{"source_file":"Ainekio/Slave/hardware/v2-12servo/Ainekio-Neck-Reference-Refined-Live-Recovery1.blend","unit_scale":0.0010000000474974513,"legs":{"RL":{"physical":"front_left","shoulder_world":[[1,8.742277657347586e-8,-8.742278367890322e-8,76.3499984741211],[8.74227694680485e-8,-1,-8.742278367890322e-8,24.100006103515625],[8.742279078433057e-8,-8.742277657347586e-8,1,80.96183013916016],[0,0,0,1]],"mechanism_local":[[1,0,4.235164736271502e-22,-76.3499984741211],[0,1,0,24.100000381469727],[-4.235164736271502e-22,0,1,-80.96183013916016],[0,0,0,1]],"foot_reference_local_mm":[41.578139983501636,-59.46116225252445,-44.803662850684724],"foot_local_count":32134,"foot_world_bounds":[[3.343600157449231,51.77284962328277,3.799501314170925],[80.27688575881754,64.30137046696429,70.95752334518446]],"objects":{"0":"REFINED | RL | Part_009 - 24mm recessed horn crank - plain joint bore","1":"REFINED | RL | Part_023 - 4.9mm outside-horn carrier - plain joint bore","2":"REFINED | RL | Part_027 - 24mm pickup short collar - plain joint bore","3":"REFINED | RL | Part_026 - 41mm direct styled rod","4":"REFINED | RL | Part_005 - servo reference","5":"REFINED | RL | Part_006 - servo reference","6":"REFINED | RL | Part_003 - original mount - separate rectangular shims","10":"REFINED | RL | Part_020 - full-length inner boot","11":"REFINED | RL | Part_022 - full-length outer boot","12":"REFINED | RL | Part_021_M3-6 - unchanged foot reference","13":"REFINED | RL | Horn_009 - stock with prepared pilot","14":"REFINED | RL | Horn_023 - stock with prepared pilot","15":"REFINED | RL | Part009 reversed horn screw 1 - clearance reference","16":"REFINED | RL | Part023 reversed horn screw 1 - clearance reference","17":"REFINED | RL | Part009 reversed horn screw 2 - clearance reference","18":"REFINED | RL | Part023 reversed horn screw 2 - clearance reference","19":"REFINED | RL | Bearing - rod input","20":"REFINED | RL | Bearing - rod output","21":"REFINED | RL | Bearing - main leg 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| RR | Part_009 - 24mm recessed horn crank - plain joint bore","1":"REFINED | RR | Part_023 - 4.9mm outside-horn carrier - plain joint bore","2":"REFINED | RR | Part_027 - 24mm pickup short collar - plain joint bore","3":"REFINED | RR | Part_026 - 41mm direct styled rod","4":"REFINED | RR | Part_005 - servo reference","5":"REFINED | RR | Part_006 - servo reference","6":"REFINED | RR | Part_003 - original mount - separate rectangular shims","10":"REFINED | RR | Part_020 - full-length inner boot","11":"REFINED | RR | Part_022 - full-length outer boot","12":"REFINED | RR | Part_021_M3-6 - unchanged foot reference","13":"REFINED | RR | Horn_009 - stock with prepared pilot","14":"REFINED | RR | Horn_023 - stock with prepared pilot","15":"REFINED | RR | Part009 reversed horn screw 1 - clearance reference","16":"REFINED | RR | Part023 reversed horn screw 1 - clearance reference","17":"REFINED | RR | Part009 reversed horn screw 2 - clearance reference","18":"REFINED | RR | Part023 reversed horn screw 2 - clearance reference","19":"REFINED | RR | Bearing - rod input","20":"REFINED | RR | Bearing - rod output","21":"REFINED | RR | Bearing - main leg pivot","22":"REFINED | RR | Shim - input bearing inner race - 0.1mm","23":"REFINED | RR | Washer - input screw inner race - 0.2mm","24":"REFINED | RR | Shim - knee bearing inner race - 0.1mm","25":"REFINED | RR | Washer - knee screw inner race - 0.2mm","26":"REFINED | RR | Washer - output bearing inner race - 0.2mm","27":"REFINED | RR | Shim - output bearing outer-side inner race - 0.1mm","28":"REFINED | RR | Servo006 mounting screw 1 - reference","29":"REFINED | RR | Servo006 mounting screw 2 - reference","30":"REFINED | RR | Part_003 shim 1 - rectangular 5.25mm","31":"REFINED | RR | Part_003 shim 2 - rectangular 5.25mm","32":"REFINED | RR | M3x6 screw - input directly into Part_009","33":"REFINED | RR | M3x6 screw - knee directly into Part_023","34":"REFINED | RR | M3x6 screw - output directly into