{"status":"Research starting target; not a complete walking gait","physical_leg":"front_left","CAD_leg":"RL","input_crank_mm":22,"rod_mm":36,"upper_mm":40,"pickup_mm":24,"lower_mm":55,"advance_mm":20,"cycle_seconds":8,"stance_fraction":0.875,"swing_seconds_per_leg":1,"sole_clearance_mm":5,"expected_body_speed_mm_s":2.5,"source_of_dimensions":"Current measured live scene, compact linkage test","source_of_stride_range":"GAIT_RESEARCH_REVIEW.md initial10-20mm advance benchmarks","source_of_contact_schedule":"Spot Micro eight-phase crawl; equal1-second phase duration chosen for this research","contact_model":"Isolated planar bolt trajectory with rotated foot-mesh minimum height; rolling and stance slip not modeled","tested_joint_ranges_deg":{"alpha":[-10.373089153003017,10.691599376827803],"theta":[-16.058585103110374,15.61843135840803],"h":[0,0]},"requires_next":["Whole-body shifts and support margin","Actual stance contact/rolling model","Measured loaded servo travel and performance"]}