depot | 7 | $8.19 |
| Master Electronics | 1 | $6.95 |
| Maplin | 1 | $1.50 |
| Jameco Electronics | 1 | $0.95 |
| LCSC | 1 | $0.36 |

## The leg (one leg)

| Part | Qty | Buy (primary) | Price | Stock | Cost | Backup | For |
| --- | --- | --- | --- | --- | --- | --- | --- |
| RobStride RS-04 (CAN 2.0) | 2 | [Seeed Studio RS-04](https://www.seeedstudio.com/Robostride-04-Actuator-p-6775.html) | $255.00 | in stock (search snippet; the page blocks reads) | $510.00 | [rcdrone.top RobStride-04-1](https://rcdrone.top/products/robstride-04-qdd-120n-m-integrated-actuator-module-48v-9-1-ratio-dual-magnetic-encoder-ip52-700w-output), $319.00 (120nm Motor); $329.00 with CAN2USB debugger | the two leg motors, in the hip frame |
| ODrive BotWheel BW0124, 2-pack | 1 | [ODrive Robotics BotWheel (BW0124)](https://wwshop.odriverobotics.com/products/botwheels) | $269.00 | 2-pack orderable (single sold out) | $269.00 | [ODrive Robotics worldwide storefront BW0124\_x2](https://wwshop.odriverobotics.com/products/botwheels), $269.00 per 2-pack (Single BW0124 $139.00 listed but unavailable) | the wheel, on the wheel link's hub |
| 6812-2RS (60 x 78 x 10) | 4 | [Bearings Direct 6812-2RS](https://bearingsdirect.com/6812-2rs-ball-bearing-60x78x10-sealed/) | $38.58 | In stock (5) | $154.32 | [McMaster-Carr 6656K236](https://www.mcmaster.com/6656K236/), $69.11 | support bearings round the two output adapters; two at the apex on the wheel link's hub |
| 6201-2RS (12 x 32 x 10) | 4 | [Bearings Direct 6201-2RS](https://bearingsdirect.com/6201-2rs-sealed-ball-bearing-12x32x10-6201-2nsl-99201/) | $2.13 | In stock (4428) | $8.52 | [McMaster-Carr 5972K42](https://www.mcmaster.com/5972K42/), $19.37 | two in each knee |
| External Retaining Ring, for 60 mm OD, Black-Phosphate Spring Steel | 1 | [McMaster-Carr 98541A174](https://www.mcmaster.com/98541A174/) | $3.05 |  | $3.05 | [Aspen Fasteners ME304-60-00040](https://www.aspenfasteners.com/m60-din-471-metric-external-retaining-rings-spring-steel-phosphate-coated/), Now: $177.63 (Box of 40) | holds the apex 61812 on the wheel link's hub |
| Alloy Steel Shoulder Screws, 12 mm Shoulder Diameter, 90 mm Shoulder Length, M10 x 1.5 mm Thread | 2 | [McMaster-Carr 92981A411](https://www.mcmaster.com/92981A411/) | $8.02 |  | $16.04 | [Aspen Fasteners ME343-1015X90X12-00010](https://www.aspenfasteners.com/m10-1-5-x-90mm-shoulder-12mm-iso-7379-metric-hex-socket-drive-shoulder-screws-class-12-9-steel-plain/), $168.80 (box of 10) (ISO 7379 12 x 90, M10 x 1.5, class 12.9 but plain (no black oxide): it rusts sooner. Sold only by the box of 10.) | knee shoulder screws, 12 mm x 90, M10 (cad/fivebar.py knee\_pin\_length) |
| High-Strength Steel Nylon-Insert Locknut, Zinc Plated, M10 x 1.5 mm Thread Size | 2 | [McMaster-Carr 94645A220](https://www.mcmaster.com/94645A220/) | $11.58 per 25 |  | $11.58 | [Belmetric NN10CLZ](https://belmetric.com/nylon-locking-nut-class-8-steel-din-985/), $0.26 | knee pins, in the upper links' pockets |
| 18-8 Stainless Steel Washer, Undersized, for M12 Screw Size, 13.0 mm ID, 20.0 mm OD | 4 | [McMaster-Carr 98689A118](https://www.mcmaster.com/98689A118/) | $13.71 per 100 |  | $13.71 | [Belmetric WF12X20SS](https://belmetric.com/flat-washer-small-outer-diameter-a2-stainless-din-433/), $0.20 | each side of each knee's bearing stack |
| Multipurpose 6061 Aluminum Round Tube, 0.065" Wall Thickness, 5/8" OD (cut 4 per length) | 2 | [McMaster-Carr 9056K68](https://www.mcmaster.com/9056K68/) | $1.56 |  | $3.12 | [Speedy Metals t61r.625x.065](https://www.speedymetals.com/p-4561-58-od-x-0065-wall-tube-6061-t6-aluminum.aspx), 12in length: $8.96 (custom by the inch: Base Price $0.50) | between each knee's two inner races (28 mm) |
| Metric Press-Fit Drill Bushing, 12 mm ID, 18 mm OD, 20 mm Long, Chamfer on One End | 4 | [McMaster-Carr 96990A403](https://www.mcmaster.com/96990A403/) | $16.11 |  | $64.44 | [JW Winco DIN 179-B12-20-A-NI](https://www.jwwinco.com/en-us/products/product-family/Stainless-Steel/DIN-179-Stainless-Steel-Press-Fit-Drill-Bushings), | steel sleeves, two end to end in each upper link's knee eye: spread the pin's load on the plastic |
| Alloy Steel Shoulder Screws, 10 mm Shoulder Diameter, 20 mm Shoulder Length, M8 x 1.25 mm Thread | 4 | [McMaster-Carr 92981A303](https://www.mcmaster.com/92981A303/) | $3.50 |  | $14.00 | [Belmetric BSHLDR8X10X20/33](https://belmetric.com/m8x1-25-m10-shoulder-shoulder-bolt-12-9-iso-7379/), $4.05 | stop posts (TPU sleeves over them) |
| Heat-Set Threaded Inserts for Plastic, Standard, Brass, M8 x 1.25mm Thread Size, 12.7mm Installed Length | 6 | [McMaster-Carr 94459A778](https://www.mcmaster.com/94459A778/) | $16.36 per 25 |  | $16.36 | [3DJake CNC-4262391010044](https://www.3djake.com/cnc-kitchen/threaded-inserts-m8-standard), $11.18 ($0.56 / pc), excl. VAT (CNC Kitchen's table gives the hole as 9.7 mm, against 9.6 mm in the CAD (0.1 mm larger). Length 12.7 mm matches. It will probably go into the existing 9.6 mm hole with slightly more interference, but that is not confirmed.) | stop posts, in the hip frame; +2 for the bench (B4: the M8 puller; B3: the sleeve block's stop post) |
| Black-Oxide Alloy Steel Socket Head Screw, US Origin, M4 x 0.7 mm Thread Size, 20 mm Long | 20 | [McMaster-Carr 91290A168](https://www.mcmaster.com/91290A168/) | $14.47 per 100 |  | $14.47 | [Belmetric BSH4X20](https://belmetric.com/m4x0-7-socket-head-cap-screw-din-912-class-12-9/), $0.20 | motor lugs (10 per motor), heads 10 mm down in the hip frame: 5.9 mm into the 7 mm threads |
| Dowel Pin, 52100 Alloy Steel, 5 mm Diameter, 16 mm Long | 8 | [McMaster-Carr 91595A352](https://www.mcmaster.com/91595A352/) | $19.22 per 50 |  | $19.22 | [WDS Components 662-20316](https://www.wdscomponents.com/en-us/5mm-x-16mm-steel-precision-dowel-pin), $0.60 | into each motor's two locating holes (4), and two in each adapter's standard face, pressed into its H7 holes (4) |
| Black-Oxide Alloy Steel Socket Head Screw, US Origin, M5 x 0.8 mm Thread Size, 25 mm Long | 36 | [McMaster-Carr 91290A252](https://www.mcmaster.com/91290A252/) | $10.96 per 50 |  | $10.96 | [Bolt Depot 6524 (M5 x 25 class 12.9 black oxide)](https://boltdepot.com/Product-Details?product=6524), $0.15 / ea ($10.11 / 100) | motor outputs through the CNC output adapters (9 per motor), heads in pockets below the face; +18 for the bench (the dyno: each hub onto its motor's output (9 each)) |
| Black-Oxide Alloy Steel Socket Head Screw, M5 x 0.8 mm Thread Size, 40 mm Long, Partially Threaded | 19 | [McMaster-Carr 91290A662](https://www.mcmaster.com/91290A662/) | $8.09 per 50 |  | $8.09 | [Belmetric BSH5X40](https://belmetric.com/m5x0-8-socket-head-cap-screw-din-912-class-12-9/), $0.28 | upper links onto the output adapters (8 each), heads proud; +3 for the bench (B4: the screws under test (two inserts to 3.5 kN, the link-under-the-head test)) |
| Heat-Set Threaded Inserts for Plastic, Standard, Brass, M5 x 0.8 mm Thread Size, 7.9 mm Installed Length | 9 | [McMaster-Carr 94459A775](https://www.mcmaster.com/94459A775/) | $6.82 per 25 |  | $6.82 | [ruthex RX-M5x9.5 (SKU GE-M5x95-001)](https://www.ruthex.de/products/ruthex-gewindeeinsatz-m5-50-stuck-rx-m5x9-5-messing-gewindebuchsen), (NOT drop-in: 9.5 mm long vs McMaster 7.9 mm (1.6 mm longer). The short version RX-M5Sx5.8 (and CNC Kitchen 'M5 x 5.8 short', also listed) is 2.1 mm shorter. No 7.9 mm M5 at ruthex or CNC Kitchen. EUR 9.99 per 50 (VAT incl.), no USD price.) | the frame's flange ends (the body, or the rig's carriage); +3 for the bench (B4: one in each M5 puller) |
| Black-Oxide Alloy Steel Socket Head Screw, US Origin, M6 x 1 mm Thread Size, 30 mm Long | 4 | [McMaster-Carr 91290A332](https://www.mcmaster.com/91290A332/) | $11.36 per 50 |  | $11.36 | [Belmetric BSH6X30](https://belmetric.com/m6x1-0-socket-head-cap-screw-din-912-class-12-9/), $0.23 | the BotWheel's flange, from inside the wheel link's hub (M6 x 40 bottoms out unless its threads are > 15 deep: measure) |
| Output adapter, machined Aluminium 6061-T6 (machined) | 2 | [JLCCNC output\_adapter.step](https://jlccnc.com/) | instant price on upload (est. $40 each) |  | $80.00 | [Xometry output\_adapter.step](https://www.xometry.com/), instant price on upload | two per leg, made from `exports/leg/cnc/output_adapter.step` with the callouts in `exports/leg/cnc/README.md` (D46) (an estimate until the instant price is read on upload (D40: no quotes; JLCCNC turned-and-milled 6061, qty 4); shipping from China is extra and takes 5-10 days) |

