CogniPilot humanoid mobile base: S32N79 + E810 spine, AGX Thor compute, dual 802.3dm 7-DOF arms, S32J100 base zone, i.MX95 head, TSN backbone with MACsec CogniPilot Foundation Apache-2.0 https://github.com/CogniPilot/hcdformat NVIDIA AGX Thor SoC: perception, planning, ML inference. 2x 25G MGBE uplinks to S32N79. nvidia-agx-thor 1.5 NXP S32N79: central motion control, CNC agent, integrated TSN switch. Intel E810 on PCIe for 25G uplink to AGX Thor. nxp-s32n79-evb 0.8 NXP S32J100: base zone controller. Bridges Ethernet to CAN-FD (wheels, BMS) and base peripherals (lidars, radar, head). Decapsulates 1722+CAN from S32N79. nxp-s32j100-rdb 0.3 i.MX95 head unit: display, microphones, user interaction nxp-imx95-evk 0.6 120 NXP SPAD front base lidar: solid-state, 200m range 0.4 0.5 200.0 2.094 0.436 400 solid-state 64 600000 20 dual 905 120 25 NXP SPAD rear base lidar: solid-state, 200m range 0.4 0.5 200.0 2.094 0.436 400 solid-state 64 600000 20 dual 905 120 25 Cubtek 4D imaging radar: 77GHz FMCW, 120-degree FOV 0.3 200 100 77 fmcw 120 30 1.0 2.0 0.1 60 0.1 512 3tx4rx ZLTECH ZLAC8015D v4.0 dual-channel servo controller. Drives 2x ZLLG65ASM250-L hub motors via SIGNAL connectors. CANopen on CAN-FD bus. 0.8 ZLLG65ASM250-L 24V BLDC hub motor (left). 170mm diameter, 2.92 kg, 250W rated. 2.92 4096 100 150 0.5 0.29 0.109 260 19.76 257.9 0.974 158.8 68.4 velocity position torque 0.085 0.041 ZLLG65ASM250-L 24V BLDC hub motor (right). 170mm diameter, 2.92 kg, 250W rated. 2.92 4096 100 150 0.5 0.29 0.109 260 19.76 257.9 0.974 158.8 68.4 velocity position torque 0.085 0.041 Front-left passive omni caster wheel 0.15 0.025 0.02 Front-right passive omni caster wheel 0.15 0.025 0.02 CogniPilot MR-BMS771: 8S LiFePO4 (~25.6V nominal). CAN-FD. Battery management + power distribution. 3.0 LiFePO4 8 25.6 12 307 3 20.0 29.2 Mobile base chassis frame: structural root of kinematic tree 45.0 1.35 0 0 0.6 0 1.68 0.6 0.4 0.3 0.1 Upper body torso structure: mounts both arm chains 8.0 0.16 0 0 0.08 0 0.12 0.35 0.4 0.45 Left Motor Control Node 1: Shoulder (3 BLDC motors, yaw, pitch, roll). 802.3dm bridging switch. 1.2 0.040.12 4096 4096 4096 0.12 5000 0.15 4000 0.10 5000 Left Motor Control Node 2: Elbow (1 BLDC motor) 0.8 0.0350.1 4096 0.12 5000 Left Motor Control Node 3: Wrist (2 BLDC motors, pitch, roll) + camera spur port 0.6 0.030.08 Left arm tool center point for end-effector control 4096 4096 0.08 6000 0.06 8000 Left Motor Control Node 4: Dextrous hand (many small BLDC motors for finger articulation) 0.4 0.08 0.06 0.04 Left wrist stereo camera: ~7 Gbps raw via 802.3dm upstream to S32N79 0.05 0.1 20.0 1.22 0.96 1920 1080 RGB8 960 960 960 540 0.1 20.0 1.22 0.96 7000 6220800 global true raw hardware Right Motor Control Node 1: Shoulder (3 BLDC motors, yaw, pitch, roll) 1.2 0.040.12 4096 4096 4096 0.12 5000 0.15 4000 0.10 5000 Right Motor Control Node 2: Elbow (1 BLDC motor) 0.8 0.0350.1 4096 0.12 5000 Right Motor Control Node 3: Wrist (2 BLDC motors, pitch, roll) + camera spur port 0.6 0.030.08 Right arm tool center point for end-effector control 4096 4096 0.08 6000 0.06 8000 Right Motor Control Node 4: Dextrous hand (many small BLDC motors for finger articulation) 0.4 0.08 0.06 0.04 Right wrist stereo camera: ~7 Gbps raw via 802.3dm upstream to S32N79 0.05 0.1 20.0 1.22 0.96 1920 1080 RGB8 960 960 960 540 0.1 20.0 1.22 0.96 7000 6220800 global true raw hardware Left arm kinematic chain (shoulder to wrist) Right arm kinematic chain (shoulder to wrist) Left dextrous hand Right dextrous hand Left arm + hand for manipulation tasks Right arm + hand for manipulation tasks Differential drive wheels + passive casters Head unit for display and microphone interaction Default home position: arms at sides, elbows slightly bent Compact transport position: arms folded tight against torso Primary 25 Gb/s optical backbone link. Redundant 25 Gb/s optical backbone link. Left wrist camera spur from MCN3-L. Right wrist camera spur from MCN3-R. S32N79 QXGMII lane 0 to the S32J100 base-zone switch. S32N79 QXGMII lane 1 to the S32J100 base-zone switch. S32N79 QXGMII lane 2 to the S32J100 base-zone switch. S32N79 QXGMII lane 3 to the S32J100 base-zone switch. Head controller link. Front lidar link. Rear lidar link. 4D radar link. Left wheel encoder, Hall, and temperature signals. Left wheel three-phase motor power. Right wheel encoder, Hall, and temperature signals. Right wheel three-phase motor power. CAN-FD bus joining the base-zone controller, dual motor controller, and BMS. 24 V DC distribution from the BMS to every powered module. Switched left arm path from the S32N79 through four motor-control nodes. Switched right arm path from the S32N79 through four motor-control nodes. 50 0.85 80 0.82 50 0.85 30 0.88 50 0.85 80 0.82 50 0.85 30 0.88 1 0.95 1 0.95