{"meta":{"name":"Fully Open Humanoid","short":"FOH","version":"0.2","units":"mm","frame":"X forward, Y left, Z up; ground at z = 0","generated_by":"tools/build_data.py"},"materials":{"petg_cf":{"name":"PETG-CF, printed","color":"#d6d9de","density":1.27,"fill":0.45},"pla":{"name":"PLA, printed","color":"#eceef1","density":1.24,"fill":0.35},"tpu":{"name":"TPU 95A, printed","color":"#33363b","density":1.21,"fill":0.7},"al_ext":{"name":"Aluminium 6063 extrusion","color":"#a8aeb6","density":2.7,"fill":0.39},"steel":{"name":"Bearing steel","color":"#b6babf","density":7.8,"fill":0.55},"actuator":{"name":"RobStride housing","color":"#3a3e45"},"flange":{"name":"Actuator output flange","color":"#c5c9ce"},"enclosure":{"name":"Electronics enclosure","color":"#24262a"},"pcb":{"name":"Bare board","color":"#2f6b48"},"battery":{"name":"LiPo pack","color":"#35507f"},"estop":{"name":"E-stop","color":"#d1302e"},"camera":{"name":"Camera","color":"#e9e9e9"},"servo":{"name":"Bus servo","color":"#1f2a3a"}},"actuators":{"RS03":{"name":"RobStride RS03","peak_nm":60,"rated_nm":20,"kt":2.36,"i_limit":43,"mass_g":880,"ratio":"9:1","dia":98,"flange_dia":106,"length":56.6,"price":225.0,"url":"https://www.amazon.com/RobStride-60N-m-Integrated-Actuator-Module/dp/B0GY8PJ1MF","body_r":49,"body_l":39.5,"cover_r":40,"cover_l":0,"lug_r":53,"lug_t":8,"step_r":39.75,"step_h":6.6,"boss_r":35,"boss_h":2.5,"lug_pcd":98,"lug_n":8,"lug_screw":"M4","lug_depth":8,"out_pcd":30.36,"out_n":6,"out_screw":"M4","out_depth":6,"pin_pcd":30.36,"pin_n":3,"pin_d":4,"pin_depth":7,"mount_t":20,"bore_r":40.25,"sh_r":31,"sh_t":3.5,"hub_r":22.5,"out_bearing":"HW_6809_2RS","ob_od":58,"ob_w":7,"ring_r":56,"back_t":8,"sup_bearing":"HW_6707_2RS","sb_od":44,"sb_id":35,"sb_w":5},"RS06":{"name":"RobStride RS06","peak_nm":36,"rated_nm":11,"kt":1.09,"i_limit":57,"mass_g":621,"ratio":"9:1","dia":84.5,"flange_dia":92,"length":49,"price":210.0,"url":"https://www.robstride.com/","body_r":42.25,"body_l":33,"cover_r":35,"cover_l":5.5,"lug_r":46,"lug_t":4,"step_r":41,"step_h":9,"boss_r":26,"boss_h":1.5,"lug_pcd":88,"lug_n":8,"lug_screw":"M3","lug_depth":8.5,"out_pcd":24,"out_n":6,"out_screw":"M4","out_depth":6,"pin_pcd":24,"pin_n":3,"pin_d":4,"pin_depth":4,"mount_t":22,"bore_r":41.5,"sh_r":23,"sh_t":3,"hub_r":17.5,"out_bearing":"HW_6807_2RS","ob_od":47,"ob_w":7,"ring_r":50,"back_t":8,"sup_bearing":"HW_6707_2RS","sb_od":44,"sb_id":35,"sb_w":5},"RS02":{"name":"RobStride RS02","peak_nm":17,"rated_nm":6,"kt":1.22,"i_limit":23,"mass_g":405,"ratio":"7.75:1","dia":65,"flange_dia":78.5,"length":41.5,"price":145.0,"url":"https://www.amazon.com/RobStride-Integrated-Actuator-Module-Encoders/dp/B0GS5945VP","body_r":32.5,"body_l":28,"cover_r":30,"cover_l":5,"lug_r":39.25,"lug_t":5,"step_r":21.5,"step_h":0,"boss_r":21.5,"boss_h":3.5,"lug_pcd":73,"lug_n":9,"lug_screw":"M3","lug_depth":8,"out_pcd":24,"out_n":6,"out_screw":"M4","out_depth":7,"pin_pcd":24,"pin_n":3,"pin_d":4,"pin_depth":4,"mount_t":12,"bore_r":23,"sh_r":22,"sh_t":3,"hub_r":17.5,"out_bearing":"HW_6707_2RS","ob_od":44,"ob_w":5,"ring_r":45,"back_t":8,"sup_bearing":"HW_6707_2RS","sb_od":44,"sb_id":35,"sb_w":5},"RS05":{"name":"RobStride