Part_027"},"sole_hull_local_mm":[[-20.072904586791992,-53.20000386238098,17.3363299369812],[-19.94391441345215,-53.20000386238098,17.442189693450928],[-19.808279037475586,-53.20000386238098,17.53938627243042],[-19.666574478149414,-53.20000386238098,17.627503871917725],[-19.519411087036133,-53.20000386238098,17.706162929534912],[-19.36741828918457,-53.20000386238098,17.775031566619873],[-19.211244583129883,-53.20000386238098,17.833810329437256],[-19.05156135559082,-53.20000386238098,17.882249355316162],[-21.29493522644043,-55.10000383853912,18.85718297958374],[-21.209688186645508,-55.10000383853912,18.9274001121521],[-21.13100242614746,-55.10000383853912,18.98922872543335],[-21.122743606567383,-55.10000383853912,18.99550199508667],[-21.034151077270508,-55.10000383853912,19.061452388763428],[-20.943967819213867,-55.10000383853912,19.12520742416382],[-20.89164161682129,-55.10000383853912,19.16075086593628],[-20.89719581604004,-55.11000382900238,19.169066905975342],[-21.976457595825195,-55.60000383853912,18.904622554779053],[-21.889841079711914,-55.60000383853912,18.991549968719482],[-21.801115036010742,-55.60000383853912,19.0763258934021],[-21.710336685180664,-55.60000383853912,19.15889883041382],[-21.6175594329834,-55.60000383853912,19.239219188690186],[-21.522836685180664,-55.60000383853912,19.31723928451538],[-21.42622947692871,-55.60000383853912,19.39290952682495],[-21.327795028686523,-55.60000383853912,19.466187953948975],[-18.889055252075195,-53.20000386238098,17.920140743255615],[-18.724416732788086,-53.20000386238098,17.947322368621826],[-18.558351516723633,-53.20000386238098,17.963677883148193],[-18.391572952270508,-53.20000386238098,17.969138622283936],[-18.22479820251465,-53.20000386238098,17.963677883148193],[-18.058732986450195,-53.20000386238098,17.947322368621826],[-17.894094467163086,-53.20000386238098,17.920140743255615],[-17.731584548950195,-53.20000386238098,17.882249355316162],[-17.5719051361084,-53.20000386238098,17.833810329437256],[-20.85224723815918,-55.10000383853912,19.186728954315186],[-20.75904655456543,-55.10000383853912,19.24598264694214],[-20.664419174194336,-55.10000383853912,19.30293035507202],[-20.641572952270508,-55.10000383853912,19.316253185272217],[-20.568418502807617,-55.10000383853912,19.357539653778076],[-20.47110939025879,-55.10000383853912,19.409776210784912],[-20.372549057006836,-55.10000383853912,19.45960760116577],[-20.381872177124023,-55.10000383853912,19.455066204071045],[-20.646574020385742,-55.11000382900238,19.324912548065186],[-20.38629722595215,-55.11000382900238,19.46403455734253],[-20.272794723510742,-55.10000383853912,19.507007122039795],[-20.171907424926758,-55.10000383853912,19.551942348480225],[-20.113649368286133,-55.10000383853912,19.57659673690796],[-20.069948196411133,-55.10000383853912,19.594390392303467],[-19.96697425842285,-55.10000383853912,19.63432264328003],[-19.863054275512695,-55.10000383853912,19.671714305877686],[-19.83805274963379,-55.10000383853912,19.6803240776062],[-20.117475509643555,-55.11000382900238,19.58583402633667],[-19.841264724731445,-55.11000382900238,19.689794063568115],[-19.758249282836914,-55.10000383853912,19.706546306610107],[-19.652620315551758,-55.10000383853912,19.73879384994507],[-19.55626106262207,-55.10000383853912,19.765803813934326],[-19.546228408813477,-55.10000383853912,19.768441677093506],[-19.439146041870117,-55.10000383853912,19.795466899871826],[-19.3314266204834,-55.10000383853912,19.819858074188232],[-19.269479751586914,-55.10000383853912,19.832671642303467],[-19.223146438598633,-55.10000383853912,19.84159803390503],[-19.114362716674805,-55.10000383853912,19.860673427581787],[-19.558847427368164,-55.11000382900238,19.77546453475952],[-19.271432876586914,-55.11000382900238,19.84247922897339],[-19.005144119262695,-55.10000383853912,19.877074718475342],[-18.978940963745117,-55.10000383853912,19.88063955307007],[-18.89555549621582,-55.10000383853912,19.890788555145264],[-18.78566551208496,-55.10000383853912,19.901811122894287],[-18.675535202026367,-55.10000383853912,19.910132884979248],[-18.685888290405273,-55.10000383853912,19.90950345993042],[-18.565237045