The hips use a F.A.R. layout: Flexion, Abduction, Rotation. All actuators line up on one plane. It's a clean way to explore stride, balance, and motion efficiency.

We keep the core frame flexible so we can change the form or control setup easily. Nothing here is final, it's a testbed that evolves as we do.

It's less about perfect structure and more about learning what works. We're tweaking joints, testing control, breaking parts, and fixing them the next day. Every version walks a bit differently.

To run it locally:

- Install Jan Beta: jan.ai/docs/deskto...
- Download Jan-nano in Jan Hub
- Settings -> MCP, enable MCP and add your Serper API key for web tools