{
  "revision": "rs06-concept-r01",
  "checked_on": "2026-10-28",
  "status": "kinematic and point-force screening only",
  "source_sha256": {
    "parameters.json": "edc53370932ce1dc0264c34b2baa84e75fa504ebdb21c58ded02863f6cd81149",
    "kinematics.py": "43ab516d92d61117306a24e735aee233b505550563fc333e8997c5736ea129c8"
  },
  "coordinate_convention": {
    "world": "X forward, Y left, Z up",
    "joint_order": [
      "outward HAA",
      "HFE about +Y",
      "relative knee about +Y"
    ],
    "right_HAA": "Positive outward qA is rotation about global -X; left is global +X.",
    "motor_coordinates": [
      "qA (local outward)",
      "qH (common +Y)",
      "qH+qK (common +Y)"
    ],
    "encoder_conversion": "Not calibrated. Opposed outputs and mirrored HAA need hardware-specific signs and zeros.",
    "torque_sign": "J^T F is generalized load from the stated upward foot force; balancing actuator torque has opposite sign if all other loads are omitted."
  },
  "nominal_haa_height_mm": 356.66333859986713,
  "poses": {
    "stand": {
      "description": "Nominal layout pose. Body height solved for four foot spheres tangent to z=0.",
      "haa_axis_height_mm": 356.66333859986713,
      "joint_angles_deg": {
        "FL": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ],
        "FR": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ],
        "RL": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ],
        "RR": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ]
      },
      "foot_centers_mm": {
        "FL": [
          237.5,
          157.46236020829846,
          20.000000000000018
        ],
        "FR": [
          237.5,
          -157.46236020829846,
          20.000000000000018
        ],
        "RL": [
          -242.5,
          157.46236020829846,
          20.000000000000018
        ],
        "RR": [
          -242.5,
          -157.46236020829846,
          20.000000000000018
        ]
      },
      "foot_lift_above_ground_mm": {
        "FL": 1.7763568394002505e-14,
        "FR": 1.7763568394002505e-14,
        "RL": 1.7763568394002505e-14,
        "RR": 1.7763568394002505e-14
      },
      "geometric_contact_legs": [
        "FL",
        "FR",
        "RL",
        "RR"
      ],
      "contact_polygon_xy_mm": [
        [
          -242.5,
          -157.46236020829846
        ],
        [
          237.5,
          -157.46236020829846
        ],
        [
          237.5,
          157.46236020829846
        ],
        [
          -242.5,
          157.46236020829846
        ]
      ],
      "foot_center_bounds_xy_mm": {
        "x_min": -242.5,
        "x_max": 237.5,
        "y_min": -157.46236020829846,
        "y_max": 157.46236020829846,
        "length": 480.0,
        "width": 314.9247204165969
      },
      "jacobians_m_per_rad": {
        "FL": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            0.33666333859986713,
            -0.0003479327524001639,
            0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ],
        "FR": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            -0.33666333859986713,
            0.0003479327524001639,
            -0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ],
        "RL": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            0.33666333859986713,
            -0.0003479327524001639,
            0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ],
        "RR": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            -0.33666333859986713,
            0.0003479327524001639,
            -0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ]
      },
      "collision_checked": false,
      "stability_or_gait_validated": false
    },
    "crouch": {
      "description": "Geometric crouch: body height lowered to retain foot tangency; not a commanded or validated motion.",
      "haa_axis_height_mm": 213.49034706205921,
      "joint_angles_deg": {
        "FL": [
          8.0,
          59.99999999999999,
          -119.99999999999999
        ],
        "FR": [
          8.0,
          59.99999999999999,
          -119.99999999999999
        ],
        "RL": [
          8.0,
          59.99999999999999,
          -119.99999999999999
        ],
        "RR": [
          8.0,
          59.99999999999999,
          -119.99999999999999
        ]
      },
      "foot_centers_mm": {
        "FL": [
          235.66987298107782,
          137.34070847073647,
          19.99999999999999
        ],
        "FR": [
          235.66987298107782,
          -137.34070847073647,
          19.99999999999999
        ],
        "RL": [
          -244.33012701892218,
          137.34070847073647,
          19.99999999999999
        ],
        "RR": [
          -244.33012701892218,
          -137.34070847073647,
          19.99999999999999
        ]
      },
      "foot_lift_above_ground_mm": {