288086,-55.10000383853912,19.915748119354248],[-18.980249404907227,-55.11000382900238,19.890553951263428],[-18.68654441833496,-55.11000382900238,19.919482707977295],[-21.227590560913086,-55.60000383853912,19.53702688217163],[-21.125680923461914,-55.60000383853912,19.60538625717163],[-21.022119522094727,-55.60000383853912,19.671224117279053],[-20.91697883605957,-55.60000383853912,19.734498500823975],[-20.810312271118164,-55.60000383853912,19.79517698287964],[-20.70218849182129,-55.60000383853912,19.853217601776123],[-20.592676162719727,-55.60000383853912,19.908586025238037],[-20.481836318969727,-55.60000383853912,19.961251735687256],[-20.36973762512207,-55.60000383853912,20.01118230819702],[-20.25644874572754,-55.60000383853912,20.058345317840576],[-20.14203453063965,-55.60000383853912,20.10271406173706],[-20.026567459106445,-55.60000383853912,20.144261837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| FL | Part_009 - 24mm recessed horn crank - plain joint bore","1":"REFINED | FL | Part_023 - 4.9mm outside-horn carrier - plain joint bore","2":"REFINED | FL | Part_027 - 24mm pickup short collar - plain joint bore","3":"REFINED | FL | Part_026 - 41mm direct styled rod","4":"REFINED | FL | Part_005 - servo reference","5":"REFINED | FL | Part_006 - servo reference","6":"REFINED | FL | Part_003 - original mount - separate rectangular shims","10":"REFINED | FL | Part_020 - full-length inner boot","11":"REFINED | FL | Part_022 - full-length outer boot","12":"REFINED | FL | Part_021_M3-6 - unchanged foot reference","13":"REFINED | FL | Horn_009 - stock with prepared pilot","14":"REFINED | FL | Horn_023 - stock with prepared pilot","15":"REFINED | FL | Part009 reversed horn screw 1 - clearance reference","16":"REFINED | FL | Part023 reversed horn screw 1 - clearance reference","17":"REFINED | FL | Part009 reversed horn screw 2 - clearance reference","18":"REFINED | FL | Part023 reversed horn screw 2 - clearance reference","19":"REFINED | FL | Bearing - rod input","20":"REFINED | FL | Bearing - rod output","21":"REFINED | FL | Bearing - main leg pivot","22":"REFINED | FL | Shim - input bearing inner race - 0.1mm","23":"REFINED | FL | Washer - input screw inner race - 0.2mm","24":"REFINED | FL | Shim - knee bearing inner race - 0.1mm","25":"REFINED | FL | Washer - knee screw inner race - 0.2mm","26":"REFINED | FL | Washer - output bearing inner race - 0.2mm","27":"REFINED | FL | Shim - output bearing outer-side inner race - 0.1mm","28":"REFINED | FL | Servo006 mounting screw 1 - reference","29":"REFINED | FL | Servo006 mounting screw 2 - reference","30":"REFINED | FL | Part_003 shim 1 - rectangular 5.25mm","31":"REFINED | FL | Part_003 shim 2 - rectangular 5.25mm","32":"REFINED | FL | M3x6 screw - input directly into Part_009","33":"REFINED | FL | M3x6 screw - knee directly into Part_023","34":"REFINED | FL | M3x6 screw - output directly into Part_027"},"sole_hull_local_mm":[[-20.07290172576906,-53.200000047683886,17.336329936981215],[-19.943911552429217,-53.200000047683886,17.442189693450942],[-19.808276176452654,-53.200000047683886,17.539386272430434],[-19.666571617126483,-53.200000047683886,17.62750387191774],[-19.5194082260132,-53.200000047683886,17.706162929534926],[-19.36741542816164,-53.200000047683886,17.775031566619887],[-19.21124172210695,-53.200000047683886,17.83381032943727],[-19.05155849456789,-53.200000047683886,17.882249355316176],[-21.294932365417505,-55.10000002384204,18.85718297958377],[-21.209685325622583,-55.10000002384204,18.927400112152128],[-21.130999565124537,-55.10000002384204,18.989228725433378],[-21.12274074554446,-55.10000002384204,18.9955019950867],[-21.034148216247583,-55.10000002384204,19.061452388763456],[-20.943964958190943,-55.10000002384204,19.125207424163847],[-20.891638755798365,-55.10000002384204,19.160750865936308],[-20.897192955017115,-55.1100000143053,19.16906690597537],[-21.97645473480227,-55.60000002384204,18.904622554779085],[-21.88983821868899,-55.60000002384204,18.991549968719514],[-21.801112174987818,-55.60000002384204,19.07632589340213],[-21.71033