## Filament

| Part | Qty | Buy (primary) | Price | Stock | Cost | Backup | For |
| --- | --- | --- | --- | --- | --- | --- | --- |
| Bambu Lab PA6-CF (hardened nozzle; dried 8-12 h at 80 C), 1 kg spool | 5 | [Bambu Lab (US store) Bambu Lab PA6-CF (hardened nozzle; dried 8-12 h at 80 C)](https://us.store.bambulab.com/) | $79.99 |  | $399.95 | Gigaparts, $79.99/kg PA6-CF, in stock (read 2026-10-27, docs/leg-prototype-plan.md 6.1) | 3.29 kg of parts (leg, rig, bench fixtures and coupons) + 25 % for supports, purge and a reprint |
| Bambu Lab PETG Basic, 1 kg spool | 3 | [Bambu Lab (US store) Bambu Lab PETG Basic](https://us.store.bambulab.com/) | $13.99 |  | $41.97 | any maker, the same material (petg); the print plans assume Bambu's settings | 2.39 kg of parts (leg, rig, bench fixtures and coupons) + 25 % for supports, purge and a reprint |
| Bambu Lab TPU 95A HF, 1 kg spool | 1 | [Bambu Lab (US store) Bambu Lab TPU 95A HF](https://us.store.bambulab.com/) | $41.99 |  | $41.99 | any maker, the same material (tpu95); the print plans assume Bambu's settings | 0.41 kg of parts (leg, rig, bench fixtures and coupons) + 25 % for supports, purge and a reprint |