        "FL": -1.0658141036401503e-14,
        "FR": -1.0658141036401503e-14,
        "RL": -1.0658141036401503e-14,
        "RR": -1.0658141036401503e-14
      },
      "geometric_contact_legs": [
        "FL",
        "FR",
        "RL",
        "RR"
      ],
      "contact_polygon_xy_mm": [
        [
          -244.33012701892218,
          -137.34070847073647
        ],
        [
          235.66987298107782,
          -137.34070847073647
        ],
        [
          235.66987298107782,
          137.34070847073647
        ],
        [
          -244.33012701892218,
          137.34070847073647
        ]
      ],
      "foot_center_bounds_xy_mm": {
        "x_min": -244.33012701892218,
        "x_max": 235.66987298107782,
        "y_min": -137.34070847073647,
        "y_max": 137.34070847073647,
        "length": 480.0,
        "width": 274.68141694147295
      },
      "jacobians_m_per_rad": {
        "FL": [
          [
            0,
            -0.19750000000000006,
            -0.09750000000000003
          ],
          [
            0.19349034706205923,
            -0.0006026372047743646,
            0.02350285098620026
          ],
          [
            0.04234070847073649,
            0.004287986520433767,
            -0.16723147429691718
          ]
        ],
        "FR": [
          [
            0,
            -0.19750000000000006,
            -0.09750000000000003
          ],
          [
            -0.19349034706205923,
            0.0006026372047743646,
            -0.02350285098620026
          ],
          [
            0.04234070847073649,
            0.004287986520433767,
            -0.16723147429691718
          ]
        ],
        "RL": [
          [
            0,
            -0.19750000000000006,
            -0.09750000000000003
          ],
          [
            0.19349034706205923,
            -0.0006026372047743646,
            0.02350285098620026
          ],
          [
            0.04234070847073649,
            0.004287986520433767,
            -0.16723147429691718
          ]
        ],
        "RR": [
          [
            0,
            -0.19750000000000006,
            -0.09750000000000003
          ],
          [
            -0.19349034706205923,
            0.0006026372047743646,
            -0.02350285098620026
          ],
          [
            0.04234070847073649,
            0.004287986520433767,
            -0.16723147429691718
          ]
        ]
      },
      "collision_checked": false,
      "stability_or_gait_validated": false
    },
    "raised_FL": {
      "description": "FL pose changed at fixed body height; three other geometric contacts. No gait, stability, collision or force-sharing result.",
      "haa_axis_height_mm": 356.66333859986713,
      "joint_angles_deg": {
        "FL": [
          8.0,
          20.0,
          -115.0
        ],
        "FR": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ],
        "RL": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ],
        "RR": [
          8.0,
          29.999999999999996,
          -59.99999999999999
        ]
      },
      "foot_centers_mm": {
        "FL": [
          365.8539374627566,
          133.6447099059262,
          189.47138781983463
        ],
        "FR": [
          237.5,
          -157.46236020829846,
          20.000000000000018
        ],
        "RL": [
          -242.5,
          157.46236020829846,
          20.000000000000018
        ],
        "RR": [
          -242.5,
          -157.46236020829846,
          20.000000000000018
        ]
      },
      "foot_lift_above_ground_mm": {
        "FL": 169.47138781983463,
        "FR": 1.7763568394002505e-14,
        "RL": 1.7763568394002505e-14,
        "RR": 1.7763568394002505e-14
      },
      "geometric_contact_legs": [
        "FR",
        "RL",
        "RR"
      ],
      "contact_polygon_xy_mm": [
        [
          -242.5,
          -157.46236020829846
        ],
        [
          237.5,
          -157.46236020829846
        ],
        [
          -242.5,
          157.46236020829846
        ]
      ],
      "foot_center_bounds_xy_mm": {
        "x_min": -242.5,
        "x_max": 365.8539374627566,
        "y_min": -157.46236020829846,
        "y_max": 157.46236020829846,
        "length": 608.3539374627567,
        "width": 314.9247204165969
      },
      "jacobians_m_per_rad": {
        "FL": [
          [
            0,
            -0.1709431543213884,
            0.016995369835793313
          ],
          [
            0.16719195078003252,
            0.01751548274472599,
            0.027035483532213862
          ],
          [
            0.03864470990592619,
            -0.12462913559476639,
            -0.1923674609551314
          ]
        ],
        "FR": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            -0.33666333859986713,
            0.0003479327524001639,