382415774,-55.60000002384204,19.15889883041385],[-21.617556571960474,-55.60000002384204,19.239219188690218],[-21.52283382415774,-55.60000002384204,19.317239284515413],[-21.426226615905787,-55.60000002384204,19.392909526824983],[-21.3277921676636,-55.60000002384204,19.466187953949007],[-18.889052391052264,-53.200000047683886,17.92014074325563],[-18.724413871765154,-53.200000047683886,17.94732236862184],[-18.5583486557007,-53.200000047683886,17.963677883148208],[-18.391570091247576,-53.200000047683886,17.96913862228395],[-18.224795341491717,-53.200000047683886,17.963677883148208],[-18.058730125427264,-53.200000047683886,17.94732236862184],[-17.894091606140154,-53.200000047683886,17.92014074325563],[-17.731581687927264,-53.200000047683886,17.882249355316176],[-17.571902275085467,-53.200000047683886,17.83381032943727],[-20.852244377136255,-55.10000002384204,19.186728954315214],[-20.759043693542505,-55.10000002384204,19.245982646942167],[-20.66441631317141,-55.10000002384204,19.30293035507205],[-20.641570091247583,-55.10000002384204,19.316253185272245],[-20.568415641784693,-55.10000002384204,19.357539653778105],[-20.471106529235865,-55.10000002384204,19.40977621078494],[-20.37254619598391,-55.10000002384204,19.4596076011658],[-20.3818693161011,-55.10000002384204,19.455066204071073],[-20.646571159362818,-55.1100000143053,19.324912548065214],[-20.386294364929224,-55.1100000143053,19.464034557342558],[-20.272791862487818,-55.10000002384204,19.507007122039823],[-20.171904563903833,-55.10000002384204,19.551942348480253],[-20.11364650726321,-55.10000002384204,19.576596736907987],[-20.06994533538821,-55.10000002384204,19.594390392303495],[-19.966971397399927,-55.10000002384204,19.634322643280058],[-19.86305141448977,-55.10000002384204,19.671714305877714],[-19.838049888610865,-55.10000002384204,19.68032407760623],[-20.11747264862063,-55.1100000143053,19.5858340263367],[-19.84126186370852,-55.1100000143053,19.689794063568144],[-19.75824642181399,-55.10000002384204,19.706546306610136],[-19.652617454528833,-55.10000002384204,19.738793849945097],[-19.556258201599146,-55.10000002384204,19.765803813934355],[-19.546225547790552,-55.10000002384204,19.768441677093534],[-19.439143180847193,-55.10000002384204,19.795466899871855],[-19.331423759460474,-55.10000002384204,19.81985807418826],[-19.26947689056399,-55.10000002384204,19.832671642303495],[-19.22314357757571,-55.10000002384204,19.841598033905058],[-19.11435985565188,-55.10000002384204,19.860673427581816],[-19.55884456634524,-55.1100000143053,19.77546453475955],[-19.27143001556399,-55.1100000143053,19.842479228973417],[-19.00514125823977,-55.10000002384204,19.87707471847537],[-18.978938102722193,-55.10000002384204,19.880639553070097],[-18.895552635192896,-55.10000002384204,19.890788555145292],[-18.785662651062037,-55.10000002384204,19.901811122894316],[-18.675532341003443,-55.10000002384204,19.910132884979276],[-18.68588542938235,-55.10000002384204,19.90950345993045],[-18.56523418426516,-55.10000002384204,19.915748119354276],[-18.980246543884302,-55.1100000143053,19.890553951263456],[-18.686541557312037,-55.1100000143053,19.919482707977323],[-21.22758769989016,-55.60000002384204,19.537026882171663],[-21.12567806243899,-55.60000002384204,19.605386257171663],[-21.022116661071802,-55.60000002384204,19.671224117279085],[-20.916975975036646,-55.60000002384204,19.734498500824007],[-20.81030941009524,-55.60000002384204,19.79517698287967],[-20.702185630798365,-55.60000002384204,19.853217601776155],[-20.592673301696802,-55.60000002384204,19.90858602523807],[-20.481833457946802,-55.60000002384204,19.961251735687288],[-20.369734764099146,-55.60000002384204,20.011182308197053],[-20.256445884704615,-55.60000002384204,20.058345317840608],[-20.142031669616724,-55.60000002384205,20.102714061737093],[-20.02656459808352,-55.60000002384205,20.