# PAROL6 build wiki > For agents: start with the [agent guide](https://parol6.build/llms.txt). Every page is Markdown by default; add `Accept: text/html` for HTML. Joel's public build wiki for [PAROL6](https://github.com/Source-Robotics/PAROL6-Desktop-robot-arm), an open-source six-axis desktop robot arm from Source Robotics. The build runs from a bare control board to an arm that patches cables and turns knobs on a Eurorack skiff. Every build fact links to the [official manual](https://docs.source-robotics.com/PAROL-docs/1.1/). ## Print timelapses - **Latest plate:** [Plate 3: pulleys](/lore/timelapses#timelapse-plate3-pulleys). Parts: `UPPER_ARM/42_pulley`, `FOREARM/HTD3_48_J5_pulley`, `FOREARM/J4_output_pulley`. Print time: about 3 h. [Watch the timelapse (MP4)](https://stream.mux.com/muQU00ZF4dioGp8N5haLPaaDEKyxJDhOoMtrk8rhfZ2A/highest.mp4). - **Earlier plate:** [Plate 1: J5 forearm part and lids](/lore/timelapses#timelapse-plate1-forearm-j5). Parts: `FOREARM/J5_part`, `J5_belt_lid`, `J5_electronics_lid`. Print time: about 4 h 40 min. - **Earlier plate:** [Plate 0: wrist and E-stop box](/lore/timelapses#timelapse-plate0-wrist-estop). Parts: `WRIST/wrist`, `ESTOP/ESTOP_BOTTOM`, `ESTOP/ESTOP_TOP`. Print time: about 3.5 h. - **Earlier plate:** [Test print](/lore/timelapses#timelapse-test-print). Parts: none, printed before any PAROL6 parts. Print time: 41 min. [All print timelapses](/lore/timelapses). ## Start here 1. [How milestones work](https://parol6.build/lore/milestones): seven whole tasks, M1 to M7, each with a done check on camera and a video. 2. [M1. Bench it](https://parol6.build/lore/m1-bench-it): the first milestone, power, one motor and a safe stop. 3. [Glossary](https://parol6.build/glossary): the build's terms, each sourced to an official page. 4. [Search](https://parol6.build/search) every page of the wiki. ## Milestone status Each milestone ends in a done check filmed for its video. No milestone video is recorded yet. - **[M1. Bench it](https://parol6.build/lore/m1-bench-it)**: Power the board, turn one motor, stop it safely. Official docs. Video [planned](https://parol6.build/lore/video-m1). - **[M2. One joint end to end](https://parol6.build/lore/m2-one-joint)**: Build the wrist and measure a commanded move of joint 6. Official docs. Video [planned](https://parol6.build/lore/video-m2). - **[M3. The whole arm moves](https://parol6.build/lore/m3-whole-arm)**: Build the rest of the arm, then home, jog and check the witness marks. Official docs. Video [planned](https://parol6.build/lore/video-m3). - **[M4. Pick and place](https://parol6.build/lore/m4-pick-and-place)**: Fit a gripper and measure a repeated loop. Official docs. Video [planned](https://parol6.build/lore/video-m4). - **[M5. Touch the skiff](https://parol6.build/lore/m5-touch-the-skiff)**: Register the skiff, turn a knob, press a button. Our design. Video [planned](https://parol6.build/lore/video-m5). - **[M6. Patch a cable](https://parol6.build/lore/m6-patch-a-cable)**: Insert a patch cable and verify it. Our design. Video [planned](https://parol6.build/lore/video-m6). - **[M7. Play it](https://parol6.build/lore/m7-play-it)**: Perform a short written piece. Our design. Video [planned](https://parol6.build/lore/video-m7). ## Browse the wiki - [Build steps](https://parol6.build/lore/build-steps): the official how-to pages, milestone by milestone. - [Parts](https://parol6.build/lore/parts): what goes on the bench at each milestone. - [Concepts](https://parol6.build/lore/concepts): the ideas behind each milestone. - [Milestone videos](https://parol6.build/lore/videos): one per milestone. - [Print timelapses](https://parol6.build/lore/timelapses): each printed plate, sped up. - [The skiff target](https://parol6.build/lore/skiff-target): the synth the arm plays from M5 