# HR-30 whole-body mass reconciliation P0.1

**PRELIMINARY - CONFIGURATION AND PACKAGING CAD ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, POWERED TESTING, MOTION, OR ENERGIZATION**

The former 9.63 kg value was an allocation, not a physical mass model. This pass inventories 98 materialized fabrication-CAD parts, 25 actuators, 142 joint-hardware candidate solids, 156 located joint-fastener candidates, 10 catalogue belt candidates and 64 located equipment/harness/contact items. The complete packaging inventory is **10.990 kg** and includes the exact published 1.057 kg rejected-pack envelope plus cassette and protection allowances. Those three items total **1.357 kg** and are not installed in the active tether-first development configuration.

Relative to commit `dfb9a7d`, the lightweight topology reduces the gross identified candidate subtotal by **2.334 kg**. The body retains all 25 axes, complete limbs and hands while using 18 x 18 x 1.5 mm hollow torso rails, a 2.0 mm-wall shoulder bridge, 2.5 mm windowed leg plates/ties and foot carriers, 3.5 mm slotted arm links, 0.8 mm service covers, hollow aluminum shaft screens, topology-lightened carrier frames and pulleys, and actuator-plus-one-external-bearing support on direct axes. Those changes are geometry candidates, not strength or bearing-life evidence.

The package now exposes two non-interchangeable dynamics configurations. `HR30-TETHER-FIRST-P0.1` is the active controlled-development baseline at **9.928 kg**, neutral COM **(-0.001, 0.003, 0.349) m**, and **0.072 kg** planning margin to the authoritative 10 kg hard limit. The 8 kg product target remains missed. `HR30-ONBOARD-ENVELOPE-P0.1` remains a packaging-only case at **11.394 kg**, which exceeds the 10 kg hard limit by **1.394 kg**. Its direct 4S source is rejected and it is not an active power configuration. Both models retain the explicit per-link subtotal and residual integration contingency without double-counting the 0.554 kg of located screw candidates. Exact selections, received masses and dynamic walking proof remain open.

The actuator planning subtotal uses published masses from current official ROBOTIS e-Manual pages checked 2026-08-14. Both elbows and both shoulder-roll axes use the 82 g XM430 candidate, both wrists use the 23 g XC330 candidate, and all four ankles use the 82 g XM430 candidate behind explicit reductions. The ten Gates belt candidates add 0.148 kg at current published catalogue mass. None of this is continuous-duty, dynamic, belt-capacity, thermal or physical validation. CAD actuator placement is the geometric centroid of the SHA-bound manufacturer packaging body, not a published center of gravity.

Bearing masses now use seven standard catalogue candidates from current NSK/SKF primary pages rather than treating each principal-dimension annulus as solid steel. The 12 x 24 x 6 mm NSK 6901 is the leg output candidate and the 17 x 26 x 5 mm NSK 6803 is the waist candidate. Those catalogue masses improve the planning model but do not select a bearing application or prove load direction, life, suffix, lubrication, fit, retention or received identity.

Fabrication and joint-hardware values are volume-times-density screens; equipment values are located as-installed allowances, with current primary manufacturer evidence recorded where available. Candidate solids may interpenetrate and manufacturing redesign will change them; no overlap deduction is taken. The URDF and MJCF inertias remain box approximations for development simulation. Physical mass, COM and inertia identification, exact selections, structural closure, gait validation and qualified review remain mandatory.