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| FR | Part_009 - 24mm recessed horn crank - plain joint bore","1":"REFINED | FR | Part_023 - 4.9mm outside-horn carrier - plain joint bore","2":"REFINED | FR | Part_027 - 24mm pickup short collar - plain joint bore","3":"REFINED | FR | Part_026 - 41mm direct styled rod","4":"REFINED | FR | Part_005 - servo reference","5":"REFINED | FR | Part_006 - servo reference","6":"REFINED | FR | Part_003 - original mount - separate rectangular shims","10":"REFINED | FR | Part_020 - full-length inner boot","11":"REFINED | FR | Part_022 - full-length outer boot","12":"REFINED | FR | Part_021_M3-6 - unchanged foot reference","13":"REFINED | FR | Horn_009 - stock with prepared pilot","14":"REFINED | FR | Horn_023 - stock with prepared pilot","15":"REFINED | FR | Part009 reversed horn screw 1 - clearance reference","16":"REFINED | FR | Part023 reversed horn screw 1 - clearance reference","17":"REFINED | FR | Part009 reversed horn screw 2 - clearance reference","18":"REFINED | FR | Part023 reversed horn screw 2 - clearance reference","19":"REFINED | FR | Bearing - rod input","20":"REFINED | FR | Bearing - rod output","21":"REFINED | FR | Bearing - main leg pivot","22":"REFINED | FR | Shim - input bearing inner race - 0.1mm","23":"REFINED | FR | Washer - input screw inner race - 0.2mm","24":"REFINED | FR | Shim - knee bearing inner race - 0.1mm","25":"REFINED | FR | Washer - knee screw inner race - 0.2mm","26":"REFINED | FR | Washer - output bearing inner race - 0.2mm","27":"REFINED | FR | Shim - output bearing outer-side inner race - 0.1mm","28":"REFINED | FR | Servo006 mounting screw 1 - reference","29":"REFINED | FR | Servo006 mounting screw 2 - reference","30":"REFINED | FR | Part_003 shim 1 - rectangular 5.25mm","31":"REFINED | FR | Part_003 shim 2 - rectangular 5.25mm","32":"REFINED | FR | M3x6 screw - input directly into Part_009","33":"REFINED | FR | M3x6 screw - knee directly into Part_023","34":"REFINED | FR | M3x6 screw - output directly into Part_027"},"sole_hull_local_mm":[[-20.07290554046636,-53.20000386238118,17.336324214935335],[-19.943915367126515,-53.20000386238118,17.44218397140506],[-19.808279991149952,-53.20000386238119,17.539380550384553],[-19.666575431823784,-53.20000386238119,17.627498149871858],[-19.519412040710503,-53.20000386238119,17.706157207489046],[-19.36741924285894,-53.20000386238119,17.775025844574007],[-19.211245536804253,-53.200003862381195,17.833804607391386],[-19.05156230926519,-53.200003862381195,17.882243633270292],[-21.294936180114792,-55.100003838539344,18.857177257537902],[-21.20968914031987,-55.100003838539344,18.92739439010626],[-21.131003379821824,-55.100003838539344,18.98922300338751],[-21.122744560241745,-55.100003838539344,18.995496273040832],[-21.03415203094487,-55.100003838539344,19.061446666717586],[-20.94396877288823,-55.100003838539344,19.125201702117977],[-20.89164257049565,-55.100003838539344,19.160745143890438],[-20.8971967697144,-55.1100038290026,19.1690611839295],[-21.976458549499558,-55.60000383853934,18.904616832733222],[-21.889842033386277,-55.600003838539344,18.99154424667365],[-21.801115989685105,-55.600003838539344,19.07632017135627],[-21.710337638855027,-55.600003838539344,19.158893108367987],[-21.61756038665776,-55.600003838539344,19.239213466644355],[-21.522837638855027,-55.600003838539344,19.31723356246955],[-21.426230430603077,-55.600003838539344,19.39290380477912],[-21.32779598236089,-55.60000383853935,19.466182231903144],[-18.889056205749565,-53.200003862381195,17.920135021209745],[-18.724417686462456,-53.200003862381195,17.947316646575956],[-18.558352470398003,-53.200003862381195,17.963672161102323],[-18.391573905944878,-53.200003862381195,17.969132900238066],[-18.224799156189018,-53.200003862381195,17.963672161102323],[-18.058733940124565,-53.200003862381195,17.947316646575956],[-17.894095420837456,-53.200003862381195,17.920135021209745],[-17.731585502624565,-53.200003862381195,17.882243633270292],[-17.571906089782768,-53.200003862381195,17.833804607391386],[-20.852248191833542,-55.100003838539344,19.186723232269344],[-20.759047508239792,-55.100003838539344,19.245976924896297],[-20.6644201278687,-55.10000383853935,19.30292463302618],[-20.64157390594487,-55.10000383853935,19.316247463226375],[-20.56841945648198,-55.10000