print

3D-Printable Parts

🛒 Sourcing links for filament, fasteners, heat-set inserts and insert tips: mechanical sourcing list.

Every STL for the whole robot, sorted into print these and buy these, under Macrodork part names.

Directory	Count	What it is
printed-parts/	30 types / 41 pieces	Structural parts the walking assembly needs. 9 types need more than one copy - read the quantity table below
variant-roller-skate/	5 types / 15 pieces	Substitute parts for the roller-skating function; skip them if you are not building the skates
standard-parts-not-printed/	8	Models of the servos, bearings, battery and PCBs - for fit and interference checking only
removed-upstream/	2	Referenced by no assembly; deleted upstream on 2026-09-01. Kept for the record

These are individual parts, for printing. For assembly relationships see ../cad/ - 15 sub-assemblies merged along the kinematic tree.

Generating the files

The STL files are not stored in this repository. They are generated from the upstream mesh release at a pinned commit, renamed and sorted:

bash scripts/fetch_upstream.sh          # once: clones upstream into upstream/ (git-ignored)
python scripts/build_print_tree.py      # writes print/**/*.stl

The script pins upstream commit d424a0c (2026-08-27), the baseline every count in this repository was taken from, and fetches that commit if the local clone does not have it. python scripts/build_print_tree.py --table prints the mapping below.

⚠️ How many: 9 parts need more than one copy

Quantities come from geom reference counts in the upstream robot_walk.xml - counted, not estimated.

Part	Qty
lower_leg	×4
hip_roll_link	×2
neck_base	×2
battery_support	×2
sole_left	×2
sole_right	×2
upper_leg_rigidity_plate	×2
hip_yaw_roll_bracket	×2
hip_roll_bearing_cap	×2
The other 21 types	×1 each

Roller-skate variant: skate_tire ×8, skate_rim ×4, skate_blade ×2, skate_ankle_left / skate_ankle_right ×1 each.

⚠️ The skate ankles are 10 mm taller than the standard ones (46.5 vs 36.5). The two sets are not interchangeable.

The full bill of materials (servos, bearings, screws, electronics) is in ../BOM.md.

Part names

Files carry Macrodork names. The upstream mesh name is what the MJCF, ../cad/parts_manifest.json, ../docs/hole_analysis.json and the analysis documents cite, so both are listed here.

Macrodork name	Upstream mesh	Qty	Note
printed-parts/
trunk_base	trunk_base	×1	Trunk core; the hip servos and the neck bolt to it
trunk_shell_left	left_shell	×1	Trunk side shell, left
trunk_shell_right	right_shell	×1	Trunk side shell, right
battery_support	power_support	×2	Holds the NP-F battery; no contact model, see BOM
imu_board_retainer	banana_pcb_locker	×1	Clip that holds the imu_to_dxl board
hip_yaw_roll_bracket	yaw2roll	×2	Links the hip-yaw servo to the hip-roll axis
hip_roll_bearing_cap	bearing_roll	×2	Retaining cap for the 22 mm hip-roll bearing (not a bearing)
hip_roll_link	hip_l	×2	Hip-roll body between bracket and upper leg
upper_leg_left	upper_leg_left	×1	Thigh, left
upper_leg_right	upper_leg_right	×1	Thigh, right (upstream also ships a duplicate export, dropped)
upper_leg_rigidity_plate	upper_leg_rigidity_plate	×2	Stiffening plate on each thigh
lower_leg	leg	×4	Shin plate, two per leg
ankle_left	ankle_left	×1
ankle_right	ankle_right	×1
foot_left	foot_left	×1
foot_right	foot_right	×1
sole_left	sole_left	×2
sole_right	sole_right	×2
neck_base	neck	×2	Neck base halves, around the neck servo
neck_pitch	neck_pitch	×1
head_yaw_roll_link	yaw_roll_motion	×1	Head yaw/roll mechanism body
head_shell_top	top_head_shell	×1	Cosmetic
head_shell_bottom	bottom_head_shell	×1	Cosmetic
face_plate	face_part	×1	Front face with camera and ToF openings
head_servo_mount	motor_support	×1	Mount for the jaw servo inside the head
noenoeil	noenoeil	×1	Small part at the jaw-servo mount; upstream name kept, purpose not identified
m12_lens_holder	m12_lens_holder	×1	Holder for the M12 camera lens
jaw	jaw	×1	Lower beak, rigid
jaw_soft	jaw_soft	×1	Lower beak, flexible (TPU suggested)
mouth_top_soft	soft_mouth_top	×1	Upper beak, flexible (TPU suggested)
standard-parts-not-printed/
servo_xl330	xl330	×15	Dynamixel XL330 envelope
bearing_22x16x4	seeed_bearing__configuration__22x16x4	×11	22 x 16 x 4 mm bearing
bearing_15x10x3	seeed_bearing__configuration_default	×3	15 x 10 x 3 mm bearing (ankles and head)
battery_np_f550	np_f970	×1	Upstream mesh is named F970 but measures as an F550, see BOM
mainboard_zero_footprint	pcb__raspberry_pi_zero_2_w	×1	Zero-footprint main board; the real board is a Radxa Zero 3W
robot_hat_pcb	elec_rpi_robot_hat_pcb	×1	RPI Robot HAT outline
camera_lens	lens	×1	M12 lens
speaker	speaker	×1	Placeholder mesh (12 triangles)
variant-roller-skate/
skate_ankle_left	ankle_l_v1	×1	Replaces ankle_left; 10 mm taller
skate_ankle_right	ankle_r_v1	×1	Replaces ankle_right; 10 mm taller
skate_blade	roller_blade	×2
skate_rim	rim	×4
skate_tire	tire	×8	Flexible (TPU suggested)
removed-upstream/
legacy_trunk_shell_left	trunk_shell_left	-	Referenced by no assembly; deleted upstream in 8dfc08f (2026-09-01)
legacy_trunk_shell_right	trunk_shell_right	-	Referenced by no assembly; deleted upstream in 8dfc08f (2026-09-01)

