{
  "revision": "rs06-profile-r02",
  "status": "profile chassis layout revision; joint strength and manufacturing validation pending",
  "units": "mm; angles degrees",
  "motor": {
    "model": "RobStride RS06",
    "count": 12,
    "catalog_mass_g": 615,
    "planning_diameter_mm": 90,
    "planning_depth_mm": 55,
    "output_pcd_mm": 24,
    "output_bolts": 6,
    "output_thread": "M4 depth 6 mm, source drawing; delivery revision unconfirmed",
    "stator_pcd_mm": 82,
    "stator_bolts": 8,
    "stator_thread": "M3 depth 8.5 mm, source drawing"
  },
  "body": {
    "length_mm": 340,
    "width_mm": 310,
    "depth_mm": 130,
    "haa_x_mm": 170,
    "haa_y_mm": 95,
    "pitch_axis_x_mm": 240,
    "construction": "four HFS5-2020 longitudinal members, two lower crossmembers, two metal motor plates, two top diagonal straps",
    "end_plate_thickness_mm": 5
  },
  "leg": {
    "upper_length_mm": 200,
    "lower_length_mm": 195,
    "lower_center_y_mm": 110,
    "foot_radius_mm": 20,
    "hfe_face_y_mm": 120,
    "kfe_face_y_mm": 174,
    "inner_cheek_y_range_mm": [
      130,
      136
    ],
    "outer_cheek_y_range_mm": [
      184,
      190
    ],
    "outer_cheek_start_mm": 66,
    "knee_bearing_y_ranges_mm": [
      [
        128,
        136
      ],
      [
        182,
        190
      ]
    ],
    "knee_shaft_diameter_mm": 12,
    "bearing_reference": "6001ZZ 12x28x8; seats/retention not released"
  },
  "belt": {
    "profile": "S5M",
    "teeth_each": 40,
    "pitch_mm": 5,
    "pitch_length_mm": 600,
    "width_mm": 25,
    "center_y_mm": 153.5,
    "external_ratio": 1,
    "status": "pitch path and pulley envelopes only; tooth geometry, exact pulley bore, tensioner and load capacity not finalized"
  },
  "pose": {
    "haa_outward_deg": 8,
    "hip_deg": 30,
    "knee_relative_deg": -60,
    "convention": "upper=(-L1*sin(qH),0,-L1*cos(qH)); lower=(-L2*sin(qH+qK),0,-L2*cos(qH+qK)); rotate about HAA X; mirrored for right legs"
  },
  "kinematics": {
    "upper_length_mm": 200,
    "lower_length_mm": 195,
    "haa_y_mm": 95,
    "sagittal_y_mm": 110,
    "hip_x_mm": 240,
    "abduction_deg": 8,
    "hip_deg": 30,
    "knee_deg": -60,
    "foot_radius_mm": 20
  },
  "motor_mapping": {
    "hip_motor": "qH",
    "knee_motor_common_axis": "qH+qK",
    "joint_to_motor_torque": "tau_motor_H=tau_joint_H-tau_joint_K; tau_motor_K=tau_joint_K",
    "encoder_signs": "not calibrated; opposed motors and left/right need explicit sign and zero mapping"
  },
  "reserved_spaces": {
    "battery_mm": [
      160,
      90,
      45
    ],
    "computer_mm": [
      105,
      80,
      25
    ],
    "power_board_mm": [
      80,
      70,
      18
    ],
    "status": "packaging allowances, no products or achieved capacity selected"
  },
  "limitations": [
    "No physical tests or full-robot FEA",
    "Printed links and metal shaft/hubs require detailed fits and fastener validation",
    "Motor geometry uses conservative dimensioned reference envelopes, not certified supplier STEP",
    "Belt visualization omits tooth profile and preload/tensioner",
    "Static pose collision check does not establish collision-free joint ranges",
    "Battery/electronics reserve volumes are not selected components",
    "Motor self weight, link inertia and thermal duty need next-stage validation",
    "Profile slots and T-nut hardware are dimensioned reference envelopes, not exact purchased CAD",
    "Frame joint slip, screw preload and torsional stiffness not validated",
    "New PETG tray fits P2S by bounds only; no slicing or physical printing"
  ],
  "frame": {
    "profile_model": "HFS5-2020",
    "profile_linear_mass_kg_m": 0.5,
    "profile_geometry": "dimensioned slot reference, not manufacturer-certified STEP; use catalog linear mass",
    "rail_length_mm": 340,
    "rail_count": 4,
    "rail_y_mm": 145,
    "rail_z_offset_mm": 55,
    "cross_length_mm": 230,
    "cross_count": 2,
    "cross_x_mm": 70,
    "end_tap": "four long rails TPW, M5 depth15 bothends; thread-free nominal-bore proxy in CAD",
    "plate_thickness_mm": 5,
    "upper_strap_width_mm": 16,
    "upper_strap_thickness_mm": 2,
    "upper_strap_hole_xy_mm": 145,
    "tnut_proxy_mm": [
      8,
      8,
      3
    ],
    "tnut_reference": "HNTT5-5; supplier dimensions/fit require final confirmation",
    "tray_bounds_mm": [
      240,
      120,
      7.5
    ],
    "hardware_reference": "simplified thread-free shanks and head/socket envelopes, verify exact purchased revision",
    "lower_rail_y_mm": 125,
    "top_brace_washers": {
      "count": 4,
      "size_mm": [
        10,
        5.5,
        1
      ],
      "status": "nominal reference; actual washer dimensions to confirm"
    }
  }
}