383853935,19.357533931732235],[-20.471110343933155,-55.10000383853935,19.40977048873907],[-20.372550010681202,-55.10000383853935,19.45960187911993],[-20.38187313079839,-55.10000383853935,19.455060482025203],[-20.646574974060105,-55.11000382900261,19.324906826019344],[-20.386298179626515,-55.11000382900261,19.464028835296688],[-20.27279567718511,-55.10000383853935,19.507001399993953],[-20.171908378601124,-55.10000383853935,19.551936626434383],[-20.1136503219605,-55.10000383853935,19.576591014862117],[-20.0699491500855,-55.10000383853935,19.594384670257625],[-19.966975212097218,-55.10000383853936,19.634316921234188],[-19.86305522918706,-55.10000383853936,19.671708583831844],[-19.838053703308155,-55.10000383853936,19.68031835556036],[-20.11747646331792,-55.11000382900261,19.58582830429083],[-19.84126567840581,-55.110003829002615,19.689788341522274],[-19.75825023651128,-55.10000383853936,19.706540584564266],[-19.652621269226124,-55.10000383853936,19.738788127899227],[-19.556262016296436,-55.10000383853936,19.765798091888485],[-19.546229362487843,-55.10000383853936,19.768435955047664],[-19.439146995544483,-55.10000383853936,19.795461177825985],[-19.331427574157765,-55.10000383853936,19.81985235214239],[-19.26948070526128,-55.10000383853936,19.83266592025762],[-19.223147392273,-55.10000383853936,19.841592311859184],[-19.11436367034917,-55.10000383853936,19.860667705535942],[-19.55884838104253,-55.110003829002615,19.77545881271368],[-19.27143383026128,-55.110003829002615,19.842473506927547],[-19.00514507293706,-55.10000383853936,19.877068996429497],[-18.978941917419483,-55.10000383853936,19.880633831024223],[-18.895556449890186,-55.10000383853936,19.89078283309942],[-18.785666465759327,-55.100003838539365,19.901805400848442],[-18.675536155700733,-55.100003838539365,19.910127162933403],[-18.68588924407964,-55.100003838539365,19.909497737884575],[-18.565237998962452,-55.100003838539365,19.915742397308403],[-18.980250358581593,-55.110003829002615,19.890548229217583],[-18.686545372009327,-55.11000382900262,19.91947698593145],[-21.227591514587452,-55.60000383853935,19.537021160125796],[-21.12568187713628,-55.60000383853935,19.605380535125796],[-21.022120475769093,-55.60000383853935,19.67121839523322],[-20.916979789733936,-55.60000383853935,19.73449277877814],[-20.81031322479253,-55.60000383853935,19.795171260833804],[-20.702189445495655,-55.60000383853936,19.85321187973029],[-20.592677116394093,-55.60000383853936,19.908580303192203],[-20.481837272644093,-55.60000383853936,19.96124601364142],[-20.369738578796436,-55.60000383853936,20.011176586151187],[-20.256449699401905,-55.60000383853936,20.05833959579474],[-20.142035484314015,-55.60000383853936,20.102708339691226],[-20.026568412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four legs use the refined RL24/38/24 geometry. Static registration and sampled mechanism closure verified. Physical loading and unrestricted collision range unqualified.","previous_unseated_C_new":[50.073686067289486,78.711878551002],"previous_unseated_theta_neutral":2.398488039902402,"servo_reseat_translation_canonical_mm":[0.014055149881244233,2.4999696171176,0],"servo_reseat_translation_mechanism_mm":[0.014055149881244233,0,2.4999696171176],"previous_input_length":24,"previous_rod_length":38,"previous_theta_neutral":2.4849258509469347,"previous_rod_neutral_angle":-2.1544604149540456,"previous_P_new":[31.07898572836671,95.86337418989845],"input_joint_depth_change_mm":-0.42511312334004425,"geometry_report":"Blender workspace/robot-compact-22-36-test-20260919/geometry-report.json","hardware_shifts_mechanism":{"19":[0,0.42511312334004425,0],"20":[1.4808691315888707,0,1.3442569007102856],"22":[0.7993519359660066,0.42511312334004425,-1.8333129799538856],"23":[0.7993519359660066,0.42511312334004425,-1.8333129799538856],"32":[0.7993519359660066,0.42511312334004425,-1.8333129799538856]},"legs":{"RL":"front_left","RR":"front_right","FL":"rear_left","FR":"rear_right"},"leg_construction":"upright","per_leg_overrides":{"RL":{"input_length":24,"rod_length":38,"pickup_length":24,"distal_length":55,"new_theta_neutral":2.484925850946935,"parameters_text":"COMPACT