## The rig: guide, frame, ballast, safety

| Part | Qty | Buy (primary) | Price | Stock | Cost | Backup | For |
| --- | --- | --- | --- | --- | --- | --- | --- |
| HGR15 rail 1000 mm x 2 + HGH15CA block x 4 (one pack) | 1 | [Amazon (iMetrx 3D) ASIN B0GJZCLXWJ (1000mm / 2)](https://www.amazon.com/dp/B0GJZCLXWJ) | $69.99 | Only 12 left in stock | $69.99 | [Amazon (Coavoo Transmission) ASIN B0BMWQ5J7T](https://www.amazon.com/dp/B0BMWQ5J7T), $72.99 per 1 rail + 2 blocks (buy 2) (two packs ($145.98) for the same parts) | the carriage guide: two rails on the post's front slots, two blocks each (Generic HIWIN-pattern copy (no load rating; the checks use HIWIN's 2017 C0 16.97 kN: worst block 2.6 kN, SF 6.6). On arrival: blocks run smooth with no play by hand; same hole pitch (60) and end distance (20) as the drawing. HGR20 is not a drop-in: its 44 mm blocks overlap at the post's 40 mm slot spacing.) |
| Aluminium extrusion 8080, 8 series (10 mm slot), cut to 1200 mm | 1 | [MISUMI HFS8-8080-1200](https://us.misumi-ec.com/vona2/detail/110302690740/?HissuCode=HFS8-8080-1200) | $97.44 | Ship Date Wed. Oct 28, 2026 | $97.44 | [80/20 Inc. 40-8080 cut to 1200 mm](https://8020.net/40-8080.html), per mm + cut charge (80/20's own 40-series slot: MISUMI's brackets and nuts are not verified to fit; switch the whole frame and its fasteners together) | the post (Price shown without logging in; cut to the exact length (no waste). Order the whole frame from MISUMI: its brackets and nuts are 8-series.) |
| Aluminium extrusion 4040, 8 series (10 mm slot), cut to 900 mm | 2 | [MISUMI HFS8-4040-900](https://us.misumi-ec.com/vona2/detail/110302689860/?HissuCode=HFS8-4040-900) | $27.72 | Ship Date Wed. Oct 28, 2026 | $55.44 | [80/20 Inc. 40-4040 cut to 900 mm](https://8020.net/40-4040.html), per mm + cut charge (80/20's own 40-series slot: MISUMI's brackets and nuts are not verified to fit; switch the whole frame and its fasteners together) | the base's side members (Price shown without logging in; cut to the exact length (no waste). Order the whole frame from MISUMI: its brackets and nuts are 8-series.) |
| Aluminium extrusion 4040, 8 series (10 mm slot), cut to 620 mm | 4 | [MISUMI HFS8-4040-620](https://us.misumi-ec.com/vona2/detail/110302689860/?HissuCode=HFS8-4040-620) | $19.09 | Ship Date Wed. Oct 28, 2026 | $76.36 | [80/20 Inc. 40-4040 cut to 620 mm](https://8020.net/40-4040.html), per mm + cut charge (80/20's own 40-series slot: MISUMI's brackets and nuts are not verified to fit; switch the whole frame and its fasteners together) | the base's cross members: front, wheel, bumper, rear (Price shown without logging in; cut to the exact length (no waste). Order the whole frame from MISUMI: its brackets and nuts are 8-series.) |
| Aluminium extrusion 4040, 8 series (10 mm slot), cut to 720 mm | 1 | [MISUMI HFS8-4040-720](https://us.misumi-ec.com/vona2/detail/110302689860/?HissuCode=HFS8-4040-720) | $22.17 | Ship Date Wed. Oct 28, 2026 | $22.17 | [80/20 Inc. 40-4040 cut to 720 mm](https://8020.net/40-4040.html), per mm + cut charge (80/20's own 40-series slot: MISUMI's brackets and nuts are not verified to fit; switch the whole frame and its fasteners together) | the brace (Price shown without logging in; cut to the exact length (no waste). Order the whole frame from MISUMI: its brackets and nuts are 8-series.) |
| Aluminium extrusion 4080, 8 series (10 mm slot), cut to 620 mm | 1 | [MISUMI HFS8-4080-620](https://us.misumi-ec.com/vona2/detail/110302690310/?HissuCode=HFS8-4080-620) | $34.65 | Ship Date Wed. Oct 28, 2026 | $34.65 | [80/20 Inc. 40-4080 cut to 620 mm](https://8020.net/40-4080.html), per mm + cut charge (80/20's own 40-series slot: MISUMI's brackets and nuts are not verified to fit; switch the whole frame and its fasteners together) | the post's member, lying flat under it (Price shown without logging in; cut to the exact length (no waste). Order the whole frame from MISUMI: its brackets and nuts are 8-series.) |
| Corner bracket, 8 series, with 2 x M8 screws + 2 drop-in spring nuts | 24 | [MISUMI HBLTS8-C-SEP](https://us.misumi-ec.com/vona2/detail/110300450470/?HissuCode=HBLTS8-C-SEP) | $4.42 | Ship Date Same Day | $106.08 | [MISUMI HBLTS8-C-SEC](https://us.misumi-ec.com/vona2/detail/110300450470/?HissuCode=HBLTS8-C-SEC), $5.24 (another screw set) | the base's 16 free joint faces and the post's foot (4); 4 spare (Each bracket brings its own two screws and drop-in nuts.) |
| Free-angle bracket for 40 mm 8-series profile, with its mounting screws and nuts | 4 | [MISUMI HBLTBA40-SET1](https://us.misumi-ec.com/vona2/detail/110302255430/?HissuCode=HBLTBA40-SET1) | $8.78 | Ship Date Same Day | $35.12 | [MISUMI HBLTBBN40-SET](https://us.misumi-ec.com/vona2/detail/110302255430/?HissuCode=HBLTBBN40-SET), $10.15 | the brace's two ends, two per end (both side faces): up to 2.9 kN in the brace in a jump (M10 pivot screw included. Two per joint so no single pair of drop-in nuts carries the brace's peak.) |
| Drop-in nut, 8 series, M8 | 16 | [MISUMI HNTA8-8](https://us.misumi-ec.com/vona2/detail/110302257010/?HissuCode=HNTA8-8) | $0.90 | Ship Date Same Day | $14.40 | [80/20 Inc. 75-3422 (M8 x 16 BHSCS + slide-in nut)](https://8020.net/75-3422.html), $1.14 (slide-in, 80/20 slot) | top stop (4), drop bracket (2), pod (4), spares |
| M8 x 16 button head socket cap screw | 16 | [80/20 Inc. 13-8316](https://8020.net/40-4376.html) | $0.61 |  | $9.76 | [80/20 Inc. 75-3422](https://8020.net/75-3422.html), $1.14 (screw + nut) | with the extra M8 drop-in nuts |