RS05","peak_nm":5.5,"rated_nm":1.6,"kt":0.94,"i_limit":11,"mass_g":191,"ratio":"7.75:1","dia":46,"flange_dia":46,"length":44,"price":110.0,"url":"https://www.robstride.com/","body_r":23,"body_l":41,"cover_r":23,"cover_l":0,"lug_r":23,"lug_t":0,"step_r":17.5,"step_h":0,"boss_r":15,"boss_h":3,"lug_pcd":41.5,"lug_n":8,"lug_screw":"M3","lug_depth":7,"rear_pcd":38.5,"rear_n":4,"rear_screw":"M3","rear_depth":10,"out_pcd":24,"out_n":6,"out_screw":"M4","out_depth":3.5,"pin_pcd":19,"pin_n":3,"pin_d":4,"pin_depth":3,"mount_t":0,"bore_r":0,"sh_r":22,"sh_t":5,"hub_r":0,"out_bearing":null,"ob_od":0,"ob_w":0,"ring_r":29,"back_t":8,"sup_bearing":null,"sb_od":0,"sb_id":0,"sb_w":0}},"catalog":{"3DP_kit03_coupler":{"id":"3DP_kit03_coupler","name":"RS03 coupler (output hub)","category":"printed","material":"petg_cf","qty":11,"process":"FDM","notes":"Sits on the RS03 output boss, located by 3 x \u00d84 dowels; six M4 x 35 pass through the child plate and this coupler into the boss (PCD 30.36). The \u00d845 hub carries the 6809 support bearing. Print in PA-CF if PETG-CF creeps.","dims":[62,62,12.9],"mass_g":15},"3DP_kit06_coupler":{"id":"3DP_kit06_coupler","name":"RS06 coupler (output hub)","category":"printed","material":"petg_cf","qty":6,"process":"FDM","notes":"Sits on the RS06 output boss, located by 3 x \u00d84 dowels; six M4 x 35 pass through the child plate and this coupler into the boss (PCD 24). \u00d835 hub for the 6807 bearing.","dims":[13.5,46,46],"mass_g":9},"3DP_kit02_coupler":{"id":"3DP_kit02_coupler","name":"RS02 coupler (output hub)","category":"printed","material":"petg_cf","qty":4,"process":"FDM","notes":"Sits on the RS02 output boss, located by 3 x \u00d84 dowels; six M4 x 30 pass through the child plate and this coupler into the boss (PCD 24). \u00d835 hub for the 6707 bearing.","dims":[44,44,10.5],"mass_g":7},"3DP_kit05_adapter":{"id":"3DP_kit05_adapter","name":"RS05 output adapter","category":"printed","material":"petg_cf","qty":2,"process":"FDM","notes":"\u00d844 x 5 disc: 6 x M4 counterbored on PCD 24 into the RS05 output, 4 x M3 inserts on a 30 mm square for the gripper. No support bearing at the wrist.","dims":[44,44,5.0],"mass_g":4},"3DP_pel01_pelvis_shell":{"id":"3DP_pel01_pelvis_shell","name":"Pelvis shell","category":"printed","material":"petg_cf","qty":1,"process":"FDM","notes":"One print: box shell, the two RS03 hip-pitch mount rings (8 x M4 on PCD 98, 6809 pocket) on its sides, the waist mount ring on top. 145 x 130 x 190 mm; needs a 250 mm bed.","dims":[130.0,144.0,188.0],"mass_g":669},"3DP_leg02_hip_roll_bracket":{"id":"3DP_leg02_hip_roll_bracket","name":"Hip-roll bracket","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Plate on the hip-pitch coupler, web to the hip-roll RS03 mount: mount ring, sleeve, three straps and back plate, open on the inboard side.","dims":[82.5,114.0,112],"mass_g":144},"3DP_leg04_hip_yaw_housing":{"id":"3DP_leg04_hip_yaw_housing","name":"Hip-yaw housing","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Front plate on the hip-roll coupler, RS03 mount ring and collar for the