{
  "revision": "rs06-stock-r03",
  "checked_on": "2026-10-28",
  "result": "pass within stated nominal-geometry scope",
  "native_bodies": 286,
  "timeline_healthy": true,
  "unexpected_positive_volume_interferences": 0,
  "intentional_belt_tooth_envelope_interferences": 8,
  "motor_housings": 12,
  "supplier_motor_cad_imported": false,
  "stock_brackets": 8,
  "bracket_geometry": "official 2D dimensions reconstructed; undimensioned ribs/tabs/flanks approximated; no supplier STEP",
  "frame_screws": 64,
  "modeled_screws_total": 88,
  "Tnuts": 24,
  "standard_M5_washers": 12,
  "hex_bit_screw_counts": {
    "2.5": 40,
    "3": 24,
    "4": 24
  },
  "hex_socket_volume_checks": 88,
  "bracket_tool_access": {
    "checked": 16,
    "corridor_diameter_mm": 7.6,
    "corridor_length_mm": 30,
    "scope": "straight bit-shaft corridor from outside screw head, nominal pose; handle/hand and other fastener access not verified",
    "cases": [
      {
        "screw": "Stock_bracket_CBM5x10_-70_-1_-1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_-1_-1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_-1_1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_-1_1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_1_-1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_1_-1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_1_1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_-70_1_1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_-1_-1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_-1_-1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_-1_1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_-1_1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_1_-1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_1_-1_1_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_1_1_0_HEX4_thread_free_reference",
        "interferences": []
      },
      {
        "screw": "Stock_bracket_CBM5x10_70_1_1_1_HEX4_thread_free_reference",
        "interferences": []
      }
    ]
  },
  "foot_centers_mm": {
    "FL": [
      237.5,
      110.0,
      20.0
    ],
    "FR": [
      237.5,
      -110.0,
      20.0
    ],
    "RL": [
      -242.5,
      110.0,
      20.0
    ],
    "RR": [
      -242.5,
      -110.0,
      20.0
    ]
  },
  "foot_span_mm": 220.0,
  "pose_validation": {
    "haa_outward_deg": 0,
    "basis": "independent closed-form FK from current parameters; neutral HAA stance",
    "expected_foot_centers_mm": {
      "FL": [
        237.5,
        110.0,
        20.0
      ],
      "FR": [
        237.5,
        -110.0,
        20.0
      ],
      "RL": [
        -242.5,
        110.0,
        20.0
      ],
      "RR": [
        -242.5,
        -110.0,
        20.0
      ]
    },
    "max_analytic_foot_error_mm": 0.0,
    "expected_foot_span_mm": 220.0,
    "haa_height_mm": 362.0800344948533,
    "expected_haa_height_mm": 362.0800344948533
  },
  "historical_r02_comparison": {
    "reference_revision": "rs06-profile-r02",
    "previous_haa_outward_deg": 8,
    "previous_foot_span_mm": 314.92472041659687,
    "current_foot_span_mm": 220.0,
    "foot_span_change_mm": -94.92472041659687,
    "foot_center_deltas_mm": {
      "FL": [
        0.0,
        -47.462360208298435,
        0.0
      ],
      "FR": [
        0.0,
        47.462360208298435,
        0.0
      ],
      "RL": [
        0.0,
        -47.462360208298435,
        0.0
      ],
      "RR": [
        0.0,
        47.462360208298435,
        0.0
      ]
    },
    "max_coordinate_change_mm": 47.462360208298435,
    "previous_haa_height_mm": 356.6633385998672,
    "haa_height_change_mm": 5.4166958949861055,
    "note": "Neutral-pose feet intentionally differ from historical r02; this comparison is not an unchanged-feet assertion."
  },
  "unchanged_r02_records": 0,
  "printed_parts_P2S_bounds": [
    {
      "component": "P2S_PETG_battery_tray",
      "size_mm": [
        240.0,
        120.0,
        7.5
      ]
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ]
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ]
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        36.000000000000014,
        38.773186611368445,
        38.773186611368445
      ]
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ]
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ]
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        36.000000000000014,
        38.773186611368445,
        38.773186611368445
      ]
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ]
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ]
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        36.000000000000014,
        38.773186611368445,
        38.773186611368445
      ]
    },
    {
      "component": "PETG_upper_link_200",
      "size_mm": [
        249.00000000000003,
        60.0,
        52.0
      ]
    },
    {
      "component": "C_diagonal_lower_link_195",
      "size_mm": [
        195.99999999999997,
        20.0,
        48.0
      ]
    },
    {
      "component": "Replaceable_PETG_foot_cup",
      "size_mm": [
        36.000000000000014,
        38.773186611368445,
        38.773186611368445
      ]
    }
  ],
  "catalog_mass_kg": {
    "motors": 7.38,
    "profiles": 0.91,
    "brackets": 0.12
  },
  "assumed_density_mass_kg": {
    "aluminum": 1.8728787457723777,
    "steel": 0.9893793970211159,
    "PETG": 1.0185402280700313
  },
  "partial_mass_kg": 12.290798370863524,
  "mass_excludes": [
    "battery and electronics",
    "pulleys and belts",
    "bearings",
    "foot elastomer",
    "wiring",
    "unmodeled fasteners"
  ],
  "not_verified": [
    "supplier manufacturing tolerances and exact geometry",
    "strength/stiffness/fatigue",
    "thread capacity and tightening torque",
    "motor stator/output fasteners missing from previous layout",
    "knee axial-retention details and final tool",
    "full joint range",
    "print fit and physical operation"
  ],
  "source_sha256": {
    "fusion_build.py": "6da5cd609f308fc9a7b532e71a70e3593391854bfbff4a10cd7086bcabbc9d02",
    "parameters.json": "429e4abeee082c69389cd81922732f9e2983647baa4907fb6e7c510e797f8080",
    "verify_cad.py": "b2c4f3face306f3f8b0bcc258fab090d230a31c5fefc9a16b46f6a9b4e8d6576",
    "cad/cad_checks.json": "85ef8da4f0a9dca0ea1038e63ef99a86c855a93a3253f861399f492006c161ca",
    "cad/shappy_rs06_r03.f3d": "2821149a38d85fd00b27f9d4f243a207800652224b4e0640a9f1b1566bf75335",
    "cad/shappy_rs06_r03.step": "80625db61ddd7b3a7fb5fa6bfb92677c1f183e4bd08e583216d3d9a52f76e397",
    "viewer/scene.json": "27bdafb2f77db5f6ef5949b5efedfdf71d406e3526bceefdaa0815ae8c28f7ea",
    "research/stock_brackets.json": "e5f5e0201db855df47b335360b1b8ee45fcbdcec3f42e462bd8e7d189d8219ec",
    "research/tooling_standard.json": "c3bfc19536590e28135995066b6be53dff68a062c005be5ab6852b6db92ca7fe",
    "../rs06_r02/parameters.json": "677adb0be1611a8ada48ed911a7902e7dd7d8688ff1ca710059aee055942ffaf",
    "../rs06_r02/cad/verification.json": "71a36cad7d682bae6e7afeda8a062b138db2e6f10bff0fbd08d2a46c4ab4ea4f",
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}