{ "electrical_records": [ { "board_connectors": [ "J_PACK" ], "category": "connector", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "AMASS", "mpn": "AS150U", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "J_PACK", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "U_RP" ], "category": "protection", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "LM74700QDBVRQ1", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_RP", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "Q_HS", "Q_MK1", "Q_MK2", "Q_RP1", "Q_RP2" ], "category": "protection", "declared_quantity": 5, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "CSD19536KTT", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "Q_RP1, Q_RP2, Q_HS, Q_MK1, Q_MK2", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "U_HS", "U_MK" ], "category": "protection", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "LM5069MMX-2", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_HS, U_MK", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "D_TVS", "D_TVS_M" ], "category": "protection", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Bourns", "mpn": "SMLJ58A", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "D_TVS, D_TVS_M", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "D_TVS5" ], "category": "protection", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Bourns", "mpn": "SMLJ6.0A", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "D_TVS5", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "D_TVS12" ], "category": "protection", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Bourns", "mpn": "SMLJ13A", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "D_TVS12", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_SH" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay Dale", "mpn": "WSL2512R0200FEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_SH", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "U_IMON" ], "category": "sensor", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "INA228AIDGSR", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_IMON", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_PM" ], "category": "sensor", "declared_quantity": 1, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "article_u_pm" ], "manufacturer": "Holybro", "mpn": "PM08-CAN", "occurrence_count": 1, "occurrence_ids": [ "article_u_pm" ], "placement_status": "PLACED", "record_id": "U_PM", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "U_5V" ], "category": "power_conversion", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "LM76005RNPR", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_5V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "U_12V" ], "category": "power_conversion", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "LM76003RNPT", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_12V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "U_EF1", "U_EF2", "U_EF3", "U_EF4" ], "category": "protection", "declared_quantity": 4, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "TPS259621DDA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_EF1..U_EF4", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "L_5V" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Bourns", "mpn": "SRP1265A-8R2M", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "L_5V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "L_12V" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Bourns", "mpn": "SRP1265A-220M", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "L_12V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_TMK", "C_TMR", "C_VCAP", "C_VS" ], "category": "passive", "declared_quantity": 4, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C0805C104K4RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:0.1u@16V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_VCC12", "C_VCC5" ], "category": "passive", "declared_quantity": 2, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C0805C105K4RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:1u@16V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_DV1", "C_DV2", "C_DV3", "C_DV4" ], "category": "passive", "declared_quantity": 4, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C0805C332K4RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:3300p@16V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_BOOT12", "C_BOOT5" ], "category": "passive", "declared_quantity": 2, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C0805C474K4RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:0.47u@16V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_EF1", "C_EF2", "C_EF3", "C_EF4" ], "category": "passive", "declared_quantity": 4, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C1210C106K3RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:10u@25V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_BUS1", "C_BUS2", "C_BUS3", "C_BUS4", "C_IN1", "C_IN2", "C_SYS1", "C_SYS2" ], "category": "passive", "declared_quantity": 8, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C1210C225K1RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:2.2u@100V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "C_O121", "C_O122", "C_O123", "C_O51", "C_O52", "C_O53" ], "category": "passive", "declared_quantity": 6, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "KEMET", "mpn": "C1210C226K3RACTU", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "C_GEN:22u@25V", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_ENB1", "R_ENB2", "R_ENB3", "R_ENB4", "R_FBB12", "R_FBB5", "R_FLT1", "R_FLT2", "R_FLT3", "R_FLT4", "R_MKEN", "R_MKKILL", "R_PG12", "R_PG5", "R_PGD" ], "category": "passive", "declared_quantity": 15, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW080510K0FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:10k", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_FBT12" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW0805110KFKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:110k", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_ENT1", "R_ENT2" ], "category": "passive", "declared_quantity": 2, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW080527K4FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:27k4", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_UV2" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW08052K67FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:2k67", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_FBT5" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW080542K2FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:42k2", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_ILM1", "R_ILM2", "R_ILM3" ], "category": "passive", "declared_quantity": 3, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW0805453RFKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:453R", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_PWR", "R_PWRMK" ], "category": "passive", "declared_quantity": 2, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW080549K9FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:49k9", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_OV1" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW08054K75FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:4k75", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_ENT3", "R_ENT4" ], "category": "passive", "declared_quantity": 2, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW080576K8FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:76k8", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_ILM4" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW0805909RFKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:909R", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "R_UV1" ], "category": "passive", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Vishay", "mpn": "CRCW080595K3FKEA", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "R_GEN:95k3", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [], "category": "sensor", "declared_quantity": 1, "disposition": "unresolved_by_stage2b", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "TMP1075DGKR", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "NOT_PLACED_UNRESOLVED", "record_id": "U_TEMP", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_ESC1_P", "J_ESC1_S", "J_ESC2_P", "J_ESC2_S", "J_ESC3_P", "J_ESC3_S", "J_ESC4_P", "J_ESC4_S", "J_ESC5_P", "J_ESC5_S", "J_ESC6_P", "J_ESC6_S" ], "category": "actuator", "declared_quantity": 6, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "esc_tmotor_alpha_60a_12s" ], "manufacturer": "T-MOTOR", "mpn": "ALPHA 60A 12S V1.2", "occurrence_count": 6, "occurrence_ids": [ "esc_1", "esc_2", "esc_3", "esc_4", "esc_5", "esc_6" ], "placement_status": "PLACED", "record_id": "ESC1..ESC6", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [], "category": "actuator", "declared_quantity": 6, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "motor_tmotor_mn5008_kv170" ], "manufacturer": "T-MOTOR", "mpn": "MN5008 KV170", "occurrence_count": 6, "occurrence_ids": [ "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6" ], "placement_status": "OFF_BOARD_ELECTROMECHANICAL", "record_id": "M1..M6", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [], "category": "auxiliary", "declared_quantity": 6, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "prop_tmotor_p18x61_cf" ], "manufacturer": "T-MOTOR", "mpn": "P18*6.1 CF Polish", "occurrence_count": 6, "occurrence_ids": [ "propeller_1", "propeller_2", "propeller_3", "propeller_4", "propeller_5", "propeller_6" ], "placement_status": "NOT_AN_ELECTRICAL_PART", "record_id": "PROP1..PROP6", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_FC_AUX", "J_FC_CAN1", "J_FC_CAN2", "J_FC_GPS1", "J_FC_PWM", "J_FC_PWR1", "J_FC_TELEM1", "J_FC_TELEM2" ], "category": "compute", "declared_quantity": 1, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "fc_pixhawk6x_standard" ], "manufacturer": "Holybro", "mpn": "Pixhawk 6X (Standard Baseboard)", "occurrence_count": 1, "occurrence_ids": [ "flight_controller" ], "placement_status": "PLACED", "record_id": "U_FC", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_GNSS" ], "category": "sensor", "declared_quantity": 1, "disposition": "uninstantiated", "joined_mechanical_parts": [], "manufacturer": "Holybro", "mpn": "H-RTK ZED-F9P (RM3100 Compass)", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_GNSS", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_TELEM" ], "category": "communication", "declared_quantity": 1, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "article_u_telem" ], "manufacturer": "RFDesign", "mpn": "RFD900x", "occurrence_count": 1, "occurrence_ids": [ "article_u_telem" ], "placement_status": "PLACED", "record_id": "U_TELEM", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_RID" ], "category": "communication", "declared_quantity": 1, "disposition": "uninstantiated", "joined_mechanical_parts": [], "manufacturer": "Holybro", "mpn": "Remote ID Module (ArduRemoteID, ESP32-C3)", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_RID", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [], "category": "communication", "declared_quantity": 1, "disposition": "not_in_design", "joined_mechanical_parts": [], "manufacturer": "Texas Instruments", "mpn": "SN65HVD230D", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "SUPERSEDED_BY_INTEGRATED_TRANSCEIVERS", "record_id": "U_CAN", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_FC_I2C" ], "category": "connector", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "JST", "mpn": "SM04B-GHS-TB", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "J_GH", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_KILL" ], "category": "connector", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "JST", "mpn": "SM02B-GHS-TB", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "J_GH2", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_SEL_AGL", "J_SEL_OA1" ], "category": "connector", "declared_quantity": 2, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Wuerth Elektronik", "mpn": "61300311121", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "J_HDR3", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_DIAG" ], "category": "connector", "declared_quantity": 1, "disposition": "nested_in_pcba", "joined_mechanical_parts": [], "manufacturer": "Wuerth Elektronik", "mpn": "61300811121", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "J_HDR8", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_AGL" ], "category": "sensor", "declared_quantity": 1, "disposition": "uninstantiated", "joined_mechanical_parts": [], "manufacturer": "Benewake", "mpn": "TF03-180", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "PLACED", "record_id": "U_AGL", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_OA1" ], "category": "sensor", "declared_quantity": 1, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "article_u_oa1" ], "manufacturer": "LightWare LiDAR", "mpn": "SF45/B", "occurrence_count": 1, "occurrence_ids": [ "article_u_oa1" ], "placement_status": "PLACED", "record_id": "U_OA1", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_OA2", "J_OA3", "J_OA4", "J_OA5" ], "category": "sensor", "declared_quantity": 4, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "article_u_oa2_u_oa5" ], "manufacturer": "Benewake", "mpn": "TFmini-S", "occurrence_count": 4, "occurrence_ids": [ "article_u_oa2_u_oa5_1", "article_u_oa2_u_oa5_2", "article_u_oa2_u_oa5_3", "article_u_oa2_u_oa5_4" ], "placement_status": "PLACED", "record_id": "U_OA2..U_OA5", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [ "J_CAM_IO", "J_CAM_PWR" ], "category": "sensor", "declared_quantity": 1, "disposition": "mechanical_occurrence", "joined_mechanical_parts": [ "cam_micasense_rededge_p" ], "manufacturer": "AgEagle / MicaSense", "mpn": "RedEdge-P", "occurrence_count": 1, "occurrence_ids": [ "camera" ], "placement_status": "PLACED", "record_id": "U_CAM", "source": "design_package/electrical/component_manifest.json" }, { "board_connectors": [], "category": "battery", "declared_quantity": 1, "disposition": "uninstantiated", "joined_mechanical_parts": [], "manufacturer": "Tattu (Grepow)", "mpn": "Tattu NEO Compact 33000mAh 12S1P", "occurrence_count": 0, "occurrence_ids": [], "placement_status": "OFF_BOARD_ELECTROMECHANICAL", "record_id": "BT1", "source": "design_package/electrical/battery_design.json" } ], "instances": [ { "com_body_m": [ 0.09093266739736607, 0.0525, -0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.1173539372422e-05, 4.359917159031583e-06, 2.8216761268155815e-21 ], [ 4.359917159031583e-06, 2.6139140681599286e-05, 1.2806576306146537e-21 ], [ 2.8216761268155815e-21, 1.2806576306146537e-21, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_lower_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_boom_lower_to_clamp:bore", "@mate:arm_1_clamp_lower_to_hub:back_face", "@mate:arm_1_clamp_upper_to_lower:split_face", "@mate:arm_1_tube_to_clamp:bore" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ 0.8660254037844387, 0.49999999999999994, 0.0, 0.09093266739736607 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.05249999999999999 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 5.3860679574222345e-18, 0.105, -0.01297014235948362 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 2.3621941336187936e-05, 1.0695657692849639e-21, 1.8131129533170104e-21 ], [ 1.0695657692849639e-21, 3.369073871783335e-05, -4.902264064589767e-21 ], [ 1.8131129533170104e-21, -4.902264064589767e-21, 5.100788500251576e-05 ] ], "instance_id": "arm_clamp_lower_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_boom_lower_to_clamp:bore", "@mate:arm_2_clamp_lower_to_hub:back_face", "@mate:arm_2_clamp_upper_to_lower:split_face", "@mate:arm_2_tube_to_clamp:bore" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ 6.123233995736766e-17, 1.0, 0.0, 6.429395695523604e-18 ], [ 1.0, -6.123233995736766e-17, 0.0, 0.105 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.09093266739736607, 0.05249999999999999, -0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.1173539372422e-05, -4.359917159031582e-06, -2.48279646572114e-21 ], [ -4.359917159031582e-06, 2.6139140681599276e-05, 1.5600330678579049e-22 ], [ -2.48279646572114e-21, 1.5600330678579049e-22, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_lower_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_boom_lower_to_clamp:bore", "@mate:arm_3_clamp_lower_to_hub:back_face", "@mate:arm_3_clamp_upper_to_lower:split_face", "@mate:arm_3_tube_to_clamp:bore" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ -0.8660254037844387, 0.49999999999999994, 0.0, -0.09093266739736607 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.05249999999999999 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.09093266739736605, -0.0525, -0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.117353937242199e-05, 4.359917159031585e-06, -1.491005134949362e-21 ], [ 4.359917159031585e-06, 2.6139140681599276e-05, -3.158844799520769e-21 ], [ -1.491005134949362e-21, -3.158844799520769e-21, 5.100788500251576e-05 ] ], "instance_id": "arm_clamp_lower_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_boom_lower_to_clamp:bore", "@mate:arm_4_clamp_lower_to_hub:back_face", "@mate:arm_4_clamp_upper_to_lower:split_face", "@mate:arm_4_tube_to_clamp:bore" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ -0.8660254037844386, -0.5000000000000001, 0.0, -0.09093266739736605 ], [ -0.5000000000000001, 0.8660254037844386, 0.0, -0.05250000000000001 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -2.0920490160697146e-17, -0.105, -0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 2.3621941336187936e-05, 2.1819141693413254e-21, 1.2114220217324776e-21 ], [ 2.1819141693413254e-21, 3.369073871783335e-05, 2.2441155518821206e-21 ], [ 1.2114220217324776e-21, 2.2441155518821206e-21, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_lower_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_boom_lower_to_clamp:bore", "@mate:arm_5_clamp_lower_to_hub:back_face", "@mate:arm_5_clamp_upper_to_lower:split_face", "@mate:arm_5_tube_to_clamp:bore" ], "mpn": null, "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ -1.8369701987210297e-16, -1.0, 0.0, -1.928818708657081e-17 ], [ -1.0, 1.8369701987210297e-16, 0.0, -0.105 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.09093266739736604, -0.052500000000000054, -0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.117353937242199e-05, -4.35991715903159e-06, 6.145145314015085e-22 ], [ -4.35991715903159e-06, 2.6139140681599296e-05, 1.2094642795574275e-22 ], [ 6.145145314015085e-22, 1.2094642795574275e-22, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_lower_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_boom_lower_to_clamp:bore", "@mate:arm_6_clamp_lower_to_hub:back_face", "@mate:arm_6_clamp_upper_to_lower:split_face", "@mate:arm_6_tube_to_clamp:bore" ], "mpn": null, "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ 0.8660254037844384, -0.5000000000000004, 0.0, 0.09093266739736604 ], [ -0.5000000000000004, -0.8660254037844384, 0.0, -0.052500000000000054 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.09093266739736607, 0.05249999999999999, 0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.1173539372422e-05, 4.359917159031582e-06, -2.48279646572114e-21 ], [ 4.359917159031582e-06, 2.6139140681599276e-05, -1.5600330678579049e-22 ], [ -2.48279646572114e-21, -1.5600330678579049e-22, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_upper_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_clamp_upper_to_lower:split_face", "@mate:arm_1_esc_saddle_upper_to_clamp:bore", "@mate:hub_plate_top_to_arm_1:back_face", "@mate:leg_1_clamp_lower_to_arm:bore" ], "mpn": null, "occurrence_index": 6, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.09093266739736607 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.05249999999999999 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 9.895936244699122e-18, 0.105, 0.01297014235948362 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 2.3621941336187936e-05, -2.9947841539978983e-22, 1.2297991900585018e-21 ], [ -2.9947841539978983e-22, 3.3690738717833355e-05, -3.159269809413271e-21 ], [ 1.2297991900585018e-21, -3.159269809413271e-21, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_upper_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_clamp_upper_to_lower:split_face", "@mate:arm_2_esc_saddle_upper_to_clamp:bore", "@mate:hub_plate_top_arm_2_check:back_face" ], "mpn": null, "occurrence_index": 7, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 6.429395695523604e-18 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.105 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.09093266739736607, 0.0525, 0.012970142359483619 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.1173539372422e-05, -4.359917159031583e-06, 2.8216761268155815e-21 ], [ -4.359917159031583e-06, 2.6139140681599286e-05, -1.2806576306146537e-21 ], [ 2.8216761268155815e-21, -1.2806576306146537e-21, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_upper_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_clamp_upper_to_lower:split_face", "@mate:arm_3_esc_saddle_upper_to_clamp:bore", "@mate:hub_plate_top_arm_3_check:back_face", "@mate:leg_2_clamp_lower_to_arm:bore" ], "mpn": null, "occurrence_index": 8, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.09093266739736607 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.05249999999999999 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.09093266739736605, -0.05250000000000001, 0.01297014235948362 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.117353937242199e-05, 4.359917159031582e-06, -2.082416828646709e-22 ], [ 4.359917159031582e-06, 2.613914068159928e-05, -4.665581484627554e-22 ], [ -2.082416828646709e-22, -4.665581484627554e-22, 5.100788500251576e-05 ] ], "instance_id": "arm_clamp_upper_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_clamp_upper_to_lower:split_face", "@mate:arm_4_esc_saddle_upper_to_clamp:bore", "@mate:hub_plate_top_arm_4_check:back_face", "@mate:leg_3_clamp_lower_to_arm:bore" ], "mpn": null, "occurrence_index": 9, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.09093266739736605 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.05250000000000001 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -2.0903662293953576e-17, -0.105, 0.01297014235948362 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 2.3621941336187936e-05, 1.9466097000986344e-21, 2.177453190867448e-22 ], [ 1.9466097000986344e-21, 3.369073871783335e-05, 2.289671584266229e-21 ], [ 2.177453190867448e-22, 2.289671584266229e-21, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_upper_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_clamp_upper_to_lower:split_face", "@mate:arm_5_esc_saddle_upper_to_clamp:bore", "@mate:hub_plate_top_arm_5_check:back_face" ], "mpn": null, "occurrence_index": 10, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -1.928818708657081e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.105 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.09093266739736604, -0.052500000000000054, 0.01297014235948362 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_clamp.brep", "geometry_sha256": "7472d904334b97e0c4da7c24f7ec795b4a0d7e167c08a02aab0428284bd7bc38", "inertia_about_com_kg_m2": [ [ 3.117353937242199e-05, -4.35991715903159e-06, -3.0726236635993458e-21 ], [ -4.35991715903159e-06, 2.613914068159929e-05, -1.2890367866944224e-21 ], [ -3.0726236635993458e-21, -1.2890367866944224e-21, 5.100788500251577e-05 ] ], "instance_id": "arm_clamp_upper_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.07944900158643248, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_clamp_upper_to_lower:split_face", "@mate:arm_6_esc_saddle_upper_to_clamp:bore", "@mate:hub_plate_top_arm_6_check:back_face", "@mate:leg_4_clamp_lower_to_arm:bore" ], "mpn": null, "occurrence_index": 11, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_clamp", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.09093266739736604 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.052500000000000054 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.25331243060694847, 0.14625000000000002, -1.8641085501241777e-18 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_tube.brep", "geometry_sha256": "b835663ed8205d6f53276f6a58edcb91c166c42dd0fe0e0504aac944f416d015", "inertia_about_com_kg_m2": [ [ 0.0004659913364062498, -0.0007720246035078106, 4.575277589445819e-20 ], [ -0.0007720246035078106, 0.00135744856171875, 8.528244887805844e-20 ], [ 4.575277589445819e-20, 8.528244887805844e-20, 0.0018031771743749934 ] ], "instance_id": "arm_tube_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09951000000000002, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_boom_on_tube_check:end_b", "@mate:arm_1_esc_on_tube_check:axis", "@mate:arm_1_tube_to_clamp:end_a", "@mate:leg_1_clamp_on_tube_check:axis" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_tube", "placement_body_m": [ [ 0.0, -0.49999999999999994, 0.8660254037844387, 0.05196152422706632 ], [ 0.0, 0.8660254037844387, 0.49999999999999994, 0.029999999999999995 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 1.763199585073399e-17, 0.29249999999999987, 1.8641085501241765e-18 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_tube.brep", "geometry_sha256": "b835663ed8205d6f53276f6a58edcb91c166c42dd0fe0e0504aac944f416d015", "inertia_about_com_kg_m2": [ [ 0.0018031771743750008, -1.167007263170997e-19, 7.51420511258629e-22 ], [ -1.167007263170997e-19, 2.0262723750000174e-05, 9.061550033046557e-20 ], [ 7.51420511258629e-22, 9.061550033046557e-20, 0.001803177174375007 ] ], "instance_id": "arm_tube_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09951000000000002, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_boom_on_tube_check:end_b", "@mate:arm_2_esc_on_tube_check:axis", "@mate:arm_2_tube_to_clamp:end_a" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_tube", "placement_body_m": [ [ 0.0, -1.0, 6.123233995736766e-17, 3.673940397442059e-18 ], [ 0.0, 6.123233995736766e-17, 1.0, 0.06 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.2533124306069483, 0.14625000000000002, 1.025259702568298e-17 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_tube.brep", "geometry_sha256": "b835663ed8205d6f53276f6a58edcb91c166c42dd0fe0e0504aac944f416d015", "inertia_about_com_kg_m2": [ [ 0.0004659913364062504, 0.0007720246035078133, -7.48352301887079e-20 ], [ 0.0007720246035078133, 0.0013574485617187518, 1.542179356954777e-19 ], [ -7.48352301887079e-20, 1.542179356954777e-19, 0.0018031771743749986 ] ], "instance_id": "arm_tube_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09951000000000002, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_boom_on_tube_check:end_b", "@mate:arm_3_esc_on_tube_check:axis", "@mate:arm_3_tube_to_clamp:end_a", "@mate:leg_2_clamp_on_tube_check:axis" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_tube", "placement_body_m": [ [ 0.0, -0.49999999999999994, -0.8660254037844387, -0.05196152422706632 ], [ 0.0, -0.8660254037844387, 0.49999999999999994, 0.029999999999999995 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.25331243060694825, -0.14625, -1.8641085501241765e-18 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_tube.brep", "geometry_sha256": "b835663ed8205d6f53276f6a58edcb91c166c42dd0fe0e0504aac944f416d015", "inertia_about_com_kg_m2": [ [ 0.00046599133640624966, -0.0007720246035078149, -1.0137267064469716e-20 ], [ -0.0007720246035078149, 0.00135744856171876, 5.717958644189563e-20 ], [ -1.0137267064469716e-20, 5.717958644189563e-20, 0.0018031771743750031 ] ], "instance_id": "arm_tube_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09951000000000002, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_boom_on_tube_check:end_b", "@mate:arm_4_esc_on_tube_check:axis", "@mate:arm_4_tube_to_clamp:end_a", "@mate:leg_3_clamp_on_tube_check:axis" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_tube", "placement_body_m": [ [ 0.0, 0.5000000000000001, -0.8660254037844386, -0.051961524227066305 ], [ 0.0, -0.8660254037844386, -0.5000000000000001, -0.030000000000000013 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -5.507470182399059e-17, -0.29249999999999987, 1.8641085501241765e-18 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_tube.brep", "geometry_sha256": "b835663ed8205d6f53276f6a58edcb91c166c42dd0fe0e0504aac944f416d015", "inertia_about_com_kg_m2": [ [ 0.0018031771743750008, -3.288848868668917e-19, -1.5434929773540675e-21 ], [ -3.288848868668917e-19, 2.0262723750000168e-05, -9.061550033046557e-20 ], [ -1.5434929773540675e-21, -9.061550033046557e-20, 0.001803177174375007 ] ], "instance_id": "arm_tube_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09951000000000002, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_boom_on_tube_check:end_b", "@mate:arm_5_esc_on_tube_check:axis", "@mate:arm_5_tube_to_clamp:end_a" ], "mpn": null, "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_tube", "placement_body_m": [ [ 0.0, 1.0, -1.8369701987210297e-16, -1.1021821192326178e-17 ], [ 0.0, -1.8369701987210297e-16, -1.0, -0.06 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.25331243060694825, -0.14625000000000013, 2.0505194051365982e-17 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/arm_tube.brep", "geometry_sha256": "b835663ed8205d6f53276f6a58edcb91c166c42dd0fe0e0504aac944f416d015", "inertia_about_com_kg_m2": [ [ 0.0004659913364062506, 0.0007720246035078137, -4.0278920049189795e-20 ], [ 0.0007720246035078137, 0.0013574485617187549, 3.584738063226692e-20 ], [ -4.0278920049189795e-20, 3.584738063226692e-20, 0.0018031771743750016 ] ], "instance_id": "arm_tube_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09951000000000002, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_boom_on_tube_check:end_b", "@mate:arm_6_esc_on_tube_check:axis", "@mate:arm_6_tube_to_clamp:end_a", "@mate:leg_4_clamp_on_tube_check:axis" ], "mpn": null, "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "arm_tube", "placement_body_m": [ [ 0.0, 0.5000000000000004, 0.8660254037844384, 0.051961524227066305 ], [ 0.0, 0.8660254037844384, -0.5000000000000004, -0.03000000000000003 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.02, 0.1205, 0.047200000000000006 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_OA1" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_oa1.brep", "geometry_sha256": "db51f4ef78f627e8a97d568f734dee7c01f95aa4ca01035e9dc7ad055d21d43d", "inertia_about_com_kg_m2": [ [ 2.194185416666667e-05, -6.323067979381127e-07, 6.576003358407192e-23 ], [ -6.323067979381127e-07, 2.121172916666667e-05, 1.063120542942498e-21 ], [ 6.576003358407192e-23, 1.063120542942498e-21, 2.411625000000001e-05 ] ], "instance_id": "article_u_oa1", "link_id": "base_link", "manufacturer": "LightWare LiDAR", "mass_kg": 0.059000000000000004, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_oa1_to_hub_plate_top:seat" ], "mpn": "SF45/B", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_oa1", "placement_body_m": [ [ 0.5000000000000001, -0.8660254037844386, 0.0, 0.02 ], [ 0.8660254037844386, 0.5000000000000001, 0.0, 0.1205 ], [ 0.0, 0.0, 1.0, 0.0252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.11800000000000001, 9.43689570931383e-20, -0.014899999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_OA2..U_OA5" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_oa2_u_oa5.brep", "geometry_sha256": "a812545f1deb6bc30af21faffa0c4b5dfe592cce7d59df25bb0300183ff7a3df", "inertia_about_com_kg_m2": [ [ 8.287499999999998e-07, 7.98252106473643e-42, -4.9343245538895835e-25 ], [ 7.98252106473643e-42, 2.0041666666666667e-07, 1.0362081563168072e-24 ], [ -4.9343245538895835e-25, 1.0362081563168072e-24, 8.416666666666667e-07 ] ], "instance_id": "article_u_oa2_u_oa5_1", "link_id": "base_link", "manufacturer": "Benewake", "mass_kg": 0.005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_oa2_u_oa5_1_to_hub_plate_bottom:seat" ], "mpn": "TFmini-S", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_oa2_u_oa5", "placement_body_m": [ [ 0.0, 1.0, 0.0, 0.11800000000000001 ], [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, -0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.11800000000000001, -9.43689570931383e-20, -0.014899999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_OA2..U_OA5" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_oa2_u_oa5.brep", "geometry_sha256": "a812545f1deb6bc30af21faffa0c4b5dfe592cce7d59df25bb0300183ff7a3df", "inertia_about_com_kg_m2": [ [ 8.287499999999998e-07, 7.98252106473643e-42, 4.9343245538895835e-25 ], [ 7.98252106473643e-42, 2.0041666666666667e-07, -1.0362081563168072e-24 ], [ 4.9343245538895835e-25, -1.0362081563168072e-24, 8.416666666666667e-07 ] ], "instance_id": "article_u_oa2_u_oa5_2", "link_id": "base_link", "manufacturer": "Benewake", "mass_kg": 