            -0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ],
        "RL": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            0.33666333859986713,
            -0.0003479327524001639,
            0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ],
        "RR": [
          [
            0,
            -0.3420800344948533,
            -0.16887495373796554
          ],
          [
            -0.33666333859986713,
            0.0003479327524001639,
            -0.013569377343606378
          ],
          [
            0.06246236020829844,
            0.002475670171853928,
            -0.0965511367023031
          ]
        ]
      },
      "collision_checked": false,
      "stability_or_gait_validated": false
    }
  },
  "belt": {
    "profile": "S5M",
    "pitch_mm": 5,
    "teeth_each": 40,
    "width_mm": 25,
    "pitch_radius_mm": 31.830988618379067,
    "pitch_length_mm": 600,
    "center_distance_mm": 200.0,
    "ideal_wrap_deg": 180,
    "tension_difference_at_catalog_peak_36Nm_N": 1130.9733552923256,
    "capacity_verified": false,
    "note": "Tension difference only. Pretension, tight/slack tension, tooth capacity, bearing loads, efficiency and tensioner travel unmodeled."
  },
  "point_force_cases": [
    {
      "pose": "stand",
      "leg": "FL",
      "assumed_total_mass_kg": 10,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        49.050000000000004
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_joint": 0.12143162192943517,
        "knee_relative": -4.735833255247967
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_commonY": 4.8572648771774025,
        "KFE_commonY": -4.735833255247967
      },
      "belt_tension_difference_N": 148.7805896331325,
      "largest_abs_actuator_load_nm": 4.8572648771774025,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "FR",
      "assumed_total_mass_kg": 10,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        49.050000000000004
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_joint": 0.12143162192943517,
        "knee_relative": -4.735833255247967
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_commonY": 4.8572648771774025,
        "KFE_commonY": -4.735833255247967
      },
      "belt_tension_difference_N": 148.7805896331325,
      "largest_abs_actuator_load_nm": 4.8572648771774025,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "RL",
      "assumed_total_mass_kg": 10,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        49.050000000000004
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_joint": 0.12143162192943517,
        "knee_relative": -4.735833255247967
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_commonY": 4.8572648771774025,
        "KFE_commonY": -4.735833255247967
      },
      "belt_tension_difference_N": 148.7805896331325,
      "largest_abs_actuator_load_nm": 4.8572648771774025,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "RR",
      "assumed_total_mass_kg": 10,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        49.050000000000004
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_joint": 0.12143162192943517,
        "knee_relative": -4.735833255247967
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.063778768217039,
        "HFE_commonY": 4.8572648771774025,
        "KFE_commonY": -4.735833255247967
      },
      "belt_tension_difference_N": 148.7805896331325,
      "largest_abs_actuator_load_nm": 4.8572648771774025,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "FL",
      "assumed_total_mass_kg": 12,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        58.86
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_joint": 0.1457179463153222,
        "knee_relative": -5.68299990629756
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_commonY": 5.828717852612883,
        "KFE_commonY": -5.68299990629756
      },
      "belt_tension_difference_N": 178.53670755975898,
      "largest_abs_actuator_load_nm": 5.828717852612883,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "FR",
      "assumed_total_mass_kg": 12,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        58.86
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_joint": 0.1457179463153222,
        "knee_relative": -5.68299990629756
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_commonY": 5.828717852612883,
        "KFE_commonY": -5.68299990629756
      },
      "belt_tension_difference_N": 178.53670755975898,
      "largest_abs_actuator_load_nm": 5.828717852612883,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "RL",
      "assumed_total_mass_kg": 12,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        58.86
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_joint": 0.1457179463153222,
        "knee_relative": -5.68299990629756
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_commonY": 5.828717852612883,
        "KFE_commonY": -5.68299990629756