| Drop-in nut, 8 series, M4 | 36 | [MISUMI HNTA8-4](https://us.misumi-ec.com/vona2/detail/110302257010/?HissuCode=HNTA8-4) | $0.90 | Ship Date Same Day | $32.40 | [MISUMI PACK-HNTA8-4 (100)](https://us.misumi-ec.com/vona2/detail/110302257010/?HissuCode=PACK-HNTA8-4), $61.83 per 100 | the rails: 17 per rail at 60 mm, 2 spare |
| Drop-in nut, 8 series, M6 | 12 | [MISUMI HNTA8-6](https://us.misumi-ec.com/vona2/detail/110302257010/?HissuCode=HNTA8-6) | $0.90 | Ship Date Same Day | $10.80 | [Fastenal 0961750 (80/20 Inc 13129)](https://www.fastenal.com/product/details/0961750), $2.83 / each (80/20 Inc 45-series M6 drop-in T-nut for 10 mm slots (listed 10.00 mm W x 19.60 mm L x 8.70 mm thick, zinc steel). It is not sold as fitting the 8-series/HFS8 slot (MISUMI's HNTA8 table gives T = 6.5 mm), so the fit is unconfirmed: test one in the rail before relying on it. McMaster 5278N32 (45 mm-rail drop-in M6 nut, 0.205 in thick, $5.88 per pack of 4) has the same caveat. No seller other than MISUMI was found with a public price on an M6 drop-in nut stated to fit the 8-series (item Line 8 / HFS8) slot) | the deck (8) and the bottom bumpers (4) |
| 18-8 stainless socket head screw M4 x 16 | 36 | [McMaster-Carr 91292A118](https://www.mcmaster.com/91292A118/) | $11.63 per 100 |  | $11.63 | [Bolt Depot 23082 (class 12.9, zinc)](https://boltdepot.com/), $0.19 each | the rails into the drop-in nuts (HIWIN's M4 x 16) (7 mm head fits the rail's 7.5 mm counterbore; a flanged head would not.) |
| Black-oxide alloy steel socket head screw M4 x 10 | 20 | [McMaster-Carr 91290A144](https://www.mcmaster.com/91290A144/) | $13.55 per 100 |  | $13.55 | [Bolt Depot 6506](https://boltdepot.com/Product-Details?product=6506), $0.12 / ea (bag: $8.29 / 100) | the four blocks onto the plate (16: 3.65 mm into the 5 mm threads, 0.9 d); the pendant clip (2) and the ToF arm (2) into inserts (Same part as catalog/turret.json turret\_screw\_m4x10. No washer (a washer would leave 2.9 mm of thread).) |
| Black-oxide alloy steel socket head screw M5 x 16 | 6 | [McMaster-Carr 91290A232](https://www.mcmaster.com/91290A232/) | $17.27 per 100 |  | $17.27 | [Bolt Depot 6522](https://boltdepot.com/Product-Details?product=6522), $0.14 / ea (bag: $9.34 / 100) | the plate onto the hip frame's six M5 inserts (with washers) (Same part as catalog/hardware.json screw\_m5x16.) |
| 18-8 washer for M5 | 6 | [McMaster-Carr 93475A240](https://www.mcmaster.com/93475A240/) | $4.24 per 100 |  | $4.24 | [Bolt Depot 4515](https://boltdepot.com/Product-Details?product=4515), $0.05 / ea (bag: $2.34 / 100) | under the plate screws (Same part as catalog/hardware.json washer\_m5.) |
| Black-oxide alloy steel socket head screw M6 x 30 | 8 | [McMaster-Carr 91290A332](https://www.mcmaster.com/91290A332/) | $11.36 per 50 |  | $11.36 | [Belmetric BSH6X30](https://belmetric.com/m6x1-0-socket-head-cap-screw-din-912-class-12-9/), $0.23 | the deck into the members' top slots (18 mm ply + washer + the slot's lip, 7.6 mm into the nut) (Same part as catalog/hardware.json screw\_m6x30.) |
| 18-8 oversized washer for M6 (18 mm OD) | 10 | [McMaster-Carr 91116A150](https://www.mcmaster.com/91116A150/) | $14.70 per 50 |  | $14.70 | [Bolt Depot 7315](https://boltdepot.com/Product-Details?product=7315), $0.12 / ea (bag: $7.82 / 100) (18-8 metric fender washer 6 mm x 18 mm OD, 1.4-1.8 mm thick (same as McMaster's DIN 9021 part); the page does not list the ID (DIN 9021 M6 is 6.4 mm)) | under the deck screws; +2 for the bench (B4: under the screw under test, over the cage's hole) (Same part as catalog/hardware.json washer\_m6\_large.) |
| Black-oxide alloy steel socket head screw M6 x 35 | 4 | [McMaster-Carr 91290A334](https://www.mcmaster.com/91290A334/) | $12.11 per 50 |  | $12.11 | [Bolt Depot 6543](https://boltdepot.com/Product-Details?product=6543), $0.24 / ea (bag: $15.96 / 100) | the bottom bumpers' bases, counterbored 14 mm (Same part as catalog/hardware.json screw\_m6x35.) |
| Tapped linear shaft 1 in x 6 in, 1050 steel, 3/8-16 x 3/4 in deep both ends | 2 | [McMaster-Carr 6649K433](https://www.mcmaster.com/6649K433/) | $52.94 |  | $105.88 | [McMaster-Carr 4162N31 + 6435K18 collar](https://www.mcmaster.com/4162N31/), $32.35 + $6.07 (tapped one end only: a collar retains the plates) | the two ballast posts |
| Alloy steel socket head screw 3/8-16 x 1 in | 2 | [McMaster-Carr 91251A624](https://www.mcmaster.com/91251A624/) | $12.48 per 25 |  | $12.48 | [McMaster-Carr 91251A622 (3/4 in, no washer)](https://www.mcmaster.com/91251A622/), $11.17 per 25 | each post through the plate (17.8 mm into the 19 mm thread with the washer) |
| Oversized washer for 3/8 in, 1.25 in OD | 3 | [McMaster-Carr 91090A121](https://www.mcmaster.com/91090A121/) | $7.12 per 50 |  | $7.12 | [Bolt Depot 2970](https://boltdepot.com/Product-Details?product=2970), $0.19 / ea (bag: $11.63 / 100) (Same 3/8 in zinc-plated steel fender washer, 13/32 in (0.400-0.420 in) ID x 1-1/4 in OD, ASME B18.21.1; thickness band 0.047-0.080 in vs McMaster's 0.042-0.051 in (both regular fender thickness, up to 0.7 mm thicker at worst)) | under the post screws on the plate's front; +1 for the bench (B4: under the M8 screw under test) |
| Alloy steel socket head screw 3/8-16 x 3/4 in | 2 | [McMaster-Carr 91251A622](https://www.mcmaster.com/91251A622/) | $11.17 per 25 |  | $11.17 | [Bolt Depot 5044](https://boltdepot.com/Product-Details?product=5044), $0.34 / ea (bag: $22.74 / 100) (Same ASTM A574 black-oxide alloy steel 3/8-16 x 3/4 in, fully threaded, ASME B18.3; country of origin not stated (McMaster's is US-made)) | the posts' free ends, with the 2 in washers that hold the plates on |