hip-yaw actuator (axis vertical, output down).","dims":[112.0,112,175.0],"mass_g":270},"3DP_leg05_thigh_block":{"id":"3DP_leg05_thigh_block","name":"Thigh block with knee mount","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Plate on the hip-yaw coupler; full RS03 cup for the knee: mount ring, collar, back plate and \u00d835 stub for the inner shank plate's bearing.","dims":[112,92.8,118.5],"mass_g":216},"3DP_leg06_shank_outer_plate":{"id":"3DP_leg06_shank_outer_plate","name":"Shank plate, outer (driven)","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Bolts to the knee coupler; its lower end is the ankle-pitch RS03 mount ring (8 x M4 on PCD 98, 6809 pocket).","dims":[112,28.0,256.0],"mass_g":159},"3DP_leg07_shank_inner_plate":{"id":"3DP_leg07_shank_inner_plate","name":"Shank plate, inner (support)","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Rides on the 6707 bearing on the thigh block's stub; free at the ankle.","dims":[72.0,10.0,220.0],"mass_g":91},"3DP_leg08_shank_cross":{"id":"3DP_leg08_shank_cross","name":"Shank cross member","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":false,"notes":"Ties the two shank plates together above the ankle-pitch actuator; loom slots for the leg harness.","dims":[60.0,78.5,16.0],"mass_g":43},"3DP_leg10_ankle_bracket":{"id":"3DP_leg10_ankle_bracket","name":"Ankle bracket","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Plate on the ankle-pitch coupler; RS06 mount ring, collar and back plate for the ankle-roll actuator behind the shank.","dims":[184.5,110.0,130.0],"mass_g":226},"3DP_leg11_foot_bracket":{"id":"3DP_leg11_foot_bracket","name":"Foot bracket","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Upright on the ankle-roll coupler, base flange with 4 x M5 to the foot plate.","dims":[40.0,54.0,72.0],"mass_g":32},"3DP_leg12_foot_plate":{"id":"3DP_leg12_foot_plate","name":"Foot plate","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"dims":[235.0,92.0,12.0],"mass_g":148},"3DP_leg13_sole":{"id":"3DP_leg13_sole","name":"Foot sole","category":"printed","material":"tpu","qty":2,"process":"FDM","mirror":true,"notes":"TPU 95A, 100 % infill.","dims":[235.0,92.0,8.0],"mass_g":146},"3DP_tor02_bottom_plate":{"id":"3DP_tor02_bottom_plate","name":"Torso bottom plate","category":"printed","material":"petg_cf","qty":1,"process":"FDM","notes":"Bolts to the waist coupler (4 x M4 on PCD 32) and to the four 2020 uprights (M5 into tapped ends).","dims":[160.0,210.0,10.0],"mass_g":192},"3DP_tor03_top_plate":{"id":"3DP_tor03_top_plate","name":"Torso top plate","category":"printed","material":"petg_cf","qty":1,"process":"FDM","dims":[160.0,210.0,10.0],"mass_g":192},"3DP_tor04_shoulder_mount":{"id":"3DP_tor04_shoulder_mount","name":"Shoulder-pitch mount","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"RS06 mount ring, collar and back plate hung from the top plate; the ring's front face is flush with the torso side.","dims":[100,72.5,110.0],"mass_g":145},"3DP_tor05_side_panel":{"id":"3DP_tor05_side_panel","name":"Torso side panel","category":"printed","material":"pla","qty":2,"process":"FDM","mirror":true,"notes":"Cosmetic; 