D'Kitty

What the physical setup includes

The v0.9 parts list specifies twelve XM430-W210-R motors, H103GM and S102K brackets, idlers, printed chassis and tips, top and bottom plates, U2D2, a six-port power hub and a 12 V supply rated 5 A or 10 A in the historical parts list. The assembly guide additionally mounts a Vive tracker, although that tracker is not enumerated in the supplies list. A parts-list subtotal would therefore not establish a complete tracked benchmark budget. [S005] [S006]

The pre-build guide assigns four leg chains IDs 10–12, 20–22, 30–32 and 40–42. The assembly text requires the base idlers to face the chassis center and the remaining idlers upward. Diagrams are needed to resolve the exact physical orientation and were not inspected here. [S006] [S007]

Configure motors before assembling the chains

The historical pre-build guide starts by connecting one motor at a time through U2D2 and the powered hub. It describes Windows R+ Manager, with Dynamixel Wizard 2.0 as an alternative, and changes the default connection from 57,600 baud to 1 Mbps. It also specifies PWM limit 200 and response-time delay zero, followed by ID labeling and horn-case alignment. These are source-reported settings for the documented setup, not settings tested on a reader's hardware. No firmware or motor configuration was changed during this review. [S007]

Simulation and hardware are different execution paths

The selected README uses Gym environments with a MuJoCo backend. Its DClaw example selects hardware by supplying a serial device path; omitting that path selects simulation. The same interface does not prove that running a simulated benchmark validates a physical build. D’Kitty tasks include Stand, Orient and Walk, with OpenVR external-tracking support described by the README. [S001]

The README requires Python 3.5 or higher and an additional DynamixelSDK Python API installation for hardware operation. Installation instructions target the historical MuJoCo Pro 2.00, mujoco_py and license-key workflow. They should not be presented as a tested installation recipe for current MuJoCo or Gym versions. This catalog did not install the environment, train a policy or reproduce benchmark performance. [S001]

Source availability and remaining gaps

The official hardware folders list CAD archives, printable STL parts and SolidWorks plate files. Their raw geometry and hardware reuse licenses were not independently verified. The assembly and parts documents were read as connector-extracted text; PDF diagrams were not inspected. This establishes documented hardware coverage without claiming a complete fabrication review. [S005] [S006] [S008] [S009]

The preserved September 30, 2026 repository metadata reports the software repository as archived. This is maintenance context for that repository, not evidence that all related hardware or community work has stopped. [S002]

The selected ROBEL software repository is Apache-2.0 licensed. That license is not automatically assigned to external CAD, hardware PDFs, purchased servo firmware or other dependencies. Matched pretrained weights and datasets were not established. A current complete delivered price also remains unknown. [S001] [S003] [S004] [S005]