{
  "revision": "RevB design-pose actuated chibi",
  "parts": [
    {
      "name": "left_yaw2roll",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "left_yaw2roll",
      "group": "frame",
      "note": "Hip yaw horn plate on a U-channel around the hip roll servo. Print on the plate face; every wall is vertical.",
      "printed": true,
      "print_axis": "-Z",
      "dimensions_mm": [
        32.4,
        26.8,
        40.4
      ],
      "volume_mm3": 13731.2,
      "mass_g": 17.03,
      "step": "models/step/left_yaw2roll.step",
      "stl": "models/print/left_yaw2roll.stl"
    },
    {
      "name": "left_hip",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "left_hip",
      "group": "frame",
      "note": "Hip corner bracket: roll horn plate and pitch horn plate joined by one rib. Print on the pitch plate face.",
      "printed": true,
      "print_axis": "-Y",
      "dimensions_mm": [
        33.5,
        38.1,
        29.27
      ],
      "volume_mm3": 5061.1,
      "mass_g": 6.28,
      "step": "models/step/left_hip.step",
      "stl": "models/print/left_hip.stl"
    },
    {
      "name": "left_upper_leg",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "left_upper_leg",
      "group": "shell",
      "note": "Thigh shell around the hip pitch and knee servos, open on the inboard face. Print on the outboard face; the cavity opens upward, no support.",
      "printed": true,
      "print_axis": "Y",
      "dimensions_mm": [
        62.2,
        31.75,
        44.5
      ],
      "volume_mm3": 18593.5,
      "mass_g": 23.06,
      "step": "models/step/left_upper_leg.step",
      "stl": "models/print/left_upper_leg.stl"
    },
    {
      "name": "left_lower_leg",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "left_lower_leg",
      "group": "shell",
      "note": "Shin: knee horn plate stepping down into a channel around the ankle servo. Print on the inboard face.",
      "printed": true,
      "print_axis": "Y",
      "dimensions_mm": [
        26.8,
        14.4,
        62.5
      ],
      "volume_mm3": 6898.7,
      "mass_g": 8.55,
      "step": "models/step/left_lower_leg.step",
      "stl": "models/print/left_lower_leg.stl"
    },
    {
      "name": "left_foot",
      "color": [
        0.95,
        0.62,
        0.22,
        1
      ],
      "body": "left_foot",
      "group": "shell",
      "note": "Foot: ankle horn plate on a wide rounded sole, hollow underneath for a replaceable pad. Print sole down.",
      "printed": true,
      "print_axis": "Z",
      "dimensions_mm": [
        58.0,
        46.0,
        38.0
      ],
      "volume_mm3": 20113.1,
      "mass_g": 24.94,
      "step": "models/step/left_foot.step",
      "stl": "models/print/left_foot.stl"
    },
    {
      "name": "right_yaw2roll",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "right_yaw2roll",
      "group": "frame",
      "note": "Hip yaw horn plate on a U-channel around the hip roll servo. Print on the plate face; every wall is vertical.",
      "printed": true,
      "print_axis": "-Z",
      "dimensions_mm": [
        32.4,
        26.8,
        40.4
      ],
      "volume_mm3": 13731.2,
      "mass_g": 17.03,
      "step": "models/step/right_yaw2roll.step",
      "stl": "models/print/right_yaw2roll.stl"
    },
    {
      "name": "right_hip",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "right_hip",
      "group": "frame",
      "note": "Hip corner bracket: roll horn plate and pitch horn plate joined by one rib. Print on the pitch plate face.",
      "printed": true,
      "print_axis": "Y",
      "dimensions_mm": [
        33.5,
        38.1,
        29.27
      ],
      "volume_mm3": 5061.1,
      "mass_g": 6.28,
      "step": "models/step/right_hip.step",
      "stl": "models/print/right_hip.stl"
    },
    {
      "name": "right_upper_leg",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "right_upper_leg",
      "group": "shell",
      "note": "Thigh shell around the hip pitch and knee servos, open on the inboard face. Print on the outboard face; the cavity opens upward, no support.",
      "printed": true,
      "print_axis": "-Y",
      "dimensions_mm": [
        62.2,
        31.75,
        44.5
      ],
      "volume_mm3": 18593.5,
      "mass_g": 23.06,
      "step": "models/step/right_upper_leg.step",