4 mm, with a clearance hole for the shoulder-pitch coupler.","dims":[145.0,4.0,270.0],"mass_g":68},"3DP_tor06_back_panel":{"id":"3DP_tor06_back_panel","name":"Torso back panel","category":"printed","material":"pla","qty":1,"process":"FDM","notes":"Carries the E-stop and the main breaker.","dims":[4.0,175.0,400.0],"mass_g":122},"3DP_tor07_front_panel":{"id":"3DP_tor07_front_panel","name":"Torso front panel","category":"printed","material":"pla","qty":1,"process":"FDM","notes":"Removable; magnets.","dims":[4.0,175.0,400.0],"mass_g":122},"3DP_tor08_electronics_tray":{"id":"3DP_tor08_electronics_tray","name":"Electronics tray","category":"printed","material":"pla","qty":1,"process":"FDM","notes":"Mounts the computer, CAN adapters, hub and power parts inside the frame.","dims":[4.0,140.0,278.0],"mass_g":68},"3DP_tor09_battery_cradle":{"id":"3DP_tor09_battery_cradle","name":"Battery cradle","category":"printed","material":"pla","qty":2,"process":"FDM","mirror":false,"notes":"One per pack; straps the pack to the rear of the frame.","dims":[56.0,70.0,6.0],"mass_g":10},"3DP_hea01_neck_post":{"id":"3DP_hea01_neck_post","name":"Neck post","category":"printed","material":"petg_cf","qty":1,"process":"FDM","dims":[44,44,34.0],"mass_g":30},"3DP_hea02_head_shell":{"id":"3DP_hea02_head_shell","name":"Head shell","category":"printed","material":"pla","qty":1,"process":"FDM","notes":"Blank head with a RealSense mounting pocket. Camera is optional.","dims":[90.0,110.0,70.0],"mass_g":301},"3DP_arm02_shoulder_bracket":{"id":"3DP_arm02_shoulder_bracket","name":"Shoulder-roll bracket","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Plate on the shoulder-pitch coupler, 64 mm beam outboard, full RS06 cup (mount ring, collar, back plate) for the shoulder-roll actuator.","dims":[77.0,182.0,98],"mass_g":268},"3DP_arm04_upper_arm_yoke":{"id":"3DP_arm04_upper_arm_yoke","name":"Upper-arm yoke","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Front plate on the shoulder-roll coupler, shelf under the roll actuator, RS02 mount ring and collar for the shoulder-yaw actuator (output down).","dims":[90.0,96.0,161.5],"mass_g":165},"3DP_arm06_upper_arm":{"id":"3DP_arm06_upper_arm","name":"Upper-arm link with elbow mount","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Plate on the shoulder-yaw coupler; full RS02 cup for the elbow with the \u00d835 stub for the inner forearm plate.","dims":[80,67.0,136.5],"mass_g":199},"3DP_arm08_forearm_outer":{"id":"3DP_arm08_forearm_outer","name":"Forearm plate, outer (driven)","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Bolts to the elbow coupler.","dims":[60.0,10.0,110.0],"mass_g":38},"3DP_arm09_forearm_inner":{"id":"3DP_arm09_forearm_inner","name":"Forearm plate, inner (support)","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Rides on the 6707 bearing on the upper arm's stub.","dims":[60.0,10.0,110.0],"mass_g":38},"3DP_arm10_forearm_body":{"id":"3DP_arm10_forearm_body","name":"Forearm body with wrist mount","category":"printed","material":"petg_cf","qty":2,"process":"FDM","mirror":true,"notes":"Joins both