| Oversized washer 0.406 in ID x 2.000 in OD | 2 | [McMaster-Carr 91117A219](https://www.mcmaster.com/91117A219/) | $13.59 per 5 |  | $13.59 | [Fastenal 11103742](https://www.fastenal.com/product/details/11103742), $33.00 / package of 20 (unit price $1.65 / each) (Fastenal 'Thick Fender Washer', 3/8 in, low-carbon zinc steel: ID 0.396-0.416 in, OD 1.990-2.018 in, thickness 0.106-0.137 in (McMaster: 0.406 in ID, 2.000 in OD, 0.110-0.140 in); sold only in packs of 20) | retain the weight plates |
| Cast iron standard plate, 2.5 lb, 1 in hole (129.5 x 20.3 mm) | 2 | [Body-Solid RPB2-5](https://bodysolid.com/cast-iron-standard-plates) | $6.65 |  | $13.30 | [Amazon (CAP Barbell) ASIN B0FNPPH748 (4-pack)](https://www.amazon.com/dp/B0FNPPH748), $17.81 per 4 (the page gives no diameter: check under 150 mm) | ballast: one per post at 14.75 kg |
| Cast iron standard plate, 1.25 lb, 1 in hole (101.6 x 10.2 mm) | 2 | [Body-Solid RPB1-25](https://bodysolid.com/cast-iron-standard-plates) | $3.33 |  | $6.66 | [Amazon (CAP Barbell) ASIN B002BRAN66](https://www.amazon.com/dp/B002BRAN66), $18.97 | ballast: the 16 kg sweep |
| Ball-lock quick-release pin with D-ring, 3/8 in, 1-1/2 in usable, 17-4 PH | 1 | [McMaster-Carr 92384A274](https://www.mcmaster.com/92384A274/) | $38.21 |  | $38.21 | [McMaster-Carr 92384A760 (1-3/4 in usable)](https://www.mcmaster.com/92384A760/), $40.73 | the drop test's release (S4) |
| Lanyard, 3/64 in cable, loop-to-eye, 12 in | 1 | [McMaster-Carr 90312A296](https://www.mcmaster.com/90312A296/) | $3.26 |  | $3.26 | [Essentra Components LN3/64120003BGP](https://www.essentracomponents.com/en-us/p/wire-rope-lanyards/ln3-64120003bgp), $2.90 each at 5-24 pcs, $2.20 each at 25+ (minimum order 5: 5 x $2.90 = $14.50) (Same 12 in, 3/64 in (1.2 mm) galvanized 7x7 cable, but with a clear PVC jacket (McMaster's is uncoated), a 3/4 in loop (McMaster's loop is 1 in inside), and a nickel-plated #10 stake eye (McMaster: zinc-plated eye for No. 10 screw). It works unless the loop must pass over something wider than 3/4 in. Minimum order 5. Fastenal had no 12 in loop-to-eye lanyard (2 searches)) | keeps the pin on the drop bracket |
| Lift-All Type 5 endless polyester sling 1 in x 5 ft (2400 lb vertical) | 2 | [Amazon (Megamart USA) ASIN B0026GIUMG](https://www.amazon.com/dp/B0026GIUMG) | $17.08 |  | $34.16 | [Amazon (Kivomot) ASIN B0FRRVHXTR (2-pack, eye-eye 6.5 ft)](https://www.amazon.com/dp/B0FRRVHXTR), $12.58 per 2 | the tethers: the carriage to the post (girth-hitched under the top stop), the wheel link to the carriage |
| Screwgate carabiner, 25 kN, 2-pack | 4 | [Amazon (XINDA) ASIN B07D73RRH5 (2-pack)](https://www.amazon.com/dp/B07D73RRH5?th=1) | $16.99 per 2 |  | $33.98 | [Amazon (STURME) ASIN B085HLB374 (2-pack)](https://www.amazon.com/dp/B085HLB374), $16.99 per 2 | the tethers' ends |
| Sanded plywood 23/32 in, 2 x 4 ft project panel | 1 | [The Home Depot Internet #202093836](https://www.homedepot.com/p/Handprint-23-32-in-x-2-ft-x-4-ft-Sanded-Plywood-300969/202093836) | $23.76 |  | $23.76 | [Lowe's Item #7710, Model #12611](https://www.lowes.com/pd/Unbranded-23-32-in-x-2-ft-x-4-ft-Pine-Sanded-Plywood/5001997945), $25.98-29.48 (snippets) | the deck (600 x 400) and the load plate's pad (400 x 300) (The store page blocks automated reads; the price is a search snippet (one snippet showed 0 in stock online). Any 18 mm plywood or MDF.) |
| Rubber mat 3 x 4 ft x 5/16 in, 2-pack | 1 | [Amazon (Boomerang Rubber) ASIN B0F8RCXB7D](https://www.amazon.com/dp/B0F8RCXB7D) | $52.00 |  | $52.00 | [Amazon (uxcell) ASIN B0DP9TXB59 (M8 levelling feet, 8)](https://www.amazon.com/dp/B0DP9TXB59), $33.99 per 8 (feet in the bottom slots; one must go under the wheel member's middle (it carries 3.4 kN at a jump)) | under the base: the floor carries every member (the wheel member under the tyre most) |
| Carriage plate, laser-cut 6061-T6 aluminium 0.25 in, 300 x 320 mm, 28 holes and 2 slots | 1 | [SendCutSend carriage\_plate.dxf, 6061-T6 0.250 in](https://sendcutsend.com/materials/6061-t6-aluminum/) | instant price on upload (est. $60-90 each) |  | $75.00 | [Xometry carriage\_plate.step, 6061-T6 1/4 in sheet cutting](https://www.xometry.com/), instant price on upload | the carriage: the hip frame on its front, the blocks and the ballast posts on its back (Instant price on upload of the DXF (no quote, no account needed to see it at upload); estimate $60-90. Deburr option on.) |
| Heat-set insert M4 (brass) | 7 | [McMaster-Carr 94459A160](https://www.mcmaster.com/94459A160/) | $11.73 per 50 |  | $11.73 | [Fastenal 11125996 (E-Z LOK / E-Z Sonic TH-M40-SV)](https://www.fastenal.com/product/details/11125996), $0.24 / each (A brass M4-0.7 tapered, single-vane heat/ultrasonic insert for thermoplastics (the product page says single vane; the search list calls it double vane). It is shorter, 0.185 in (4.7 mm) vs McMaster's 6.4 mm, and its tap drill is 0.234 in (5.9 mm) vs McMaster's 7/32 in drill / 5.6 mm max hole. Minimum hole depth is 7/32 in, so it fits the existing boss depth, but the pod's holes should be opened to ~5.9 mm, and the 4.7 mm length gives less pull-out strength. Fastenal's 0.312 in double-vane version (SKU 11126011) comes only as a case of 100 at $30.51 and needs an 11/32 in deep hole. Bolt Depot and BelMetric sell no heat-set inserts) | the pod: the contactor (2), the relay (1), the pendant clip (2); the ToF target arm (2) (Same part as catalog/turret.json turret\_insert\_m4.) |

