Mount and check the D1 arm

The D1 uses Unitree's supported Go2 mounting. Follow the official payload installation guide, section Installing the Small Servo Arm, then complete the camera and operator checks below.

1. Mount and connect the arm

1. Check the kit: identify the arm, gripper, square rail nuts, M4 × 10 hex-socket screws, and power and Ethernet cables against Unitree's guide.
2. Mount: slide the square nuts into the expansion dock rail and secure the arm with the M4 × 10 screws in the orientation the guide shows.
3. Connect: run the supplied power and Ethernet cables from the dock to the arm, following Unitree's connection diagram and the port labels on the delivered equipment.
4. Inspect: confirm the cables stay clear of the legs, arm joints, and wrist camera, and that the arm's resting position leaves the required clearance inside the gantry.

If the arm is already installed, check its mounting and cable routing without removing it.

2. Fit the wrist camera

The wrist camera is a RealSense D435 (not the front D435i). Clamp it beside the gripper with the RichBird C-clamp mount, tighten the clamp and ball head, and leave clearance for the gripper and its cable.

Calibration measures the camera's position relative to the arm, so moving the camera or clamp invalidates it. Record the camera's serial and mounting position now; verify calibration after the basic software checks, during hardware readiness.

3. Arrange the arm's acceptance check

Arrange an experienced operator for the hardware readiness check. After the software and camera checks, the operator verifies calibration, the gripper, joint limits, resting pose, and stop and recovery procedure. This includes which stop affects the arm and how it is supported if power is removed.

Ready for software checks: the installer has approved the arm and camera mounting and cable routing. Powered acceptance checks follow on the readiness page.

Next: Basic software