FOUR LEGS - PARAMETERS.json"},"FL":{"input_length":24,"rod_length":38,"pickup_length":24,"distal_length":55,"new_theta_neutral":2.484925850946935,"parameters_text":"COMPACT FOUR LEGS - PARAMETERS.json"},"FR":{"input_length":24,"rod_length":38,"pickup_length":24,"distal_length":55,"new_theta_neutral":2.484925850946935,"parameters_text":"COMPACT FOUR LEGS - PARAMETERS.json"},"RR":{"input_length":24,"rod_length":38,"pickup_length":24,"distal_length":55,"new_theta_neutral":2.484925850946935,"parameters_text":"COMPACT FOUR LEGS - PARAMETERS.json"}},"prior_defaults_before_24_38_all_legs":{"input_length":22,"rod_length":36,"new_theta_neutral":2.571642668749835,"new_rod_neutral_angle":-2.208323802388989,"P_new":[31.565326011535202,93.08282685355417],"status":"Upright compact22/36/55;original upright hardware imported;planar joint solver retained;physical fit and full motion range unverified."},"all_leg_transfer":{"timestamp_utc":"2026-09-21T20:00:08.149573+00:00","file":"Ainekio/Slave/hardware/v2-12servo/Ainekio-Neck-Reference-Refined-Live-Recovery1.blend","recovery":"Ainekio/Slave/hardware/v2-12servo/Ainekio-Neck-Reference-Refined-Live-Recovery1-Backup.blend","source_leg":"RL / physical front_left","updated_legs":["FL","FR","RR"],"parts":["Part009","Part023","Part026"],"sizes_mm":{"Part009":24,"Part023":40,"Part026":38,"Part027_pickup":24,"Part027_knee_to_foot":55},"geometry_hashes":{"RL":{"0":"3213ba0a30625b9325edffdd3379455e6c0d7f8bb8926a5e487acdafc06e741c","1":"54ab8a304eee4604f065625049f0bb18c886c7d24ce4d4b9e6daea1d619d5ac9","3":"f1afac1af6b3cebd5dae5c536e3d4910b2ba76562b4a5e5a457d2ec3273180a9"},"FL":{"0":"3213ba0a30625b9325edffdd3379455e6c0d7f8bb8926a5e487acdafc06e741c","1":"54ab8a304eee4604f065625049f0bb18c886c7d24ce4d4b9e6daea1d619d5ac9","3":"f1afac1af6b3cebd5dae5c536e3d4910b2ba76562b4a5e5a457d2ec3273180a9"},"FR":{"0":"3213ba0a30625b9325edffdd3379455e6c0d7f8bb8926a5e487acdafc06e741c","1":"54ab8a304eee4604f065625049f0bb18c886c7d24ce4d4b9e6daea1d619d5ac9","3":"f1afac1af6b3cebd5dae5c536e3d4910b2ba76562b4a5e5a457d2ec3273180a9"},"RR":{"0":"3213ba0a30625b9325edffdd3379455e6c0d7f8bb8926a5e487acdafc06e741c","1":"54ab8a304eee4604f065625049f0bb18c886c7d24ce4d4b9e6daea1d619d5ac9","3":"f1afac1af6b3cebd5dae5c536e3d4910b2ba76562b4a5e5a457d2ec3273180a9"}},"mesh_names":{"RL":{"0":"RL TEST | Part009 24mm","1":"UPRIGHT | RL | Part023 - matched horn circular screws","3":"RL TEST | Part026 38mm"},"FL":{"0":"UPRIGHT | FL | Part009 - 24mm refined profile","1":"UPRIGHT | FL | Part023 - gentle taper centered cutouts","3":"UPRIGHT | FL | Part026 - 38mm centered cutouts"},"FR":{"0":"UPRIGHT | FR | Part009 - 24mm refined profile","1":"UPRIGHT | FR | Part023 - gentle taper centered cutouts","3":"UPRIGHT | FR | Part026 - 38mm centered cutouts"},"RR":{"0":"UPRIGHT | RR | Part009 - 24mm refined profile","1":"UPRIGHT | RR | Part023 - gentle taper centered cutouts","3":"UPRIGHT | RR | Part026 - 38mm centered cutouts"}},"neutral_closure_error_mm":0.0000019503066681636483,"sampled_closure_error_mm":0.0000034439257703411386,"bearing_axis_error_mm":0.0006438396502034224,"registration_matrix_max_error":0.0000152587890625,"fixed_transform_max_error":0.00000762939453125,"existing_actions_preserved":true,"source_leg_preview_only":true,"new_animation_created":false,"recovery_verified":true,"final_exports":[]}},"schema":"ainekio.stride-and-rate.v3","length_units":"mm","angle_units":"radians","time_units":"seconds","leg_order":["RL","RR","FL","FR"],"joint_order":["h_Part002","alpha_Part006","theta_Part005"],"world_axes":{"x":"physical forward","y":"physical left","z":"up"},"research_angle_bounds_deg":[[-35,35],[-65,65],[-115,80]],"servo_travel_supplied_deg":270,"servo_calibration":"unknown; 270 degree total travel does not locate CAD neutral in electrical range","provisional_COM_body_mm":[0,0,65],"mass_kg":null,"supply_voltage":null,"servo_variant":"MG90 family, exact model and loaded speed unknown","sample_hz":240,"fps":30,"contact_model":"Fixed world XY