## Electronics and wiring

| Part | Qty | Buy (primary) | Price | Stock | Cost | Backup | For |
| --- | --- | --- | --- | --- | --- | --- | --- |
| DeWalt 20 V MAX dock adapter, 12 AWG leads, switch and 30 A blade fuse | 2 | [Amazon (CHoiKWong, sold by LIANQUAN) ASIN B0B9NPZM3M](https://www.amazon.com/dp/B0B9NPZM3M) | $9.99 | In Stock | $19.98 | [Amazon (Ensayeer, sold by Unsaidtech) ASIN B09J4R4QZ6 (2-pack)](https://www.amazon.com/dp/B09J4R4QZ6), $21.99 per 2 | D65: one per DCB609 in 20 V mode; the two in series (10S, 30-41 V) feed the pod (The listing names the DCB200-206, not the DCB609: check the fit on arrival. Each adapter's 32 V blade fuse sees one pack; the string is protected by the pod's Class CC fuse (300 VDC). Leave the adapters' switches on: they are not rated to break the motors' current.) |
| 36 V 16.6 A enclosed supply | 1 | [Bravo Electro Mean Well LRS-600-36](https://www.bravoelectro.com/lrs-600-36.html) | $61.60 |  | $61.60 | [TRC Electronics LRS-600-36](https://www.trcelectronics.com/View/Mean-Well/LRS-600-36.shtml), $66.80 | bench tests only (B2, the first enable, B1's tested motor): the robot's 36 V; it cannot sink regeneration (Shuts down on a sustained overload and latches off on over-voltage: never on the motors in a squat, jump or drop. A mains cord and output leads to its screw terminals.) |
| Class CC time-delay fuse 30 A, 600 VAC / 300 VDC | 1 | [Standard Electric Supply Littelfuse KLDR030.TXP](https://www.standardelectricsupply.com/Littelfuse-KLDR030-TXP-POWR-GARD-Time-Delay-Fuse) | $31.70 | 812 In Stock | $31.70 | [Galco Littelfuse KLDR30](https://www.galco.com/kldr30-lf.html), $44.33 | the pack's positive, before the contactor (300 VDC per Littelfuse's datasheet (self-certified; the UL listing is AC).) |
| Class CC fuse holder, 1-pole, DIN rail, 600 VAC/DC | 1 | [Galco Littelfuse LPSC0001Z](https://www.galco.com/lpsc0001z-littelfuse.html) | $28.99 | 170 In Stock | $28.99 | [Standard Electric Supply Littelfuse LFPSC0001Z](https://www.standardelectricsupply.com/Littelfuse-LFPSC0001Z-Powr-Gard-Powr-Safe-Fuse-Holder), $26.48 | holds the 30 A fuse on the pod's DIN rail |
| Sealed DC contactor 100 A, 900 VDC, 12 V coil (5.5 W) | 1 | [TTI, Inc. TE Kilovac LEV100A4ANG (3-1618389-7)](https://www.tti.com/content/ttiinc/en/apps/part-detail.html?partsNumber=LEV100A4ANG&mfgShortname=TYC) | $86.64 | 301 In Stock | $86.64 | [TTI, Inc. TE EV200AAANA](https://www.tti.com/content/ttiinc/en/apps/part-detail.html?partsNumber=EV200AAANA&mfgShortname=TYC), $127.61 (bigger (500 A); its own coil economiser) | the hold-to-run power cut in the pack's positive (Its contacts are polarised: wire its + terminal to the pack (the main current's direction); the reverse direction (regeneration) is rated for fewer breaks. Newark lists it as no longer made; TE's own page lists it active.) |
| Timer relay, multifunction (off-delay with a trigger input), 0.1-10 s, 12-125 VDC / 240 VAC, 10 A | 1 | [AutomationDirect ProSense T2R-M1-ADJ-240U](https://www.automationdirect.com/adc/shopping/catalog/relays_-z-_timers/timer_relays/t2r-m1-adj-240u) | $44.50 | 76 Available | $44.50 | [DROK 200350 (LCD multifunction delay relay module, 6-30 V)](https://www.droking.com/all-items/relay-1402752649/relay/Time-Delay-Relay-Relay-Switch-DC6V-30V-LCD-Multifunction-Digital-Motor-Controller-Delay-power-cut-break-Trigger-delay-Cycle-timing-circuit-Relay-Module), $6.55 (a module, not DIN: screw it to the pod; set its mode and 1.0 s on its display) | holds the contactor's coil 1.0 s after the pendant is let go (The pendant switches its trigger input (a signal), never the coil. Not the Klemsan Z1K-M2A: a review reports its output on at power-up for the full delay.) |
| DIN-rail DC-DC, 18-75 V in, 12 V 2.5 A out | 1 | [Bravo Electro Mean Well DDR-30L-12](https://www.bravoelectro.com/ddr-30l-12.html) | $27.60 | In stock | $27.60 | [TRC Electronics DDR-30L-12](https://www.trcelectronics.com/products/mean-well-ddr-30l-12), $35.36 | the 12 V rail: the contactor coil, the timer, the pendant loop |
| USB to CAN adapter (candleLight gs\_usb: SocketCAN) | 1 | [BIQU Equipment BIGTREETECH U2C V2.1 (SKU 1030000107)](https://biqu.equipment/products/bigtreetech-ebb36-42-can-bus-u2c-v2-1-klipper-board?variant=39762747949154) | $23.99 | orderable | $23.99 | [InnoMaker USB2CAN-Module (isolated)](https://www.inno-maker.com/product/usb-can/), $34.99 (isolated: use it whenever the laptop is on mains) | the laptop on the CAN bus at 1 Mbit/s |
| Feather M4 CAN Express (ATSAME51) | 1 | [Adafruit 4759](https://www.adafruit.com/product/4759) | $24.95 | In stock | $24.95 | [Adafruit 5724 RP2040 CAN Bus Feather](https://www.adafruit.com/product/5724), $19.95 (an MCP25625 on SPI: rig/firmware needs its CAN driver swapped) | the rig node: the pendant's loop, RUN frames, the ToF, the load cells, the bus voltage (Same board as the turret (D41).) |
| VL53L1X time-of-flight breakout, 30-4000 mm | 1 | [Adafruit 3967](https://www.adafruit.com/product/3967) | $14.95 | In stock | $14.95 | [SparkFun SEN-14722](https://www.sparkfun.com/products/14722), $29.95 | the carriage's height (jump apex) at 50 Hz |
| HX711 load cell amplifier | 2 | [SparkFun SEN-13879](https://www.sparkfun.com/products/13879) | $4.95 | In stock | $9.90 | [Adafruit 5974](https://www.adafruit.com/product/5974), $9.95 | the load plate (stand and squat); +1 for the bench (B3, B4: the load cell's own amplifier on the rig node) |
| 4 x 50 kg half-bridge load cells + HX711 | 1 | [Amazon (Geekstory) ASIN B079FTXR7Y](https://www.amazon.com/dp/B079FTXR7Y) | $7.90 | Only 10 left | $7.90 | [VXB VXB07X87GYLQ](https://vxb.com/products/4-pack-50kg-half-bridge-load-cell-sensor-kit-with), $39.99 | the load plate under the wheel (not in jumps or drops) |
| Momentary switch, 35 mm, 6 ft cord, 3.5 mm mono plug | 1 | [AbleNet Specs IC (10000114)](https://www.ablenetinc.com/specs-ic/) | $75.00 | In stock | $75.00 | [AbleNet Jelly Bean (10033400)](https://www.ablenetinc.com/jelly-bean), $75.00 | hold-to-run: the trigger of the off-delay relay and the rig node's input (No current rating published: signal duty only (it switches the timer's trigger and the node's input, never the coil).) |
| 12 AWG silicone wire, 10 ft red + 10 ft black | 1 | [BNTECHGO SW12G68008F10C2](https://bntechgo.com/bntechgo-12-gauge-silicone-wire-kit-ultra-flexible-20-ft-black-and-red-each-color-10-ft-high-temp-200-c-600v-12-awg-silicone-wire-680-strands-of-tinned-copper-wire-stranded-wire-stranded-wire-for-model-battery/) | $14.98 |  | $14.98 | [BNTECHGO SW12G68008F25C2 (25 + 25 ft)](https://bntechgo.com/), $32.98 | the pack, fuse, contactor and motor runs |
| XT30 connector, male | 3 | [RaceDayQuads Amass XT30 (male)](https://www.racedayquads.com/products/xt30-connector-male-or-female) | $0.99 |  | $2.97 | [GetFPV 5071 (XT30 Power Connectors, 5 Pair)](https://www.getfpv.com/xt30-power-connectors-5-pair.html), $2.99 per 5 male/female pairs (sale; regular price $6.49) (Sold only as sets of 5 male + 5 female; price\_usd\_each is per pair. The page says 'genuine Nylon high-temp XT30' (male 12x11x6 mm, gold-plated contacts) but does not name the maker (RDQ's are Amass)) | the Y-splice to the two motors' XT30 (female) leads, one spare |
| XT60H connector | 4 | [RaceDayQuads Amass XT60H (male + female)](https://www.racedayquads.com/products/amass-xt60h-connector-1pc-choose-your-version) | $0.99 |  | $3.96 | [Amazon ASIN B0863HJZHB (XT60H pairs)](https://www.amazon.com/dp/B0863HJZHB), $8.99 | the pack lead (female) and the motors' lead (male) |
| Shielded 22 AWG 1.5-pair data cable, 20 ft | 1 | [AutomationDirect Quabbin Q0357-1](https://www.automationdirect.com/adc/shopping/catalog/bulk_wire_-a-_cable/data_-a-_communication_cable/q0357-1) | $21.20 |  | $21.20 | [Pro Wire & Cable Belden 3106A](https://prowireandcable.com/belden-3106a-22-1p-22-1c-eia-industrial-rs-485-cable/), $4.13/ft (cut to order; 20 ft = $82.60) (Belden 3106A is 22 AWG 1 pair + 1 conductor (the same '1.5 pair'), 7x30 tinned copper, foil + 65% braid shield with drain, 120 ohm, 300 V, PVC. It is thicker (0.31 in OD vs Quabbin's 0.249 in: check any grommet or strain relief sized for it) and black, not gray. The price is per foot; price\_usd\_each is a 20 ft cut. This store has a $200 minimum cart subtotal, so 20 ft alone ($82.60) cannot be ordered there. A search snippet showed Standard Electric Supply at $3.41/ft (OMNI-BEL3106A), but its product URL returns 404) | the CAN chain (pair + ground) and the 12 V signal runs (pendant, timer, coil: under 0.5 A) |
