{
  "checked_on": "2026-10-28",
  "revision": "rs06-profile-r02",
  "scope": "current nominal pose native solids, placement, source identity and partial mass arithmetic",
  "result": "pass within stated scope",
  "native_bodies": 268,
  "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
    ]
  },
  "profiles": {
    "count": 6,
    "longitudinal_length_mm": 340,
    "cross_length_mm": 230,
    "total_cut_length_m": 1.82,
    "catalog_mass_kg": 0.91
  },
  "chassis_fasteners": {
    "M3x8": 32,
    "button_M5x16": 8,
    "M5x8": 14,
    "M5x10": 2,
    "M5x12": 4,
    "Tnut_proxies": 20,
    "top_brace_washers": 4
  },
  "unchanged_r01_bodies_by_volume_and_world_bounds": 167,
  "nominal_pose_minimum_clearances_mm": {
    "profiles_to_motors": 4.244289008980565,
    "profiles_to_belts": 12.84644652761597,
    "plates_to_arms": 0.9999999999999787,
    "plates_to_upper": 4.2427103158964306
  },
  "printed_part_bounds_P2S": [
    {
      "component": "P2S_PETG_battery_tray",
      "size_mm": [
        240.0,
        120.0,
        7.5000000000000355
      ],
      "volume_mm3": 86044.96786083154
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ],
      "volume_mm3": 87683.41045067103
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ],
      "volume_mm3": 81443.26880517908
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        35.0,
        38.773186611368445,
        38.773186611368445
      ],
      "volume_mm3": 9515.459142641155
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ],
      "volume_mm3": 87683.41045067103
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ],
      "volume_mm3": 81443.26880517908
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        35.0,
        38.773186611368445,
        38.773186611368445
      ],
      "volume_mm3": 9515.459142641155
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ],
      "volume_mm3": 87683.41045067103
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ],
      "volume_mm3": 81443.26880517908
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        35.0,
        38.773186611368445,
        38.773186611368445
      ],
      "volume_mm3": 9515.459142641155
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ],
      "volume_mm3": 87683.41045067103
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ],
      "volume_mm3": 81443.26880517908
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        35.0,
        38.773186611368445,
        38.773186611368445
      ],
      "volume_mm3": 9515.459142641155
    }
  ],
  "frame_mass_comparison": {
    "r01_body_without_frame_fasteners_kg": 1.6986502542571693,
    "r02_profiles_plus_metal_plates_braces_gussets_kg": 1.3821722792854318,
    "r02_added_frame_fastener_proxies_kg": 0.15450872559680703,
    "r02_body_including_fasteners_kg": 1.5366810048822388,
    "r02_new_printed_tray_kg": 0.10927710918325607,
    "scope": "catalog profile mass plus CAD reference volumes; actual fastener and profile weights must be confirmed; r01 omitted frame hardware"
  },
  "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": 712222.6222181581,
        "assumed_density_g_cm3": 2.7,
        "mass_kg": 1.923001079989027
      },
      "PETG": {
        "volume_mm3": 800613.5214547965,
        "assumed_density_g_cm3": 1.27,
        "mass_kg": 1.0167791722475916
      },
      "steel": {
        "volume_mm3": 120528.16047565328,
        "assumed_density_g_cm3": 7.85,
        "mass_kg": 0.9461460597338781
      }
    },
    "profile_catalog_mass_kg": 0.91,
    "partial_subtotal_kg": 12.175926311970496,
    "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": {
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