      "stl": "models/print/right_upper_leg.stl"
    },
    {
      "name": "right_lower_leg",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "right_lower_leg",
      "group": "shell",
      "note": "Shin: knee horn plate stepping down into a channel around the ankle servo. Print on the inboard face.",
      "printed": true,
      "print_axis": "-Y",
      "dimensions_mm": [
        26.8,
        14.4,
        62.5
      ],
      "volume_mm3": 6898.7,
      "mass_g": 8.55,
      "step": "models/step/right_lower_leg.step",
      "stl": "models/print/right_lower_leg.stl"
    },
    {
      "name": "right_foot",
      "color": [
        0.95,
        0.62,
        0.22,
        1
      ],
      "body": "right_foot",
      "group": "shell",
      "note": "Foot: ankle horn plate on a wide rounded sole, hollow underneath for a replaceable pad. Print sole down.",
      "printed": true,
      "print_axis": "Z",
      "dimensions_mm": [
        58.0,
        46.0,
        38.0
      ],
      "volume_mm3": 20113.1,
      "mass_g": 24.94,
      "step": "models/step/right_foot.step",
      "stl": "models/print/right_foot.stl"
    },
    {
      "name": "chassis",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "trunk",
      "group": "frame",
      "note": "Chassis: floor with two hip-yaw servo boxes, neck horn plate, battery tray and compute board wall. Print floor down; the servo boxes bridge 21 mm.",
      "printed": true,
      "print_axis": "Z",
      "dimensions_mm": [
        131.0,
        61.98,
        51.9
      ],
      "volume_mm3": 35870.4,
      "mass_g": 44.48,
      "step": "models/step/chassis.step",
      "stl": "models/print/chassis.stl"
    },
    {
      "name": "torso_shell",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "trunk",
      "group": "shell",
      "note": "One-piece egg shell with a chest grille, neck slot and tail opening, open under the hips. Four M3 through the flanks into chassis bosses.",
      "printed": true,
      "print_axis": "Z",
      "dimensions_mm": [
        86.04,
        77.2,
        47.8
      ],
      "volume_mm3": 23445.0,
      "mass_g": 29.07,
      "step": "models/step/torso_shell.step",
      "stl": "models/print/torso_shell.stl"
    },
    {
      "name": "tail_cover",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "trunk",
      "group": "shell",
      "note": "Tail doubles as the battery cover: slides over the tray and takes two M3 into it.",
      "printed": true,
      "print_axis": "-X",
      "dimensions_mm": [
        92.0,
        64.0,
        41.99
      ],
      "volume_mm3": 31514.7,
      "mass_g": 39.08,
      "step": "models/step/tail_cover.step",
      "stl": "models/print/tail_cover.stl"
    },
    {
      "name": "neck_link",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "neck",
      "group": "frame",
      "note": "Neck tube around the stacked neck-pitch and head-pitch servos, open on the horn side. Print on the closed face.",
      "printed": true,
      "print_axis": "-Y",
      "dimensions_mm": [
        24.8,
        31.4,
        71.7
      ],
      "volume_mm3": 12901.6,
      "mass_g": 16.0,
      "step": "models/step/neck_link.step",
      "stl": "models/print/neck_link.stl"
    },
    {
      "name": "neck_sleeve",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "neck",
      "group": "shell",
      "note": "Neck cover: rounded shell over the neck column, open on the horn side; pitches with the neck.",
      "printed": true,
      "print_axis": "-Y",
      "dimensions_mm": [
        31.0,
        34.52,
        61.12
      ],
      "volume_mm3": 10780.1,
      "mass_g": 13.37,
      "step": "models/step/neck_sleeve.step",
      "stl": "models/print/neck_sleeve.stl"
    },
    {
      "name": "head_base",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "head_base",
      "group": "frame",
      "note": "Head base: head-pitch horn plate joined to the head-yaw horn plate. The only part that stays still while the head yaws.",
      "printed": true,
      "print_axis": "-Z",
      "dimensions_mm": [
        26.0,
        35.0,
        25.1
      ],
      "volume_mm3": 3523.0,
      "mass_g": 4.37,
      "step": "models/step/head_base.step",
      "stl": "models/print/head_base.stl"
    },
    {
