Before beginning this process, ensure that the Luos Boards are communicating with the dynamixel motors properly. Steps for this are outlined here. All of the dynamixel motors should have the appropriate IDs (see 'Motor ID' in chart here), and you should be able to see all of the 8 motors using pyluos simultaneously while they are daisy chained.

Your device.modules printout should look like this...

Before mounting each motor in the arm, first daisy chain them together in the correct configuration:

Right Arm

dxl_10 ⇒ shoulder_pitch: MX-106T

dxl_11 ⇒ shoulder_roll: MX-64AT

dxl_12 ⇒ arm_yaw: MX-64AT

dxl_13 ⇒ elbow_pitch: MX-64AT

dxl_14 ⇒ forearm_yaw: AX-18A

dxl_15 ⇒ wrist_pitch: MX-28AT

dxl_16 ⇒ wrist_roll: AX-18A

dxl_17 ⇒ gripper: AX-18A

Left Arm

dxl_20 ⇒ shoulder_pitch: MX-106T

dxl_21 ⇒ shoulder_roll: MX-64AT

dxl_22 ⇒ arm_yaw: MX-64AT

dxl_23 ⇒ elbow_pitch: MX-64AT

dxl_24 ⇒ forearm_yaw: AX-18A

dxl_25 ⇒ wrist_pitch: MX-28AT

dxl_26 ⇒ wrist_roll: AX-18A

dxl_27 ⇒ gripper: AX-18A

For the large dynamixels (MX-106T, MX-64AT), there are three dots located on the horn. The dot that is more centered and farther from the other two dots is the angle the motor is positioned at. Position each motor such that its angle is directed upwards toward the short side of the dynamixel. See below:

The three dots look like this...

Dynamixel with its horn in the 180 degree position

For the smaller dynamixels (AX-18A), the motor angle is indicated with a line in the horn. Shown here:

Line is on the lefthand side of this photo

To verify that each dynamixel is in the right position, connect your daisy chain of dynamixels to the dynamixel wizard tool. To use this, you will need two components to connect to the dynamixels directly:

https://emanual.robotis.com/docs/en/parts/interface/u2d2/

https://emanual.robotis.com/docs/en/parts/interface/u2d2_power_hub/