Open Solo-12 specs

Caveats · stated by the package

• Upstream pins: open-dynamic-robot-initiative/open_robot_actuator_hardware@66af1522b4fba0ec4a1d7790e66f5e4652208d30 (2022-09-06); master-board@574fe988270aa3da948484ad3fa1f15dbf8162bf (2026-06-30); udriver_firmware@c98d2296aaf409cd8ef2ce0df2e0a0a4a73943c0 (2022-09-30); odri_control_interface@dcc07e4efc9113622b32cbf5abb60f14b93de488 (2025-06-05); robot_properties_solo@2201f454f4caffa0cad307fa8cbd1d64dd844008 (2023-03-22); solo@e2a3b8bb749e9a41b32fa1907d46a1aa46e6cc34 (2023-08-17)
• No USD prices anywhere upstream. The only figures are EUR component estimates: about 50 EUR per micro driver and 35 EUR per master board in components. Several key parts (encoder kits, 4 mm belts, stainless bearings) are email-quote items from European suppliers.
• PAL Robotics' Solo12 page now says 'SOLO12 sales have been discontinued', so the upstream 'Commercial Option' (kit or assembled, including programmers and calibration tools) is no longer available.
• Custom PCB fab: the micro drivers are 6-layer boards built to a Beta LAYOUT order number (AU-201909/38760) or from the Gerber/assembly packs; the master board is quote AN5eea24ae72697. Shunt resistors and Hirose connectors are hand-soldered.
• Precision parts: pulleys need SLA/multijet, shells need SLS with a controlled +Z print direction (via 3D Systems engineering support), and without the ODRI Encoder Kit the pulleys need a custom form cutter (modified AT3 profile). Bearing seats and output pulley diameters are hand-fitted with end mills and a lathe.
• Robot-level quantities are computed from upstream per-module (x12) and per-leg (x4) BOMs; fastener counts for the calibration tools and body were added in. The actuator assembly page uses 5 M2.5x6 + 3 M2.5x8 for the shells while the leg BOM lists M2.5x6/M2.5x10 only. DF13 right-angle headers per micro driver are not counted upstream (18 assumes 2 encoders + 1 SPI per board).
• Dead vendor links on the upstream pages as of 2026-09-25: Globe-flight T-Motor set, EZO USA catalogue, Online Bearing Store bearing pages and Beltingonline all return 404; those offers are left out. DigiKey, Conrad and MicroStrain block automated checks (403) and were kept.
• Hoffmann part numbers for the M2.5x3.75 Helicoil conflict (leg page: 082814 M2,5; tools page: 082812 M2,5 for 3.75 mm, 082814 for 5 mm).
• Master board firmware only builds with esp-idf 3.x-era code: the docs install v4.0.1 then roll back to commit 8d1a9c0. `espefuse.py set_flash_voltage 3.3V` is irreversible and only for a fresh board.
• This package is the tethered v1 (24 V lab supply + Ethernet). The v1.1 autonomy upgrade (power board, 2 x 3S 850 mAh LiPo, e-stop, LED ring) is documented as work in progress upstream and is not included.
• Policies: the Sci. Reports Solo12 RL work (Gepetto/soloRL) points to checkpoints at gitlab.laas.fr/paleziart/quadruped-rl, which returned HTTP 500 on 2026-09-25, so no policy file could be verified and none is listed.
• Licences: hardware BSD-3-Clause (open_robot_actuator_hardware); master-board README says BSD 2-Clause while its ordering page says BSD 3-Clause; software BSD-3-Clause.