# Szarik build planning checklist

Public planning notes, prepared 7 November 2026.
Build guide: https://szarik.ai/build

## Readiness

Szarik is an experimental development project. Printed parts, individual bench
experiments and simulation exist. A complete, independently reproducible robot
release is still in preparation. Planning downloads are available; a complete
public CAD/STL, firmware and assembly bundle is not yet published here.

## Choose a small first milestone

- [ ] Explore one actuator and its 6:1 planetary gearbox.
- [ ] Distinguish printed parts, bearings, rotor magnets, inserts and electronics.
- [ ] Write down the exact mechanical, electronics and firmware revisions.
- [ ] Record unresolved fits, purchased-part interfaces and wiring assumptions.

## Prepare the workshop

- [ ] FDM printer and a slicer profile matched to the machine and material.
- [ ] PETG filament; existing project estimates use saved H2S 0.4 mm profiles.
- [ ] Calipers, suitable hex drivers and an insert-installation tool.
- [ ] Soldering and cable-termination tools, plus a multimeter.
- [ ] A support stand for later bench work.
- [ ] A revision-specific hardware list before ordering or printing a full set.

## Work through the subsystems

- [ ] Review and dry-fit one actuator with motor power disconnected.
- [ ] Check one leg's belt path, tensioning and cover clearance with power disconnected.
- [ ] Review body, battery and electronics interfaces before repeating parts.
- [ ] Verify the two camera ribbons against the actual UC-609 Rev.E boards.
- [ ] Check the chosen speaker's connector and full mounting envelope.
- [ ] Prepare the Pi and development tools independently of joint power.

## Hardware bring-up is a separate gate

- [ ] Use the revision's current bench procedure and configured joint limits.
- [ ] Test the hardware motor-power stop before each powered session.
- [ ] Keep the mechanism supported and the workspace clear.
- [ ] Progress from one joint to one leg before a complete robot.
- [ ] Preserve the failure order: damping, controlled sit, torque off.

The safety analysis still lists motor-bus power-loss detection as an open item:
the physical stop can cut torque without every driver knowing the bus was opened.
Restoring motor power is therefore part of the unresolved safety work. This
planning checklist does not close that gate or provide an energising procedure.

## Keep a useful build record

- [ ] Record the part or subsystem revision, expected result and observed result.
- [ ] Photograph fit and cable-routing problems before changing the parts.
- [ ] Remove credentials and personal details before sharing logs.
- [ ] Ask a focused question through the build guide's public support link.

## Learning resources

- Actuator overview: https://szarik.ai/#actuator
- Leg overview: https://szarik.ai/#leg
- Tools and languages: https://szarik.ai/#tools
- Raspberry Pi setup: https://www.raspberrypi.com/documentation/computers/getting-started.html
- Arduino CLI: https://docs.arduino.cc/arduino-cli/
- MuJoCo: https://mujoco.readthedocs.io/en/stable/programming/