Yes you can run the servo directly through C++ or python SDK, I will make a separate post on how to do that. Also feetech's own software also supports English, while their official repo only has Chinese descriptions in it. The 11 in the diagram are the ones that "need 3d printed gearboxes". Overall there are 14 for two arms, plus 3 for neck, plus 3 for torso, plus 12 smaller servos for hands. Will post the details in the next post.

@@lethic Thank you for the details! I didn't want to order the wrong amount - do you have the model # of the smaller servos? Appreciate you!

@@MicahYaple will post more details in the next post in a couple of days. You need four scs0009 servos plus two sts3032 servo for each five-finger hand. (Alternatively if you don't want to build a five finger hand, you can also keep it simple by just build a one-finger gripper using the sts3215 servo)

The gearbox doesn't seem to introduce much backlash, the stock servo itself does seem to have half degree or so backlash to start with. Though over time in thoery if the gears wear down it might introduce more backlashes. So far it seems to be fine after a few weeks of using.

@@lethic thanks

It will be posted on www.redrabbitrobotics.cc/ will try to upload the files for the arm this week, and then torso and head next week and so on

@@lethic ok.

Good catch