      "name": "head_yoke",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "head_yoke",
      "group": "frame",
      "note": "Yoke: box around the head-yaw servo with two ribs out to the head-roll horn plate.",
      "printed": true,
      "print_axis": "-Z",
      "dimensions_mm": [
        31.3,
        37.8,
        32.4
      ],
      "volume_mm3": 12429.4,
      "mass_g": 15.41,
      "step": "models/step/head_yoke.step",
      "stl": "models/print/head_yoke.stl"
    },
    {
      "name": "head_frame",
      "color": [
        0.22,
        0.25,
        0.26,
        1
      ],
      "body": "head",
      "group": "frame",
      "note": "Head frame: one shell with a deck over the yoke, the head-roll and jaw servo bays, a forward beam, the camera wall and three skull bosses.",
      "printed": true,
      "print_axis": "-Z",
      "dimensions_mm": [
        94.2,
        61.9,
        41.7
      ],
      "volume_mm3": 20656.8,
      "mass_g": 25.61,
      "step": "models/step/head_frame.step",
      "stl": "models/print/head_frame.stl"
    },
    {
      "name": "skull",
      "color": [
        0.97,
        0.95,
        0.88,
        1
      ],
      "body": "head",
      "group": "shell",
      "note": "Head: one-piece round hollow shell with a short bill, camera ring and nostrils. Three M3 down into the head frame; the eyes are painted, not parts.",
      "printed": true,
      "print_axis": "Z",
      "dimensions_mm": [
        134.0,
        110.2,
        54.77
      ],
      "volume_mm3": 62863.3,
      "mass_g": 77.95,
      "step": "models/step/skull.step",
      "stl": "models/print/skull.stl"
    },
    {
      "name": "jaw_beak",
      "color": [
        0.95,
        0.62,
        0.22,
        1
      ],
      "body": "jaw",
      "group": "shell",
      "note": "Lower bill: wide rounded scoop on a single arm bolted to the jaw servo horn.",
      "printed": true,
      "print_axis": "-Z",
      "dimensions_mm": [
        62.0,
        65.97,
        34.0
      ],
      "volume_mm3": 8948.4,
      "mass_g": 11.1,
      "step": "models/step/jaw_beak.step",
      "stl": "models/print/jaw_beak.stl"
    }
  ],
  "purchased": [
    {
      "name": "servo_left_hip_yaw",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "trunk",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        34.0,
        20.0,
        29.0
      ],
      "stl": "models/purchased/servo_left_hip_yaw.stl"
    },
    {
      "name": "servo_left_hip_roll",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "left_yaw2roll",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        29.0,
        20.0,
        34.0
      ],
      "stl": "models/purchased/servo_left_hip_roll.stl"
    },
    {
      "name": "servo_left_hip_pitch",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "left_upper_leg",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        34.0,
        29.0,
        20.0
      ],
      "stl": "models/purchased/servo_left_hip_pitch.stl"
    },
    {
      "name": "servo_left_knee",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "left_upper_leg",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        29.0,
        34.0
      ],
      "stl": "models/purchased/servo_left_knee.stl"
    },
    {
      "name": "servo_left_ankle",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "left_lower_leg",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        29.0,
        34.0
      ],
      "stl": "models/purchased/servo_left_ankle.stl"
    },
    {
      "name": "servo_right_hip_yaw",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "trunk",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        34.0,
        20.0,
        29.0
      ],
      "stl": "models/purchased/servo_right_hip_yaw.stl"
    },
    {
      "name": "servo_right_hip_roll",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "right_yaw2roll",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        29.0,
        20.0,
        34.0
      ],
      "stl": "models/purchased/servo_right_hip_roll.stl"
    },
    {
      "name": "servo_right_hip_pitch",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "right_upper_leg",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        34.0,
        29.0,
        20.0
      ],
