# Measured fastening lengths

Dimensions were checked against the current R92 printable STEP and the component references. Quantities are for one rover; Jetson and Pi are alternatives.

| Joint | Prepare | Measurement |
|---|---|---|
| Motor to printed bracket | 6 × M3 × 8 socket-head screws; no washers | 5 mm bracket + 3 mm into the motor. The reference motor has a 4 mm deep hole. |
| Jetson retaining tabs | 2 × M3 × 8 socket-head screws; no washers | 2.4 mm tab + 5.6 mm into the printed pilot. The shorter current pilot is 6.5 mm deep. |
| Pi / HAT | Use the screws and spacers supplied with the HAT | The carrier passage is 9.3 mm; with the 1.6 mm PCB the lower stack is 10.9 mm. The reference spacers are 16 mm tall. |
| Wrist camera PCB, R30 mount | 4 × M2 × 6 non-countersunk screws | 1.6 mm PCB + 4.4 mm in the Ø1.7 mm printed pilots. |
| Wrist-camera bracket to gripper | 2 × M3 × 10 socket-head screws + 2 × M3 hex nuts; no washers | 5.5 mm through the printed bracket. The existing assembly check leaves 0.75 mm between screw tip and servo. |
| LiDAR carriage lock | 1 × M3 × 20 socket-head screw; no washer | 15 mm carriage + 0.2 mm insert recess + 4.8 mm thread engagement; 1.2 mm remains before the rear of the 6 mm insert. |

The wrist-camera measurements apply to the R30 mount with its 21 × 13.5 mm PCB hole pattern. Use the camera that matches this mount.

## Pi / HAT hardware

Use the HAT's supplied mounting hardware. No separate HAT screw purchase is added. The measured carrier thickness does not establish the length of the screws in the received kit. Raspberry Pi describes the supplied spacers and upper/lower screw sets in its [AI HAT assembly instructions](https://www.raspberrypi.com/documentation/accessories/ai-hat-plus.html#hardware-assembly).

## Jetson retaining tabs

The retaining-tab STL files are not included in this package. The two screws listed above are for tabs that are 2.4 mm thick.