{
  "checked_on": "2026-10-28",
  "revision": "rs06-concept-r01",
  "scope": "current nominal pose native solids, placement, source identity and partial mass arithmetic",
  "result": "pass within stated scope",
  "native_bodies": 175,
  "motor_housings": 12,
  "connected_upper_links": 4,
  "timeline_healthy": true,
  "foot_centers_mm": {
    "FL": [
      237.5,
      157.46236020829843,
      20.0
    ],
    "FR": [
      237.5,
      -157.46236020829843,
      20.0
    ],
    "RL": [
      -242.5,
      157.46236020829843,
      20.0
    ],
    "RR": [
      -242.5,
      -157.46236020829843,
      20.0
    ]
  },
  "max_foot_center_difference_from_kinematics_mm": 2.842170943040401e-14,
  "unexpected_positive_volume_interferences": 0,
  "intentional_belt_tooth_envelope_interferences": 8,
  "mass_estimate": {
    "motor_catalog_mass_kg": 7.38,
    "modeled_materials": {
      "aluminum": {
        "volume_mm3": 1166473.7240595422,
        "assumed_density_g_cm3": 2.7,
        "mass_kg": 3.149479054960764
      },
      "PETG": {
        "volume_mm3": 714568.553593965,
        "assumed_density_g_cm3": 1.27,
        "mass_kg": 0.9075020630643356
      },
      "steel": {
        "volume_mm3": 100845.52027223837,
        "assumed_density_g_cm3": 7.85,
        "mass_kg": 0.7916373341370712
      }
    },
    "partial_subtotal_kg": 12.22861845216217,
    "excluded": [
      "pulleys and belts",
      "bearings",
      "foot elastomer",
      "battery and electronics",
      "wiring",
      "unmodeled fasteners"
    ],
    "basis": "solid CAD volumes at assumed densities; not a measured mass or complete BOM"
  },
  "not_verified": [
    "joint motion clearance",
    "strength and stiffness",
    "belt preload and capacity",
    "fastener fits and torque transmission",
    "thermal duty",
    "physical operation"
  ],
  "source_sha256": {
    "verify_cad.py": "7898c31f36da77be3ac9cabb090fa86e911f66889eff77da05100414e736a4d2",
    "fusion_build.py": "2d20f9a218553368b5cbd4d1fd10dda47e6fa6586805905542d01bb4a59e0929",
    "parameters.json": "edc53370932ce1dc0264c34b2baa84e75fa504ebdb21c58ded02863f6cd81149",
    "analysis.json": "605981d724fd3e56e209069a2074459d624d31a5260e30157c498be78bc45bec",
    "cad/cad_checks.json": "dbbc6a9b5e03fb4a6c17b75b731f3a9afa4687c3d46ad485a1ee180d3da73d1a",
    "cad/shappy_rs06_r01.step": "b35cedecb87bd593369947563fb556b17b4e7233739dea63636acf2f2ce992a5",
    "cad/shappy_rs06_r01.f3d": "b4d90cc168978ad010a45c6f5c01779aace83baeedb183fef249f9fe364cb471",
    "viewer/scene.json": "0beadc0a6c81c1628f891dd688b2092f28d6bf015f1bb3e65433b36423775868"
  }
}