      "stl": "models/purchased/servo_right_hip_pitch.stl"
    },
    {
      "name": "servo_right_knee",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "right_upper_leg",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        29.0,
        34.0
      ],
      "stl": "models/purchased/servo_right_knee.stl"
    },
    {
      "name": "servo_right_ankle",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "right_lower_leg",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        29.0,
        34.0
      ],
      "stl": "models/purchased/servo_right_ankle.stl"
    },
    {
      "name": "servo_neck_pitch",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "neck",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        29.0,
        34.0
      ],
      "stl": "models/purchased/servo_neck_pitch.stl"
    },
    {
      "name": "servo_head_pitch",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "neck",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        29.0,
        34.0
      ],
      "stl": "models/purchased/servo_head_pitch.stl"
    },
    {
      "name": "servo_head_yaw",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "head_yoke",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        20.0,
        34.0,
        29.0
      ],
      "stl": "models/purchased/servo_head_yaw.stl"
    },
    {
      "name": "servo_head_roll",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "head",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        29.0,
        20.0,
        34.0
      ],
      "stl": "models/purchased/servo_head_roll.stl"
    },
    {
      "name": "servo_jaw",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "head",
      "kind": "actuator",
      "mass_g": 18.0,
      "note": "XL330-class smart servo envelope; confirm the case hole pattern before ordering",
      "printed": false,
      "dimensions_mm": [
        34.0,
        29.0,
        20.0
      ],
      "stl": "models/purchased/servo_jaw.stl"
    },
    {
      "name": "battery_pack",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "trunk",
      "kind": "battery",
      "mass_g": 95,
      "note": "Removable 2S 18650 pack, 65 x 37 x 19 mm class, 7.4 V ~3000 mAh; slides out with the tail cover",
      "printed": false,
      "dimensions_mm": [
        65.0,
        37.0,
        19.0
      ],
      "stl": "models/purchased/battery_pack.stl"
    },
    {
      "name": "compute_board",
      "color": [
        0.1,
        0.35,
        0.25,
        1
      ],
      "body": "trunk",
      "kind": "electronics",
      "mass_g": 30,
      "note": "Single-board computer up to 50 x 27 mm on the trunk deck above the hip servos; a larger module needs the reserved head bay",
      "printed": false,
      "dimensions_mm": [
        27.0,
        50.0,
        1.6
      ],
      "stl": "models/purchased/compute_board.stl"
    },
    {
      "name": "camera_module_3",
      "color": [
        0.12,
        0.14,
        0.15,
        1
      ],
      "body": "head",
      "kind": "camera",
      "mass_g": 4,
      "note": "Raspberry Pi Camera Module 3 Standard class, 25 x 24 mm board",
      "printed": false,
      "dimensions_mm": [
        1.1,
        25.0,
        24.0
      ],
      "stl": "models/purchased/camera_module_3.stl"
    }
  ],
  "bodies": [
    {
      "name": "trunk",
      "parent": null,
      "pivot_mm": [
        0.0,
        0.0,
        120.0
      ],
      "joint": null,
      "axis": null
    },
    {
      "name": "left_yaw2roll",
      "parent": "trunk",
      "pivot_mm": [
        6.0,
        17.5,
        115.0
      ],
      "joint": "left_hip_yaw",
      "axis": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "name": "left_hip",
      "parent": "left_yaw2roll",
      "pivot_mm": [
        22.5,
        17.5,
        102.5
      ],
      "joint": "left_hip_roll",
      "axis": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "name": "left_upper_leg",
      "parent": "left_hip",
      "pivot_mm": [
        4.0,
        42.5,
        102.5
      ],
      "joint": "left_hip_pitch",
      "axis": [
        0.0,
        1.0,
        0.0
      ]
    },
    {
      "name": "left_lower_leg",
      "parent": "left_upper_leg",
      "pivot_mm": [
        -31.8,
        38.5,
        80.5
      ],