on. - [Sources and licences](https://parol6.build/lore/sources): the official manual and repository. - [All pages](https://parol6.build/lore). ## Recent changes - 2026-11-09: [M1. Bench it: power, one motor, a safe stop](https://parol6.build/lore/m1-bench-it), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [M2. One joint end to end: the wrist and joint 6](https://parol6.build/lore/m2-one-joint), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [M3. The whole arm moves](https://parol6.build/lore/m3-whole-arm), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [M4. Pick and place, repeatably](https://parol6.build/lore/m4-pick-and-place), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [M5. Touch the skiff](https://parol6.build/lore/m5-touch-the-skiff), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [M6. Patch a cable](https://parol6.build/lore/m6-patch-a-cable), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [M7. Play it](https://parol6.build/lore/m7-play-it), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) - 2026-11-09: [Milestone videos](https://parol6.build/lore/videos), in [eb15ab8](https://github.com/joelhooks/PAROL6/commit/eb15ab8ea3813c6b08a74b7903f90e030c18f273) The [change log](https://parol6.build/log) lists every change to the files served here. ## Honesty markers **needs\_source** marks a claim the official sources do not cover yet. **Our design** marks milestones 5 to 7, which go past the official manual. **Stub** marks a page that gathers other pages and holds no facts of its own yet. All three stay visible until a source or a measurement settles them. ## Licences PAROL6's hardware is under CERN-OHL-S-2.0 and its firmware under GPL-3.0, as the [repository README](https://github.com/Source-Robotics/PAROL6-Desktop-robot-arm) states. This wiki links official images and PDFs and does not copy them. ## For agents Paste this into your coding agent to read the wiki: ```text Read https://parol6.build/llms.txt and use the PAROL6 build wiki as the reference for this build. Cite the official PAROL6 manual for every build fact, and flag anything marked needs_source. ``` ```text Read https://parol6.build/llms.txt and use the PAROL6 build wiki as the reference for this build. Cite the official PAROL6 manual for every build fact, and flag anything marked needs_source. ``` The site's search and read tools are also on its [MCP (Model Context Protocol)](https://parol6.build/.well-known/mcp.json) server: ```sh # Claude Code claude mcp add --transport http parol6 https://parol6.build/mcp # Codex codex mcp add parol6 --url https://parol6.build/mcp ``` ```text # Claude Code claude mcp add --transport http parol6 https://parol6.build/mcp # Codex codex mcp add parol6 --url https://parol6.build/mcp ``` - [Short agent guide](https://parol6.build/llms.txt) - [Everything on one page](https://parol6.build/llms-full.txt) - [HTTP API docs](https://parol6.build/openapi.json) The site runs on [rat-stack](https://github.com/joelhooks/rat-stack): Effect, Foldkit and Alchemy, behind a fence of type checks, lint rules and commit hooks. ## Source files - [Agent rules for the PAROL6 wiki (AGENTS.md)](/AGENTS.md) - [Purpose of the PAROL6 build wiki (VISION.md)](/VISION.md) - [Build and run the PAROL6 wiki (README.md)](/README.md) - [Dependency vendoring rules (vendor/README.md)](/vendor/README.md) - [Exact workspace dependency pins (pins.md)](/pins.md) - [Change log](/log) - [Source change history (log.md)](/log.md) - [Lint and type escape ledger (debt.md)](/debt.md) - [Learn the PAROL6 build as cards](/learn) ## Lore on this page - [The skiff target](/lore/skiff-target) - [The PAROL6 milestones](/lore/milestones) - [Milestone videos](/lore/videos) - [M3. The whole arm moves](/lore/m3-whole-arm) - [PAROL6 sources and licences](/lore/sources)