forearm plates; bore and rear pattern (4 x M3 on PCD 38.5) hold the wrist-roll RS05.","dims":[58,81.0,68.0],"mass_g":167},"3DP_grp01_gripper_body":{"id":"3DP_grp01_gripper_body","name":"Gripper body","category":"printed","material":"pla","qty":2,"process":"FDM","mirror":true,"optional":"grippers","notes":"Rack-and-pinion parallel gripper after Duke V2; one STS3215 bus servo. Optional kit.","dims":[80.0,56.0,44.0],"mass_g":86},"3DP_grp02_finger":{"id":"3DP_grp02_finger","name":"Gripper finger","category":"printed","material":"pla","qty":4,"process":"FDM","optional":"grippers","dims":[12.0,16.0,86.0],"mass_g":7},"3DP_grp03_finger_pad":{"id":"3DP_grp03_finger_pad","name":"Finger pad","category":"printed","material":"tpu","qty":4,"process":"FDM","optional":"grippers","dims":[4.0,14.0,40.0],"mass_g":2},"HW_6809_2RS":{"id":"HW_6809_2RS","name":"Ball bearing 6809-2RS, 45 x 58 x 7 mm","category":"hardware","material":"steel","qty":11,"price":3.0,"vendor":"Amazon","notes":"Output support bearing of every RS03 joint, on the coupler hub.","dims":[58.0,58.0,7.0],"mass_g":32},"HW_6807_2RS":{"id":"HW_6807_2RS","name":"Ball bearing 6807-2RS, 35 x 47 x 7 mm","category":"hardware","material":"steel","qty":6,"price":4.0,"vendor":"Amazon","notes":"Output support bearing of every RS06 joint.","dims":[47.0,7.0,47.0],"mass_g":23},"HW_6707_2RS":{"id":"HW_6707_2RS","name":"Ball bearing 6707-2RS, 35 x 44 x 5 mm","category":"hardware","material":"steel","qty":8,"price":3.0,"vendor":"Amazon","notes":"Output support bearing of every RS02 joint, and the inner-plate support bearing at the knees and elbows.","dims":[44.0,5.0,44.0],"mass_g":12},"HW_2020_400":{"id":"HW_2020_400","name":"Aluminium 2020 extrusion, 400 mm, ends tapped M5","category":"hardware","material":"al_ext","qty":4,"price":4.5,"vendor":"Amazon / Misumi","notes":"Torso uprights. Cut to length or order pre-cut.","dims":[20.0,20.0,400.0],"mass_g":168},"EL_PC_N100":{"id":"EL_PC_N100","name":"Mini PC, Intel N100, 16 GB RAM, 500 GB SSD","category":"electronics","material":"enclosure","qty":1,"mass_g":450,"price":160.0,"vendor":"Amazon","notes":"Runs the 50 Hz policy and the 500 Hz motor loop. No GPU needed on the robot.","dims":[45.0,128.0,128.0]},"EL_BATTERY_6S":{"id":"EL_BATTERY_6S","name":"LiPo 6S 8000 mAh 100C, EC5","category":"electronics","material":"battery","qty":2,"mass_g":1000,"price":90.0,"vendor":"Amazon","notes":"Two in series: 44.4 V nominal, 50.4 V full. Zeee or equivalent.","dims":[52.0,64.0,166.0]},"EL_CANABLE":{"id":"EL_CANABLE","name":"CANable PRO V2.0 USB-CAN adapter","category":"electronics","material":"pcb","qty":4,"mass_g":15,"price":20.8,"vendor":"Amazon","notes":"One per bus, four buses.","dims":[60.0,25.0,12.0]},"EL_USB_HUB":{"id":"EL_USB_HUB","name":"USB 3 hub, 4 port, powered","category":"electronics","material":"enclosure","qty":1,"mass_g":40,"price":13.0,"vendor":"Amazon","dims":[30.0,60.0,14.0]},"EL_BUCK_12V":{"id":"EL_BUCK_12V","name":"48 V to 12 V buck converter, 10 A, encased","category":"electronics","material":"enclosure","qty":1,"mass_g":120,"price":19.0,"vendor":"Amazon","notes":"Feeds the computer, the