      "joint": "left_knee",
      "axis": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "name": "left_foot",
      "parent": "left_lower_leg",
      "pivot_mm": [
        -31.8,
        64.5,
        38.5
      ],
      "joint": "left_ankle",
      "axis": [
        0.0,
        1.0,
        0.0
      ]
    },
    {
      "name": "neck",
      "parent": "trunk",
      "pivot_mm": [
        26.0,
        14.5,
        152.4
      ],
      "joint": "neck_pitch",
      "axis": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "name": "head_base",
      "parent": "neck",
      "pivot_mm": [
        26.0,
        14.5,
        202.4
      ],
      "joint": "head_pitch",
      "axis": [
        0.0,
        1.0,
        0.0
      ]
    },
    {
      "name": "head_yoke",
      "parent": "head_base",
      "pivot_mm": [
        26.0,
        0.0,
        221.1
      ],
      "joint": "head_yaw",
      "axis": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "name": "head",
      "parent": "head_yoke",
      "pivot_mm": [
        8.1,
        0.0,
        235.6
      ],
      "joint": "head_roll",
      "axis": [
        -1.0,
        0.0,
        0.0
      ]
    },
    {
      "name": "jaw",
      "parent": "head",
      "pivot_mm": [
        26.0,
        14.5,
        242.0
      ],
      "joint": "jaw",
      "axis": [
        0.0,
        1.0,
        0.0
      ]
    },
    {
      "name": "right_yaw2roll",
      "parent": "trunk",
      "pivot_mm": [
        6.0,
        -17.5,
        115.0
      ],
      "joint": "right_hip_yaw",
      "axis": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "name": "right_hip",
      "parent": "right_yaw2roll",
      "pivot_mm": [
        22.5,
        -17.5,
        102.5
      ],
      "joint": "right_hip_roll",
      "axis": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "name": "right_upper_leg",
      "parent": "right_hip",
      "pivot_mm": [
        4.0,
        -42.5,
        102.5
      ],
      "joint": "right_hip_pitch",
      "axis": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "name": "right_lower_leg",
      "parent": "right_upper_leg",
      "pivot_mm": [
        -31.8,
        -38.5,
        80.5
      ],
      "joint": "right_knee",
      "axis": [
        0.0,
        1.0,
        0.0
      ]
    },
    {
      "name": "right_foot",
      "parent": "right_lower_leg",
      "pivot_mm": [
        -31.8,
        -64.5,
        38.5
      ],
      "joint": "right_ankle",
      "axis": [
        0.0,
        -1.0,
        0.0
      ]
    }
  ],
  "printed_mass_g": 436.2,
  "purchased_mass_g": 399.0,
  "horn_plates": {
    "left_hip_yaw": {
      "width_mm": 26,
      "length_mm": 30,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "left_hip_roll": {
      "width_mm": 26,
      "length_mm": 30,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "left_hip_pitch": {
      "width_mm": 26,
      "length_mm": 22,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "left_knee": {
      "width_mm": 22,
      "length_mm": 26,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 3.9
    },
    "left_ankle": {
      "width_mm": 20,
      "length_mm": 26,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 2.9
    },
    "right_hip_yaw": {
      "width_mm": 26,
      "length_mm": 30,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "right_hip_roll": {
      "width_mm": 26,
      "length_mm": 30,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "right_hip_pitch": {
      "width_mm": 26,
      "length_mm": 22,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "right_knee": {
      "width_mm": 22,
      "length_mm": 26,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 3.9
    },
    "right_ankle": {
      "width_mm": 20,
      "length_mm": 26,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 2.9
    },
    "head_yaw": {
      "width_mm": 26,
      "length_mm": 35,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 5.9
    },
    "head_roll": {
      "width_mm": 18,
      "length_mm": 20,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 1.9
    },
    "jaw": {
      "width_mm": 20,
      "length_mm": 18,
      "thickness_mm": 3.0,
      "bolt_circle_r_mm": 6.0,
      "bolt_hole_r_mm": 1.1,
      "bolts": 4,
      "bolt_edge_mm": 2.9
    }
  }
}