| 120 ohm 1/4 W (1000) | 2 | [TTI, Inc. YAGEO CFR-25JB-52-120R](https://www.tti.com/content/ttiinc/en/apps/part-detail.html?partsNumber=CFR-25JB-52-120R&mfgShortname=YAG) | $15.60 per 1000 |  | $15.60 | [Mouser 603-CFR-25JB-52-120R (YAGEO CFR-25JB-52-120R)](https://www.mouser.com/ProductDetail/603-CFR-25JB-52-120R), $0.10 each (1+); $0.036 (10+); $0.027 (25+) (Identical part, sold singly (TTI sells 1000). mouser.com blocks automated reading, so price and stock come from findchips.com/search/CFR-25JB-52-120R) | CAN terminators where the adapter's or a motor's own is not used |
| Ferrule crimper + 770 ferrules (23-10 AWG) | 1 | [IWISS HSC8 6-4-KIT](https://www.iwiss.com/products/hsc8-6-4-kit-ferrule-crimping-tool-kit-awg-23-10-self-adjustable-ratchet-ferrule-crimper-plier-c-w-770end-sleeve-ferrules-connector-terminals) | $19.99 |  | $19.99 | [Amazon (sold by iwiss, ships from Amazon) ASIN B07LCF39W9](https://www.amazon.com/dp/B07LCF39W9), $24.99 (The same IWISS kit (Brand: IWISS; listed under its iCrimp name): quadrilateral self-adjusting ratchet ferrule crimper, AWG 23-10 / 0.25-6 mm2, with 770 ferrules (AWG 22-10). The page text does not show the HSC8 6-4 model number. $5 more than iwiss.com. Caveat: the Amazon merchant is iwiss itself (Amazon holds and ships the stock), so this is a second sales channel, not an independent seller. A fully independent option seen in the same Amazon search today: Preciva Ferrule Crimping Tool with 2000 pcs connectors, AWG 23-7, $23.99, Only 5 left in stock (not a drop-in check: wider-range crimper and a different ferrule assortment)) | every screw terminal (fuse holder, contactor coil, timer, DC-DC) |
| Heat-shrink assortment | 1 | [RaceDayQuads Heat Shrink Tube Set (530PC)](https://www.racedayquads.com/products/530-pcs-heat-shrink-tube-set) | $9.99 |  | $9.99 | [SparkFun PRT-09353](https://www.sparkfun.com/products/9353), $10.95 |  |
| 10 ohm 25 W aluminium-housed resistor (box of 10) | 1 | [TTI, Inc. TE HSA2510RJ](https://www.tti.com/content/ttiinc/en/apps/part-detail.html?partsNumber=HSA2510RJ&mfgShortname=TYC) | $37.00 per 10 |  | $37.00 | [Mouser 279-THS2510RJ (TE Connectivity THS2510RJ)](https://www.mouser.com/ProductDetail/279-THS2510RJ), $7.19 each (1+); $4.66 (10+); $4.32 (50+) (TE's THS25 series, not HSA25: the same 10 ohm 5% 25 W aluminium-housed, solder-lug, chassis-mount wirewound resistor, but no source confirmed its body and mounting holes match the HSA25 (29 x 28 mm). Check it if the pod has holes for it. The exact HSA2510RJ is not listed by Mouser or Digi-Key; Digi-Key's Arcol HS25 10R J shows backorder with a 20-week lead time. Ohmite HS25M 10R J M303 (Mouser 588-HS25M10RJM303, 573 in stock, $9.51) is another option. mouser.com blocks automated reading; price and stock come from findchips.com) | optional: a 1 s pre-charge across the contactor at the first power-up if it sparks |
| JST GH 1.25 mm 2-pin header, top entry (SMT) | 4 | [LCSC JST BM02B-GHS-TBT(LF)(SN) (LCSC C161690)](https://www.lcsc.com/product-detail/C161690.html) | $0.09 | 70,630 in stock | $0.36 | [HQonline BM02B-GHS-TBT(LF)(SN)](https://www.hqonline.com/product-detail/wire-to-board-connectors-jst-bm02b-ghs-tbt-lf--sn--2500404027), $0.097 (5+) | the CAN junction: mates each RS-04's GH1.25-2P plug (two used, two spare) (The true GH mate (the cheap '1.25 mm' pigtails are micro-JST copies without the GH latch). Surface-mount: solder it on a scrap of perfboard with short 26 AWG tails, or splice the motors' CAN leads into lever connectors instead (docs/leg-rig-wiring.md).) |
| Rectifier diode 1N4001 (1 A, 50 V) | 2 | [SparkFun COM-08589](https://www.sparkfun.com/diode-rectifier-1a-50v-1n4001.html) | $0.25 | In stock | $0.50 | [Adafruit 755 (1N4001 Diode - 10 pack)](https://www.adafruit.com/product/755), $1.50 per 10-pack (1-9 packs); $1.35 (10-99); $1.20 (100+) (Same 1N4001 (1 A, 50 V) axial diode; sold as a 10-pack) | across the contactor's coil (cathode to +): spares the relay's contact the coil's kick; one spare |
| Resistor kit 1/4 W, 500 (incl. 2.2k, 4.7k, 10k, 100k) | 1 | [SparkFun COM-10969](https://www.sparkfun.com/resistor-kit-1-4w-500-total.html) | $9.00 |  | $9.00 | [Mouser 474-COM-10969 (SparkFun COM-10969)](https://www.mouser.com/ProductDetail/474-COM-10969), $9.95 (1) (Identical SparkFun kit (20 values x 25, includes 2.2k, 4.7k, 10k, 100k). mouser.com blocks automated reading; price and stock come from findchips.com/search/COM-10969. A search snippet showed Digi-Key 1568-10969-ND at $10.50 with 1,964 in stock) | the node's dividers: the pendant loop 10k/2.2k (12 V -> 2.2 V), the motors' bus 100k/4.7k (60 V -> 2.7 V) |
| FeatherWing Proto | 2 | [Adafruit 2884](https://www.adafruit.com/product/2884) | $4.95 | In Stock | $9.90 | [Mouser 485-2884 (Adafruit 2884)](https://www.mouser.com/ProductDetail/485-2884), $4.95 (1) (Identical part. mouser.com blocks automated reading; price and stock come from findchips.com/search/485-2884. A search snippet showed Digi-Key 1528-1622-ND at $4.95) | one under the Feather (the dividers, the sensors' plugs); one as the carriage's CAN junction (the GH headers) |
| Socket head screw M2.5 x 8 | 4 | [McMaster-Carr 91290A102](https://www.mcmaster.com/91290A102/) | $12.30 per 50 |  | $12.30 | [Bolt Depot 13330](https://boltdepot.com/Product-Details?product=13330), $0.20 / ea (bag: $13.37 / 100) | the Feather's FeatherWing into the pod's bosses (self-tapping into PETG) (Same part as catalog/turret.json turret\_screw\_m2\_5x8.) |
| XT60 male panel plug (the pack's inlet) | 1 | [Maplin (UK) Amass XT60E-M](https://pro.maplin.co.uk/products/male-xt60e-panel-mount-gold-plated-connector-20a-amass) | $1.50 |  | $1.50 | [LCSC XT60E-M.G.Y (C3040679)](https://www.lcsc.com/product-detail/C3040679.html), $0.613 | the pod's inlet: the pack lead carries the female (Same part as catalog/turret.json amass-xt60e-m; LCSC C3040679 $0.61 in stock (catalog/alternates.json).) |
| XT60 female panel socket (the motors' outlet) | 1 | [Jameco Electronics Amass XT60E-F](https://www.jameco.com/z/XT60E-F-Amass-XT60-Female-Bullet-Plug-Connector-2-Position-for-RC-Battery-Panel-Mount-60A_2338319.html) | $0.95 |  | $0.95 | [Maplin XT60E-F (Maplin SKU 486711)](https://pro.maplin.co.uk/products/female-xt60e-panel-mount-gold-plated-connector-20a-amass), GBP 1.02 | the pod's outlet: the motors' lead carries the male (Same part as catalog/sourcing.json amass-xt60e-f.) |
| 3.5 mm panel jack | 1 | [Master Electronics Switchcraft 35PM2A](https://www.masterelectronics.com/en/switchcraft/35pm2a-12319088.html) | $6.95 |  | $6.95 | [Markertek Calrad 30-493A](https://www.markertek.com/product/30-493a/calrad-30-493a-stereo-3-5mm-panel-mount-jack-mounts-in-1-4in-hole), (Stereo jack that 'mounts in 1/4in hole' (6.35 mm): open the 6.2 mm hole to about 6.5 mm. Maximum panel thickness unknown.) | the pendant's plug on the pod's panel (Same part as catalog/sourcing.json jack-3.5mm-panel (a 6.35 mm hole).) |
| 5 x 20 mm panel fuse holder | 1 | [Digi-Key Littelfuse 03455LS1H](https://www.digikey.com/en/products/detail/littelfuse-inc/03455LS1H/553826) | $7.16 |  | $7.16 | [LCSC 03455LS1HX020 (Littelfuse; LCSC C206937)](https://www.lcsc.com/product-detail/C206937.html), $1.3968 (1+), $1.1671 (10+), $1.0407 (30+), $0.8973 (100+), $0.8341 (500+), $0.8048 (1000+) (Same 345-series holder as the primary (the page does not explain the X020 suffix), so it needs the same 12.70-12.83 mm hole with a flat, not a 12.6 mm round hole.) | the 12 V converter's input fuse, on the panel (Same part as catalog/sourcing.json fuse-holder-5x20-panel.) |
| 5 x 20 mm fuse 5 A, DC-rated | 2 | [Digi-Key Littelfuse 0477005.MXP](https://www.digikey.com/en/products/detail/littelfuse-inc/0477005-MXP/1979192) | $1.00 |  | $2.00 | [Mouser 576-0477005.MXP (Littelfuse 0477005.MXP)](https://www.mouser.com/ProductDetail/576-0477005.MXP), $2.18 each (1+); $2.01 (10+); $1.67 (50+) (Identical part (5x20 mm, 5 A time-lag, 500 Vac / 400 Vdc). mouser.com blocks automated reading; price and stock come from findchips.com/search/0477005.MXP) | the 12 V converter's input (one spare) (Same part as catalog/turret.json littelfuse-0477005-mxp.) |