sole-reference during stance; actual complete sole hull minimum Z is enforced. Contact migrates on the faceted rocking sole; material-point slip is reported separately.","support_margin_target_mm":0,"sole_clearance_mm":14,"body_translation_z_mm":-2,"reference_stance_xy_mm":[[70.10747440127479,59.461174163036226],[70.10747977703589,-59.461148713918995],[-42.56813151166144,59.46115498470341],[-42.56814587526131,-59.461145260792954]],"crawl_order":["RL","FR","RR","FL"],"provenance":{"link_lengths_and_frames":"current live rig plus saved 24/38 transfer; measured","foot_hulls":"evaluated Part027,020,022,021 mesh vertices; measured","COM":"assumed body-fixed datum, configurable; no masses","joint_bounds":"Provisional numerical envelope, not physical stops. Part009 theta lower envelope expanded from -70 to -115 degrees for the requested rear reach; linkage closure and sampled mesh intersections checked separately.","servo_max_travel":"user supplied 270deg; per-joint centers unknown","shell_clearance":"check approximate intersections separately; no dynamics","stride_limit":"100 percent retains the corrected 92 mm planted sweep and 30 mm rear bias. Motion rate independently retimes the shared trajectory. Ramped stride plans each touchdown from future stance travel; all branches and sole contacts require regenerated validation."},"joint_conventions":{"h_Part002":{"pivot":"Each leg shoulder_world translation","axis":"Positive local X of shoulder_world","zero":"CAD shoulder neutral","sign":"positive right-hand rotation about local X"},"alpha_Part006":{"pivot_mechanism_xz_mm":[62.58781342006688,69.71182170125783],"axis":"Negative local Y of mechanism frame for increasing alpha","zero_radians":-2.589563330529253,"mapping":"primary.rotation_y = -alpha_offset"},"theta_Part005":{"pivot_mechanism_xz_mm":[50.08774121717073,81.2118481681196],"axis":"Negative local Y of mechanism frame for increasing theta","zero_radians":2.484925850946935,"mapping":"input.rotation_y = -(theta_neutral+theta_offset)+old_theta_neutral"},"passive_lower_leg":{"equation":"foot.rotation_y = -(beta-beta_neutral); beta from circle closure","independent_actuator":false},"provenance":"Measured rig transforms and driver expressions, verified against evaluated Blender poses; electrical horn index not calibrated"},"standing_shoulder_height_mm":80.96183,"configuration_owner":"Edit this JSON and regenerate. Default preview is four uninterrupted 100 percent cycles. Blender properties describe the bake.","ground_contact_fraction":0.7,"continuous_walk":{"phase_offsets":{"RL":0,"RR":0.5,"FL":0.75,"FR":0.25},"body_rotation_pivot_mm":[0,0,65],"lateral_sway_mm":2.5,"body_bob_mm":1.5,"roll_deg":3,"pitch_deg":2,"minimum_lift_mm":4,"stance_sweep_100_mm":92,"research_sources":["https://github.com/stanfordroboticsclub/StanfordQuadruped","https://onlinelibrary.wiley.com/doi/10.1155/2021/6627043"],"rearward_bias_100_mm":30},"gait_controls":{"mode":"demo","stride_percent":100,"motion_rate":2,"base_cycle_seconds":1.8,"steady_cycles":4,"scene_name":"Gait - Stride and Rate","solver_python":"python","demo_keypoints":[{"phase":0,"stride_fraction":0.25,"rate_fraction":0.5,"label":"SHORT STRIDE"},{"phase":1,"stride_fraction":0.25,"rate_fraction":0.5,"label":"LENGTHEN STRIDE"},{"phase":2.5,"stride_fraction":1,"rate_fraction":0.5,"label":"FULL STRIDE"},{"phase":3.5,"stride_fraction":1,"rate_fraction":0.5,"label":"INCREASE RATE"},{"phase":5,"stride_fraction":1,"rate_fraction":1,"label":"FULL STRIDE - FAST"},{"phase":6,"stride_fraction":1,"rate_fraction":1,"label":"DECREASE RATE"},{"phase":7,"stride_fraction":1,"rate_fraction":0.5,"label":"SHORTEN STRIDE"},{"phase":8,"stride_fraction":0.25,"rate_fraction":0.5,"label":"SHORT STRIDE"},{"phase":9,"stride_fraction":0.25,"rate_fraction":0.5,"label":"LOOP"}]},"control_law":"p=stride_percent/100; stance_sweep=92*p mm; cycle_advance=stance_sweep/0.7; cycle_frequency=motion_rate/1.8 Hz; speed=cycle_advance*cycle_frequency. Rear bias=(30/92)*predicted body travel during each stance; only future footholds move when stride changes."}