NVIDIA Jetson AGX Thor, the dual-arm host: 2x CAN-FD (one bus per arm), 2x USB3 (one RealSense per arm), a 25G-class uplink, and an onboard regulator off the 48 V rail nvidia-agx-thor 0.11 0.11 0.07 Right arm J1: Damiao DM-J8009 CAN-FD drive (shoulder) damiao-dm-j8009 0.0450.06 Right arm J2: Damiao DM-J8009 CAN-FD drive (shoulder) damiao-dm-j8009 0.0450.06 Right arm J3: Damiao DM-J4340 CAN-FD drive (upper arm) damiao-dm-j4340 0.0350.05 Right arm J4: Damiao DM-J4340 CAN-FD drive (elbow) damiao-dm-j4340 0.0350.05 Right arm J5: Damiao DM-J4310 CAN-FD drive (forearm) damiao-dm-j4310 0.030.045 Right arm J6: Damiao DM-J4310 CAN-FD drive (wrist) damiao-dm-j4310 0.030.045 Right arm J7: Damiao DM-J4310 CAN-FD drive (wrist roll; physical bus end) damiao-dm-j4310 0.030.045 Right wrist Intel RealSense D435 depth camera (USB 3.1 gen1 device) intel-realsense-d435 0.09 0.025 0.025 0.09 0.025 0.025 0.1 10.0 1.211 0.742 1920 1080 RGB8 1380.0 1380.0 960.0 540.0 Left arm J1: Damiao DM-J8009 CAN-FD drive (shoulder) damiao-dm-j8009 0.0450.06 Left arm J2: Damiao DM-J8009 CAN-FD drive (shoulder) damiao-dm-j8009 0.0450.06 Left arm J3: Damiao DM-J4340 CAN-FD drive (upper arm) damiao-dm-j4340 0.0350.05 Left arm J4: Damiao DM-J4340 CAN-FD drive (elbow) damiao-dm-j4340 0.0350.05 Left arm J5: Damiao DM-J4310 CAN-FD drive (forearm) damiao-dm-j4310 0.030.045 Left arm J6: Damiao DM-J4310 CAN-FD drive (wrist) damiao-dm-j4310 0.030.045 Left arm J7: Damiao DM-J4310 CAN-FD drive (wrist roll; physical bus end) damiao-dm-j4310 0.030.045 Left wrist Intel RealSense D435 depth camera (USB 3.1 gen1 device) intel-realsense-d435 0.09 0.025 0.025 0.09 0.025 0.025 0.1 10.0 1.211 0.742 1920 1080 RGB8 1380.0 1380.0 960.0 540.0 Battery + power-distribution board: the single 48 V rail feeding the Thor and both arms 0.16 0.12 0.08 Li-ion 13 48 10 480 39 54.6 Right wrist RealSense on the Thor USB 3.2 Gen 1 host port. Left wrist RealSense on the Thor USB 3.2 Gen 1 host port. Right OpenArm CAN-FD bus: Thor can0 controller and seven Damiao drives. Left OpenArm CAN-FD bus: Thor can1 controller and seven Damiao drives. Shared 48 V rail from the battery and distribution board to the Thor and both arms.