762 mm
Exact neutral-pose floor-to-shell-top geometry.
25
Named head, waist, arm, hand, hip, knee, and ankle axes.
{len(JOINT_MODULE_FAMILIES)}
Dimensioned joint-module families spanning all 25 axes.
0
Fabrication, motion, safety, or energization approvals.
Orbit the native body architecture
Drag to orbit; scroll or pinch to zoom. Sky blue is shell envelope, dark blue is load-path envelope, gold is joint/hand hardware, and red rods are reference axes. Transparent objects reserve electronics, sensors, restraint, and joint datum space. The downloadable STEP embeds the exact SHA-bound actuator B-Reps; the GLB uses dimension-matched simplified actuator bodies so the web model remains practical to load.
The dimensions come from the specification
What this pass proves—and what it does not
Native geometry exists
STEP and GLB are generated from a versioned CadQuery source. The STEP reimports with vertices exactly at Z=0 and Z=762 mm.
Kinematic architecture exists
All 25 candidate axes have coordinates, directions, regions, and provisional ranges in a machine-readable schedule.
Preferred arm envelope met
The revised bilateral shoulder and hand geometry gives a 360 mm nominal reach and 900 mm fingertip span, meeting both preferred targets. Tolerance and physical-sweep validation remain open.
Mass remains preliminary
The active tether-first candidate is within the 10 kg hard limit but still misses the 8 kg product target; received mass, COM and inertia remain unvalidated.
Controlled body datums
| Datum | Z above floor | Role |
|---|---|---|
| Ankle roll / pitch | 35 / 55 mm | 20 mm serial-axis separation inside the ankle housing |
| Knee pitch | 210 mm | 155 mm above ankle pitch |
| Hip pitch / roll / yaw | 370 / 390 / 410 mm | 20 mm serial-axis separation inside the hip housing |
| Waist yaw | 425 mm | Upper-body rotation datum |
| Shoulder pitch | 590 mm | Upper-arm datum |
| Neck pan | 650 mm | Head pan datum |
| Shell top | 762 mm | Exact nominal standing height |
Next engineering conversions
Joints
Convert the ten visible module-family candidates into released shafts, selected bearings, verified fits, retained fasteners, stops, encoders, and serviceable housings.
Structure and covers
Convert solid visual envelopes into materialized frames and tool-removable covers with thickness, splits, edges, vents, access, and retention.
Harness and power
Route bend-controlled cables and select the actuator rail, protection, regeneration handling, tether, and eventual onboard energy system.
Evidence
Close mass/COM/inertia, collision, gait loads, thermal behavior, stopping, fall restraint, DFM, tolerances, FAI, physical testing, and qualified review.
Download the engineering artifacts
Physical-envelope STEP · Kinematic-reference STEP · Interactive GLB · Editable CadQuery source · Joint-axis schedule · Joint-module families · All-axis module binding · Vendor source register · Per-axis actuator transforms · Actuator allocation · Asimov 1 matrix · Component schedule · Geometry checks · Open holds