Differences from upstream

At the baseline commit, the upstream assets directory held 47 STLs; 45 are generated here.

The 2 duplicates dropped: the upper legs ship upstream under two names each, upper_leg_left / left_upper_leg and upper_leg_right / right_upper_leg, with identical face count (12250), bounding box and centroid - two exports of the same geometry. Only upper_leg_left and upper_leg_right are used.

Re-sorted: the skate-only parts go into variant-roller-skate/; the two trunk shells that no MJCF references, and that upstream has since deleted, go into removed-upstream/.

Upstream's XL330 test-bench fixtures (bench_holder, weight, spacer, axis, arm, part_1..5) live in a separate upstream directory, robot/xl330_test_bench/assets; they are not robot parts and were never among the 47.

Printing notes

No official print settings exist (upstream never published any). Measured findings so far are in ../BUILD-LOG.md.

A few things the geometry itself tells you:

• Head and trunk shells are cosmetic - 0.12–0.16 mm layers suggested
• Leg structural parts carry load - increase wall thickness and infill
• mouth_top_soft / jaw_soft are named soft upstream; the originals are presumably a flexible material (TPU family)
• skate_tire likewise - a roller-skating tyre printed in rigid filament will simply slip
• Use heat-set inserts for the M2 holes on printed parts rather than tapping the plastic. Screw list: ../docs/fastener-reconstruction.md

Licence

A generated tree is a derivative (renaming and sorting) of the upstream meshes and carries their CC BY-NC-SA 4.0 terms: attribution, share-alike, non-commercial. See ../NOTICE.md.

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Correction (2026-09-04)

The part now named hip_roll_bearing_cap (upstream bearing_roll) was previously filed under standard-parts-not-printed/ (taken for an off-the-shelf bearing). That was wrong. The evidence:

1. Geometry - measured 23 × 3 × 40 mm, a flat plate with a Ø≈18 mm centre hole, volume 625 mm³ (23 % fill ratio). No standard bearing has this shape; the two real bearings measure as bodies of revolution at 22.0/16.0/4.0 and 15.0/10.0/3.0.
2. Provenance - the Onshape elementId in the upstream assets/*.part files: bearing_roll shares d6fcdccc8b25aaa256e7e213 with trunk_base, yaw2roll, left_shell, right_shell, power_support and neck (the trunk Part Studio of in-house printed parts); the two real bearings are in 92eaf48a756ec816309fc756 with configuration strings ..._22x16x4 / ..._Default, the signature of a standard-parts configuration library.
3. Assembly - it sits in the same body and at the same pos as yaw2roll, with a quat that differs only by an overall sign (the same rotation): a plate attached to the side of the hip yaw/roll bracket and extending 19.5 mm further down. Functionally it is the retaining cap / keeper for the Ø22 bearing on the hip_roll axis (the Ø18 hole is smaller than the Ø22 outer diameter, so it retains the outer race exactly).

The earlier descriptive name "bearing roller" was also wrong - it is neither a bearing nor a roller, hence the Macrodork name hip_roll_bearing_cap. The printed-part count therefore goes 29 types / 39 pieces → 30 types / 41 pieces, and standard parts 9 → 8.

Also note: in the upstream robot_walk.xml:264 the right-leg hip_yaw link was named <body name="bearing_roll"> by onshape-to-robot, but the visual inside it is yaw2roll_2 - a coincidence of link naming, with no bearing on what the part is.