## The bench tests (B1-B6)

| Part | Qty | Buy (primary) | Price | Stock | Cost | Backup | For |
| --- | --- | --- | --- | --- | --- | --- | --- |
| S-type load cell 500 kg (C2), M12 x 1.75 both ends, 51 x 76 x 19 mm | 1 | [Phidgets 3140\_0](https://www.phidgets.com/?prodid=231) | $50.00 | Quantity Available: 358 | $50.00 | [RobotShop Phidgets S-Type Load Cell 500 kg (C3)](https://www.robotshop.com/products/phidgets-steel-s-type-load-cell-500kg-c3), $71.54 | the press cage (B3 the stop sleeve to 2 kN, B4 the inserts and the link screws to 3.5 kN), read by an HX711 (Calibration certificate included. 500 kg so B4 can go to an insert's pull-out (the 200 kg TAS501 is rated 1.96 kN).) |
| Alloy steel socket head screw M12 x 30, class 12.9 | 2 | [Bolt Depot 6604](https://boltdepot.com/Product-Details?product=6604) | $0.96 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $1.92 | [Fastenal 1139654](https://www.fastenal.com/product/details/1139654), $38.00 / package of 25 (unit price $1.52 / each) (ISO 4762 / ISO 898-1 class 12.9 black oxide, full thread; sold only in packs of 25) | the press cage: the load cell to the top beam; the anvil on the cell (B3) |
| Fully threaded stud M12 x 75 | 1 | [Fastenal 91217237](https://www.fastenal.com/product/details/91217237) | $31.02 | Local DC Inventory; Direct Ship: Ships TOMORROW | $31.02 | [BelMetric S12X150FCLZ](https://belmetric.com/m12-full-thread-stud-din-976-class-8-8-steel/), $6.88 (each) (Only 150 mm is offered (M12x1.75 DIN 976 class 8.8 zinc full-thread stud): cut to 80 mm and chamfer the cut end. BelMetric's M12 set screws stop at 50-60 mm and McMaster's M12 DIN 976 studs come in 70 mm (too short) or 300 mm+) | the press cage: the puller hung from the load cell (B4); 75 mm reaches 10 of the nut's 11 mm (75 mm long (the brief accepts 75): M12-1.75 x 75 DIN 976-1 Type B class 8.8 zinc stud. Same seller also lists an 80 mm ISO 4027 cone-point set screw, SKU 90239, at $44.32 / package of 2) |
| Hex nut M12, DIN 934 | 2 | [Bolt Depot 4790](https://boltdepot.com/Product-Details?product=4790) | $0.24 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $0.48 | [Fastenal 1140309](https://www.fastenal.com/product/details/1140309), $8.20 / package of 25 (unit price $0.33 / each) (DIN 934 class 8 zinc, 19 mm A/F; sold only in packs of 25) | in the press base (the press bolt) and in the puller (the stud) (DIN 934 zinc-plated steel; Bolt Depot labels the grade 'Class 8.8' (its class-8 nut for 8.8 bolts); 19 mm A/F x 10 mm) |
| Hex bolt M12 x 80, fully threaded (DIN 933) | 1 | [Bolt Depot 6132](https://boltdepot.com/Product-Details?product=6132) | $1.99 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $1.99 | [Fastenal 925206494](https://www.fastenal.com/product/details/925206494), $15.10 / package of 10 (unit price $1.51 / each) (DIN 933 class 8.8 zinc, full thread; sold only in packs of 10) | the press cage's press bolt (B3) (Metric tap bolt (fully threaded hex bolt), zinc class 8.8; the page lists no dimensional standard, but its 19 mm A/F and 7.32-7.68 mm head match DIN 933) |
| Flat washer M12, DIN 125 | 2 | [Bolt Depot 4531](https://boltdepot.com/Product-Details?product=4531) | $0.08 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $0.16 | [Fastenal 1140359](https://www.fastenal.com/product/details/1140359), $4.10 / package of 25 (unit price $0.16 / each) (DIN 125 Type A zinc steel: 13.00-13.27 mm ID, 23.48-24.00 mm OD, 2.30-2.70 mm thick; sold only in packs of 25) | under the slider (on the press bolt's tip); a spare (DIN 125 zinc-plated steel: 13.00-13.27 mm ID, 24 mm OD, 2.3-2.7 mm thick) |
| Alloy steel socket head screw M8 x 40, class 12.9 | 2 | [Bolt Depot 6565](https://boltdepot.com/Product-Details?product=6565) | $0.38 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $0.76 | [Fastenal 1139591](https://www.fastenal.com/product/details/1139591), $35.62 / package of 50 (unit price $0.71 / each) (ISO 4762 / ISO 898-1 class 12.9 black oxide; sold only in packs of 50) | B4: the M8 insert under test (DIN 912/ISO 4762 class 12.9 black oxide (partially threaded)) |
| Dial indicator 0-1 in x 0.001 in with a magnetic base | 1 | [Grizzly G9849 (Grizzly Magnetic Base/Dial Indicator Combo)](https://www.grizzly.com/products/grizzly-magnetic-base-dial-indicator-combo/g9849) | $49.95 | Available; Delivery est. by 11/2 - 11/5; Available in Bellingham, WA and Springfield, MO | $49.95 | [Shars 303-2724](https://www.shars.com/1-dial-indicator-black-face-w-magnetic-base-22-pcs-indicator-point-3-pc-set), $66.95 (A set: 1 in range, 0.001 in graduation dial indicator (p/n 303-3111B), magnetic base with fine adjustment, 135 lb, on/off switch (p/n 202-6020), and 22 indicator points. Harbor Freight sells the two parts separately: the PITTSBURGH 1 in. Travel Machinists Dial Indicator, SKU 63521, at $19.99 (In Stock at Hayward, CA; the page text read did not show its resolution), and the Multiposition Magnetic Base with Fine Adjustment, SKU 63663, at $16.99 in its search list (the product page blocked automated reading)) | B3 and B5: the sleeve's and the tyre's deflection (A set: switched magnetic base with fine ('pinpoint') adjustment and a dial indicator with 0-1 in travel and 0.001 in resolution. Grizzly also sells the Shop Fox D3207 (1 in travel, .001 in divisions, switched base with fine-tuning beam, case) at $39.95, 3 available in Bellingham, WA) |
| Alloy steel socket head screw M6 x 40, class 12.9 | 8 | [Bolt Depot 6544](https://boltdepot.com/Product-Details?product=6544) | $0.26 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $2.08 | [Fastenal 1139571](https://www.fastenal.com/product/details/1139571), $21.28 / package of 50 (unit price $0.43 / each) (ISO 4762 / ISO 898-1 class 12.9 black oxide (partial thread); sold only in packs of 50) | the dyno: the two lug plates through the 19 mm board (DIN 912/ISO 4762 class 12.9 black oxide (partially threaded)) |
| Nylon-insert lock nut M6 | 8 | [Bolt Depot 4804](https://boltdepot.com/Product-Details?product=4804) | $0.10 | no count shown; orderable (Add button, not marked 'Temporarily unavailable') | $0.80 | [Fastenal 1140155](https://www.fastenal.com/product/details/1140155), $9.34 / package of 100 (unit price $0.09 / each) (DIN 985 class 8 zinc; sold only in packs of 100) | the dyno: under the board (Zinc-plated steel nylon-insert lock nut, grade labelled 'Class 8.8' (class-8 nut); the page lists no standard, but 10 mm A/F x 6 mm high matches DIN 985) |

## Checked on arrival

-   **Rails:** both blocks run smooth with no play by hand; the rail's hole pitch (60) and end distance (20) as drawn.
-   **Dock adapters:** each DCB609 seats and reads 20-21 V on its adapter's leads (20 V mode); the pair in series reads 40-41 V.
-   **Contactor:** the + terminal goes to the pack side (its contacts are polarised).
-   **Weight plates:** weigh each; the ballast table in `exports/rig/rig.json` assumes 0.567 and 1.134 kg.
-   **Motors:** firmware version (`python -m rig.rs04 --id 127 version`); the 310 mm leads and their XT30 and GH plugs.

## Considered, not bought

-   **RobStride Discharge Module** (the regeneration bleeder, rcdrone $47.55, sold out 2026-10-27): the power-off damping B1 measures is the motor's own `damper` switch (parameter 0x702A), which needs no module; and the module starts bleeding at 64 V, above the RS-04's 60 V trip, so it would not protect the rig's bus. The pack absorbs regeneration; jumps start at or under 57.5 V - 27 A x the pack's resistance (docs/leg-bench-tests.md).
-   **HGR20 rails** as the stronger backup: their 44 mm blocks overlap at the post's 40 mm slot spacing.
-   **80/20 extrusions:** a different slot; only as a whole-frame swap.
-   **A rocker switch on the pod:** the pack's XT60 is the master disconnect; the contactor only closes with the pendant held.
-   **The load cells under jumps:** 3.4 kN would crush 50 kg cells; the load plate is for stand and squat only.

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