      },
      "belt_tension_difference_N": 178.53670755975898,
      "largest_abs_actuator_load_nm": 5.828717852612883,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "RR",
      "assumed_total_mass_kg": 12,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        58.86
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_joint": 0.1457179463153222,
        "knee_relative": -5.68299990629756
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 3.676534521860446,
        "HFE_commonY": 5.828717852612883,
        "KFE_commonY": -5.68299990629756
      },
      "belt_tension_difference_N": 178.53670755975898,
      "largest_abs_actuator_load_nm": 5.828717852612883,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "FL",
      "assumed_total_mass_kg": 14,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        68.67
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
        "HFE_joint": 0.17000427070120924,
        "knee_relative": -6.630166557347154
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
        "HFE_commonY": 6.800170828048364,
        "KFE_commonY": -6.630166557347154
      },
      "belt_tension_difference_N": 208.2928254863855,
      "largest_abs_actuator_load_nm": 6.800170828048364,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "FR",
      "assumed_total_mass_kg": 14,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        68.67
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
        "HFE_joint": 0.17000427070120924,
        "knee_relative": -6.630166557347154
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
        "HFE_commonY": 6.800170828048364,
        "KFE_commonY": -6.630166557347154
      },
      "belt_tension_difference_N": 208.2928254863855,
      "largest_abs_actuator_load_nm": 6.800170828048364,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "RL",
      "assumed_total_mass_kg": 14,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
        0,
        68.67
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
        "HFE_joint": 0.17000427070120924,
        "knee_relative": -6.630166557347154
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
        "HFE_commonY": 6.800170828048364,
        "KFE_commonY": -6.630166557347154
      },
      "belt_tension_difference_N": 208.2928254863855,
      "largest_abs_actuator_load_nm": 6.800170828048364,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "stand",
      "leg": "RR",
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      "assumed_supporting_feet": 2,
      "world_point_force_N": [
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        68.67
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      "generalized_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
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      "actuator_load_torque_nm": {
        "HAA_outward": 4.289290275503854,
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        "KFE_commonY": -6.630166557347154
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      "belt_tension_difference_N": 208.2928254863855,
      "largest_abs_actuator_load_nm": 6.800170828048364,
      "catalog_stall_8Nm_exceeded": false
    },
    {
      "pose": "crouch",
      "leg": "FL",
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      "world_point_force_N": [
        0,
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        49.050000000000004
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      "generalized_load_torque_nm": {
        "HAA_outward": 2.076811750489625,
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        "knee_relative": -8.202703814263788
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 257.6955404246409,
      "largest_abs_actuator_load_nm": 8.413029553091064,
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    },
    {
      "pose": "crouch",
      "leg": "FR",
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      "world_point_force_N": [
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        49.050000000000004
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 257.6955404246409,
      "largest_abs_actuator_load_nm": 8.413029553091064,
      "catalog_stall_8Nm_exceeded": true
    },
    {
      "pose": "crouch",
      "leg": "RL",
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      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
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        49.050000000000004
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
        "HAA_outward": 2.076811750489625,
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        "KFE_commonY": -8.202703814263788
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      "belt_tension_difference_N": 257.6955404246409,
      "largest_abs_actuator_load_nm": 8.413029553091064,
      "catalog_stall_8Nm_exceeded": true
    },
    {