hub and the gripper servos.","dims":[60.0,45.0,25.0]},"EL_DIST_BLOCK":{"id":"EL_DIST_BLOCK","name":"Power distribution block with 60 A fuse","category":"electronics","material":"enclosure","qty":1,"mass_g":80,"price":18.0,"vendor":"Amazon","notes":"48 V bus and ground bars; ANL/MIDI fuse on the pack lead.","dims":[50.0,60.0,20.0]},"EL_IMU":{"id":"EL_IMU","name":"USB 9-axis AHRS IMU (SYD Dynamics TM171 or equivalent)","category":"electronics","material":"pcb","qty":1,"mass_g":25,"price":57.0,"vendor":"RobotShop","notes":"Mounted rigidly to the torso bottom plate, axes aligned with the base frame.","dims":[36.0,36.0,14.0]},"EL_ESTOP":{"id":"EL_ESTOP","name":"E-stop, 22 mm mushroom, NC contact","category":"electronics","material":"estop","qty":1,"mass_g":60,"price":12.0,"vendor":"Amazon","notes":"Opens the 48 V bus contactor coil. Duke V2 shipped without one; do not.","dims":[32.0,44.0,44.0]},"EL_BREAKER":{"id":"EL_BREAKER","name":"DC circuit breaker, 100 A, panel mount","category":"electronics","material":"enclosure","qty":1,"mass_g":90,"price":20.0,"vendor":"Amazon","notes":"Main disconnect and pack over-current protection.","dims":[18.0,36.0,60.0]},"EL_CONTACTOR":{"id":"EL_CONTACTOR","name":"DC contactor, 100 A, 12 V coil","category":"electronics","material":"enclosure","qty":1,"mass_g":180,"price":25.0,"vendor":"Amazon","notes":"Switched by the E-stop loop; carries the motor bus.","dims":[44.0,60.0,40.0]},"EL_CAMERA_D435I":{"id":"EL_CAMERA_D435I","name":"Intel RealSense D435i","category":"electronics","material":"camera","qty":1,"mass_g":72,"price":300.0,"vendor":"Intel","optional":"perception","notes":"Optional perception kit. Any USB camera fits the head pocket with an adapter.","dims":[26.0,90.0,26.0]},"EL_SERVO_STS3215":{"id":"EL_SERVO_STS3215","name":"Feetech STS3215 bus servo, 12 V","category":"electronics","material":"servo","qty":2,"mass_g":60,"price":16.0,"vendor":"Feetech / Amazon","optional":"grippers","notes":"One per gripper; both on one Waveshare bus driver.","dims":[46.0,24.0,40.0]},"ACT_RS03":{"id":"ACT_RS03","name":"RobStride RS03 quasi-direct-drive actuator","category":"actuator","material":"actuator","qty":11,"mass_g":880,"price":225.0,"vendor":"RobStride (Amazon US / AiFitLab)","model":"RS03","notes":"60 N\u00b7m peak, 20 N\u00b7m rated, \u00d898 x 56.6 mm, 880 g. Mounts by 8 x M4 on PCD 98; output 6 x M4 on PCD 30.36.","dims":[106,106,56.6]},"ACT_RS06":{"id":"ACT_RS06","name":"RobStride RS06 quasi-direct-drive actuator","category":"actuator","material":"actuator","qty":6,"mass_g":621,"price":210.0,"vendor":"RobStride (Amazon US / AiFitLab)","model":"RS06","notes":"36 N\u00b7m peak, 11 N\u00b7m rated, \u00d884.5 x 49 mm, 621 g. Mounts by 8 x M3 on PCD 88; output 6 x M4 on PCD 24.","dims":[92,53.0,92]},"ACT_RS02":{"id":"ACT_RS02","name":"RobStride RS02 quasi-direct-drive actuator","category":"actuator","material":"actuator","qty":4,"mass_g":405,"price":145.0,"vendor":"RobStride (Amazon US / AiFitLab)","model":"RS02","notes":"17 N\u00b7m peak, 6 N\u00b7m rated, \u00d865 x 41.5 mm, 405 g. 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