      "pose": "crouch",
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      "assumed_total_mass_kg": 10,
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      "world_point_force_N": [
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 257.6955404246409,
      "largest_abs_actuator_load_nm": 8.413029553091064,
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    {
      "pose": "crouch",
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      "assumed_supporting_feet": 2,
      "world_point_force_N": [
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        58.86
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 309.23464850956907,
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    {
      "pose": "crouch",
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      "assumed_supporting_feet": 2,
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    {
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    {
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      "assumed_supporting_feet": 2,
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        58.86
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 309.23464850956907,
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    {
      "pose": "crouch",
      "leg": "FL",
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      "assumed_supporting_feet": 2,
      "world_point_force_N": [
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      "generalized_load_torque_nm": {
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      "belt_tension_difference_N": 360.7737565944973,
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    {
      "pose": "crouch",
      "leg": "FR",
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 360.7737565944973,
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    },
    {
      "pose": "crouch",
      "leg": "RL",
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      "assumed_supporting_feet": 2,
      "world_point_force_N": [
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      "generalized_load_torque_nm": {
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      "actuator_load_torque_nm": {
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      "belt_tension_difference_N": 360.7737565944973,
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      "catalog_stall_8Nm_exceeded": true
    },
    {
      "pose": "crouch",
      "leg": "RR",
      "assumed_total_mass_kg": 14,
      "assumed_supporting_feet": 2,
      "world_point_force_N": [
        0,
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        68.67
      ],
      "generalized_load_torque_nm": {
        "HAA_outward": 2.9075364506854746,
        "HFE_joint": 0.2944560343581868,
        "knee_relative": -11.483785339969304
      },
      "actuator_load_torque_nm": {
        "HAA_outward": 2.9075364506854746,
        "HFE_commonY": 11.77824137432749,
        "KFE_commonY": -11.483785339969304
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      "belt_tension_difference_N": 360.7737565944973,
      "largest_abs_actuator_load_nm": 11.77824137432749,
      "catalog_stall_8Nm_exceeded": true
    }
  ],
  "validation": {
    "passed": true,
    "samples": 28,
    "maximum_errors": {
      "fk_rotation_error_m": 0.0,
      "jacobian_error_m_per_rad": 3.814396021262212e-11,
      "world_moment_torque_error_Nm": 1.7763568394002505e-15,
      "virtual_work_fd_error_W": 1.6594309260042905e-09,
      "joint_motor_power_error_W": 4.440892098500626e-16
    },
    "tolerances": {
      "fk_rotation_error_m": 1e-12,
      "jacobian_error_m_per_rad": 1e-08,
      "world_moment_torque_error_Nm": 1e-12,
      "virtual_work_fd_error_W": 1e-07,
      "joint_motor_power_error_W": 1e-12
    },
    "finite_difference_step_rad": 1e-06,
    "method": "Analytic Jacobian versus central FK differences; FK versus rotation composition; J^T F versus world-space axis-projected moment arms; J^T F power versus directional finite difference and coupled motor power."
  },
  "limitations": [
    "10/12/14 kg are sensitivity assumptions, not measured or achieved robot mass.",
    "Each leg row is an independent mg/2 load case, not four simultaneous mg/2 contact forces.",
    "Two equal vertical support forces do not establish body equilibrium, a feasible gait or stable three-contact raised-leg motion.",
    "Only the nominal point-foot geometry and ideal open, equal-pulley transmission are represented.",
    "Motor/link self-weight, inertia, friction, horizontal forces, structural deformation, backlash, belt pretension, thermal duty and power electronics omitted.",
    "8 Nm catalog stall and 36 Nm peak are manufacturer-condition values, not verified continuous or transient capability in this mount.",
    "Explored poses are geometric examples, not validated joint limits, collision-free ranges or physical experiments."
  ]
}