0.005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_oa2_u_oa5_2_to_hub_plate_bottom:seat" ], "mpn": "TFmini-S", "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_oa2_u_oa5", "placement_body_m": [ [ 0.0, -1.0, 0.0, -0.11800000000000001 ], [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, -0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.059000000000000004, -0.1022, -0.014899999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_OA2..U_OA5" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_oa2_u_oa5.brep", "geometry_sha256": "a812545f1deb6bc30af21faffa0c4b5dfe592cce7d59df25bb0300183ff7a3df", "inertia_about_com_kg_m2": [ [ 3.575e-07, 2.720763143556111e-07, -1.76225876924628e-24 ], [ 2.720763143556111e-07, 6.716666666666668e-07, 1.8468471901701017e-24 ], [ -1.76225876924628e-24, 1.8468471901701017e-24, 8.416666666666668e-07 ] ], "instance_id": "article_u_oa2_u_oa5_3", "link_id": "base_link", "manufacturer": "Benewake", "mass_kg": 0.005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_oa2_u_oa5_3_to_hub_plate_bottom:seat" ], "mpn": "TFmini-S", "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_oa2_u_oa5", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.059000000000000004 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, -0.1022 ], [ 0.0, 0.0, 1.0, -0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.059000000000000004, -0.1022, -0.014899999999999997 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_OA2..U_OA5" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_oa2_u_oa5.brep", "geometry_sha256": "a812545f1deb6bc30af21faffa0c4b5dfe592cce7d59df25bb0300183ff7a3df", "inertia_about_com_kg_m2": [ [ 3.574999999999999e-07, -2.720763143556113e-07, -4.412695958192689e-24 ], [ -2.720763143556113e-07, 6.716666666666666e-07, -1.3294480155193936e-23 ], [ -4.412695958192689e-24, -1.3294480155193936e-23, 8.416666666666668e-07 ] ], "instance_id": "article_u_oa2_u_oa5_4", "link_id": "base_link", "manufacturer": "Benewake", "mass_kg": 0.005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_oa2_u_oa5_4_to_hub_plate_bottom:seat" ], "mpn": "TFmini-S", "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_oa2_u_oa5", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, 0.059000000000000004 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.1022 ], [ 0.0, 0.0, 1.0, -0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.0405, 0.1065, 0.038200000000000005 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_PM" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_pm.brep", "geometry_sha256": "e021d40307bb3c14e6f57515204afc325298ac9e4678faa138274c883fc9d856", "inertia_about_com_kg_m2": [ [ 3.6337083333333365e-05, 4.085988238061488e-39, -2.43673811874358e-21 ], [ 4.085988238061488e-39, 4.1640416666666686e-05, -1.7751422364331395e-22 ], [ -2.43673811874358e-21, -1.7751422364331395e-22, 5.713416666666667e-05 ] ], "instance_id": "article_u_pm", "link_id": "base_link", "manufacturer": "Holybro", "mass_kg": 0.185, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_pm_to_hub_plate_top:seat" ], "mpn": "PM08-CAN", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_pm", "placement_body_m": [ [ 1.0, 0.0, 0.0, -0.0405 ], [ 0.0, 1.0, 0.0, 0.1065 ], [ 0.0, 0.0, 1.0, 0.0252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.063, -0.09240000000000001, 0.04020000000000001 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_TELEM" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/article_u_telem.brep", "geometry_sha256": "a4b63027219dede0aa38567d5b6bceead0d3dbe7b8cb553270cb08e3137df5b0", "inertia_about_com_kg_m2": [ [ 1.2411466666666668e-06, -1.2900791546144318e-23, -1.5836984501582665e-22 ], [ -1.2900791546144318e-23, 4.8405000000000005e-06, -4.876650090893448e-22 ], [ -1.5836984501582665e-22, -4.876650090893448e-22, 3.981646666666669e-06 ] ], "instance_id": "article_u_telem", "link_id": "base_link", "manufacturer": "RFDesign", "mass_kg": 0.014, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_telem_to_hub_plate_top:seat" ], "mpn": "RFD900x", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "article_u_telem", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.063 ], [ 0.0, 1.0, 0.0, -0.09240000000000001 ], [ 0.0, 0.0, 1.0, 0.0252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 1.7992920796051655e-18, -3.9034107372228684e-19, 0.078 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/battery.brep", "geometry_sha256": "b556775d2b61e39099881333e502512636ebad61bf96e3f1be87caa241af4b11", "inertia_about_com_kg_m2": [ [ 0.012383083333333334, 2.8990143619012087e-20, 6.116064054643962e-21 ], [ 2.8990143619012087e-20, 0.02276902083333334, 0.0 ], [ 6.116064054643962e-21, 0.0, 0.02806877083333334 ] ], "instance_id": "battery", "link_id": "base_link", "manufacturer": "Tattu (Grepow)", "mass_kg": 4.25, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:battery_to_tray:seat" ], "mpn": "Tattu NEO Compact 26000mAh 12S1P", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "battery_tattu_neo_compact_26000_12s", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.028 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.126, 4.573231173014156e-19, 0.04 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/battery_retainer.brep", "geometry_sha256": "550c21d93fa01298fa693fe7211c6183bf76c98be4b08092a5e09ad48686b20c", "inertia_about_com_kg_m2": [ [ 0.0001340162182731543, -1.0391545401944313e-22, 5.8023289284392375e-22 ], [ -1.0391545401944313e-22, 3.6298170590482484e-06, -1.4697434380650575e-23 ], [ 5.8023289284392375e-22, -1.4697434380650575e-23, 0.00013224685719635972 ] ], "instance_id": "battery_retainer_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.05624143891502946, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:battery_retainer_1_to_tray:tray_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "battery_retainer", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.126 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.028 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.126, -4.573231173014156e-19, 0.04 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/battery_retainer.brep", "geometry_sha256": "550c21d93fa01298fa693fe7211c6183bf76c98be4b08092a5e09ad48686b20c", "inertia_about_com_kg_m2": [ [ 0.0001340162182731543, -1.0391545401944313e-22, -5.8023289284392375e-22 ], [ -1.0391545401944313e-22, 3.6298170590482484e-06, 1.4697434380650575e-23 ], [ -5.8023289284392375e-22, 1.4697434380650575e-23, 0.00013224685719635972 ] ], "instance_id": "battery_retainer_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.05624143891502946, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:battery_retainer_2_to_tray:tray_seat" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "battery_retainer", "placement_body_m": [ [ -1.0, 0.0, 0.0, -0.126 ], [ 0.0, -1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.028 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -6.064748915861444e-18, 1.8587872278181108e-19, 0.0266 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/battery_tray.brep", "geometry_sha256": "6a31874602603f0cd2d1c90b655c1cf808e719adde10ef2ae2665b3d000870ee", "inertia_about_com_kg_m2": [ [ 0.0004308508768936254, 3.080349415540695e-21, 3.4653930924832885e-22 ], [ 3.080349415540695e-21, 0.0010778904078143994, 4.946741682942932e-24 ], [ 3.4653930924832885e-22, 4.946741682942932e-24, 0.0015085016262165961 ] ], "instance_id": "battery_tray", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.1834121107878318, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:battery_retainer_1_to_tray:battery_seat", "@mate:battery_retainer_2_to_tray:battery_seat", "@mate:battery_to_tray:battery_seat", "@mate:battery_tray_to_hub_top:plate_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "battery_tray", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.0252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.424352447854375, 0.24499999999999994, -0.012630570849304025 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342678e-05, 5.544518963197771e-06, 1.7942282760631686e-20 ], [ 5.544518963197771e-06, 5.780150077156839e-05, -1.2828125713769614e-20 ], [ 1.7942282760631686e-20, -1.2828125713769614e-20, 0.00011203352050854138 ] ], "instance_id": "boom_mount_lower_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_boom_lower_to_clamp:bore", "@mate:arm_1_boom_on_tube_check:bore", "@mate:arm_1_boom_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ 0.8660254037844387, 0.49999999999999994, 0.0, 0.424352447854375 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 3.136381943611513e-17, 0.49, -0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 5.460037125563918e-05, -2.9092188924551017e-21, 1.9963159560942462e-21 ], [ -2.9092188924551017e-21, 6.740488931935604e-05, -1.1514651607748398e-20 ], [ 1.9963159560942462e-21, -1.1514651607748398e-20, 0.0001120335205085414 ] ], "instance_id": "boom_mount_lower_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_boom_lower_to_clamp:bore", "@mate:arm_2_boom_on_tube_check:bore", "@mate:arm_2_boom_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ 6.123233995736766e-17, 1.0, 0.0, 3.0003846579110155e-17 ], [ 1.0, -6.123233995736766e-17, 0.0, 0.49 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.424352447854375, 0.24499999999999997, -0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342684e-05, -5.5445189631977495e-06, -1.7226675328247574e-20 ], [ -5.5445189631977495e-06, 5.780150077156838e-05, -1.5023888955160222e-20 ], [ -1.7226675328247574e-20, -1.5023888955160222e-20, 0.0001120335205085414 ] ], "instance_id": "boom_mount_lower_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_boom_lower_to_clamp:bore", "@mate:arm_3_boom_on_tube_check:bore", "@mate:arm_3_boom_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ -0.8660254037844387, 0.49999999999999994, 0.0, -0.424352447854375 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.4243524478543749, -0.24500000000000008, -0.012630570849304024 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342684e-05, 5.544518963197747e-06, -5.2509295514008566e-21 ], [ 5.544518963197747e-06, 5.780150077156839e-05, 2.733004291299067e-21 ], [ -5.2509295514008566e-21, 2.733004291299067e-21, 0.00011203352050854144 ] ], "instance_id": "boom_mount_lower_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_boom_lower_to_clamp:bore", "@mate:arm_4_boom_on_tube_check:bore", "@mate:arm_4_boom_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ -0.8660254037844386, -0.5000000000000001, 0.0, -0.4243524478543749 ], [ -0.5000000000000001, 0.8660254037844386, 0.0, -0.24500000000000005 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -8.943491124596035e-17, -0.49, -0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 5.4600371255639165e-05, -1.4973920769989485e-21, -1.5795083298774228e-21 ], [ -1.4973920769989485e-21, 6.740488931935605e-05, 4.537013343633053e-21 ], [ -1.5795083298774228e-21, 4.537013343633053e-21, 0.0001120335205085414 ] ], "instance_id": "boom_mount_lower_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_boom_lower_to_clamp:bore", "@mate:arm_5_boom_on_tube_check:bore", "@mate:arm_5_boom_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ -1.8369701987210297e-16, -1.0, 0.0, -9.001153973733046e-17 ], [ -1.0, 1.8369701987210297e-16, 0.0, -0.49 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.42435244785437476, -0.24500000000000022, -0.012630570849304024 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342682e-05, -5.544518963197745e-06, -1.6032722833224088e-20 ], [ -5.544518963197745e-06, 5.780150077156836e-05, -3.8863842990986684e-21 ], [ -1.6032722833224088e-20, -3.8863842990986684e-21, 0.0001120335205085414 ] ], "instance_id": "boom_mount_lower_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_boom_lower_to_clamp:bore", "@mate:arm_6_boom_on_tube_check:bore", "@mate:arm_6_boom_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ 0.8660254037844384, -0.5000000000000004, 0.0, 0.42435244785437476 ], [ -0.5000000000000004, -0.8660254037844384, 0.0, -0.24500000000000025 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.424352447854375, 0.24499999999999997, 0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342684e-05, 5.5445189631977495e-06, -1.7226675328247574e-20 ], [ 5.5445189631977495e-06, 5.780150077156838e-05, 1.5023888955160222e-20 ], [ -1.7226675328247574e-20, 1.5023888955160222e-20, 0.0001120335205085414 ] ], "instance_id": "boom_mount_upper_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_boom_upper_to_lower:split_face", "@mate:arm_1_motor_plate_to_boom:back_face" ], "mpn": null, "occurrence_index": 6, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.424352447854375 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 3.547637735569815e-17, 0.49, 0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 5.460037125563918e-05, -4.449393600225451e-21, -4.47643841031199e-22 ], [ -4.449393600225451e-21, 6.740488931935604e-05, 1.1609226434495232e-20 ], [ -4.47643841031199e-22, 1.1609226434495232e-20, 0.0001120335205085414 ] ], "instance_id": "boom_mount_upper_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_boom_upper_to_lower:split_face", "@mate:arm_2_motor_plate_to_boom:back_face" ], "mpn": null, "occurrence_index": 7, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 3.0003846579110155e-17 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.49 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.424352447854375, 0.24499999999999994, 0.012630570849304025 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342678e-05, -5.544518963197771e-06, 1.7942282760631686e-20 ], [ -5.544518963197771e-06, 5.780150077156839e-05, 1.2828125713769614e-20 ], [ 1.7942282760631686e-20, 1.2828125713769614e-20, 0.00011203352050854138 ] ], "instance_id": "boom_mount_upper_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_boom_upper_to_lower:split_face", "@mate:arm_3_motor_plate_to_boom:back_face" ], "mpn": null, "occurrence_index": 8, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.424352447854375 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.42435244785437487, -0.24500000000000002, 0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342681e-05, 5.544518963197774e-06, 1.5325811628369316e-20 ], [ 5.544518963197774e-06, 5.780150077156839e-05, -6.3957552786056294e-21 ], [ 1.5325811628369316e-20, -6.3957552786056294e-21, 0.0001120335205085414 ] ], "instance_id": "boom_mount_upper_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_boom_upper_to_lower:split_face", "@mate:arm_4_motor_plate_to_boom:back_face" ], "mpn": null, "occurrence_index": 9, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.4243524478543749 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.24500000000000005 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -9.275324501705247e-17, -0.49, 0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 5.4600371255639186e-05, -1.0995136108249427e-20, -1.4317526305750842e-21 ], [ -1.0995136108249427e-20, 6.740488931935604e-05, 2.9180492023901707e-21 ], [ -1.4317526305750842e-21, 2.9180492023901707e-21, 0.00011203352050854142 ] ], "instance_id": "boom_mount_upper_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_boom_upper_to_lower:split_face", "@mate:arm_5_motor_plate_to_boom:back_face" ], "mpn": null, "occurrence_index": 10, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -9.001153973733046e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.49 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.42435244785437476, -0.24500000000000022, 0.01263057084930402 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/boom_mount.brep", "geometry_sha256": "b413b4b9825030d370d8bcca7762ad88c5af38f1196b4936bc111a5b7e70a6e9", "inertia_about_com_kg_m2": [ [ 6.420375980342682e-05, -5.544518963197756e-06, -7.75988274734153e-21 ], [ -5.544518963197756e-06, 5.7801500771568416e-05, 1.3152178302717252e-20 ], [ -7.75988274734153e-21, 1.3152178302717252e-20, 0.00011203352050854142 ] ], "instance_id": "boom_mount_upper_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12288454919520868, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_boom_upper_to_lower:split_face", "@mate:arm_6_motor_plate_to_boom:back_face" ], "mpn": null, "occurrence_index": 11, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "boom_mount", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.42435244785437476 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.24500000000000025 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 6.300068558634631e-19, -1.9447011060868503e-19, -0.113275 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_CAM" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/camera.brep", "geometry_sha256": "f4dcf9f0a1cc7f7b6d193d1fef3283ce7d1bdada641c85b4f752b265f90b7ee4", "inertia_about_com_kg_m2": [ [ 0.000173644209375, 1.6800880574579958e-22, 7.046215462954328e-22 ], [ 1.6800880574579958e-22, 0.0002464345260416668, 0.0 ], [ 7.046215462954328e-22, 0.0, 0.00023485781666666674 ] ], "instance_id": "camera", "link_id": "base_link", "manufacturer": "MicaSense (AgEagle)", "mass_kg": 0.245, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:camera_to_subtray:top_mount" ], "mpn": "RedEdge-P", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "cam_micasense_rededge_p", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, -0.07959999999999999 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 2.977210384681352e-18, -9.694245102073867e-20, -0.07819999999999999 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/camera_subtray.brep", "geometry_sha256": "52622686a0923342158719a3e9897393f2e9f321727ee2e55d41788a5b700115", "inertia_about_com_kg_m2": [ [ 2.3977848047360103e-05, 1.6578269423916935e-22, 5.053698259871441e-23 ], [ 1.6578269423916935e-22, 3.9152539420692976e-05, 3.317325081297895e-23 ], [ 5.053698259871441e-23, 3.317325081297895e-23, 6.307970463817909e-05 ] ], "instance_id": "camera_subtray", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.038787880005613264, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:camera_subtray_to_float_bracket_1:bracket_1_seat", "@mate:camera_to_subtray:camera_seat", "@mate:iso_bracket_float_2_to_subtray:bracket_2_seat", "@mate:iso_bracket_float_3_to_subtray:bracket_3_seat", "@mate:iso_bracket_float_4_to_subtray:bracket_4_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "camera_subtray", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, -0.07959999999999999 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 1.3297629273222695e-19, -0.113, 0.032214999999999994 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/dls2.brep", "geometry_sha256": "135e4c55c481e37f8e43be0ecf1c9a00f20dcde76df106568d27ad9e0c2bff9d", "inertia_about_com_kg_m2": [ [ 1.040778405e-05, -1.0308590628852133e-39, 2.5826810398079764e-23 ], [ -1.0308590628852133e-39, 1.9030909049999998e-05, -5.093627295110859e-23 ], [ 2.5826810398079764e-23, -5.093627295110859e-23, 2.766712500000001e-05 ] ], "instance_id": "dls2", "link_id": "base_link", "manufacturer": "MicaSense (AgEagle)", "mass_kg": 0.054, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:dls2_to_hub_top:seat" ], "mpn": "DLS 2", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "dls2_micasense", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, -0.113 ], [ 0.0, 0.0, 1.0, 0.0252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.2771281292110204, 0.15999999999999998, 0.0261 ], "electrical_connector_ids": [], "electrical_record_ids": [ "ESC1..ESC6" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc.brep", "geometry_sha256": "73b48b3733eaca7aaf5f9958a79b8548f6bc65643e37e859be82676da2ff9dfa", "inertia_about_com_kg_m2": [ [ 1.5835220833333333e-05, -1.353284204918908e-05, 9.093914762970237e-21 ], [ -1.353284204918908e-05, 3.146160083333335e-05, 1.2011096935871255e-21 ], [ 9.093914762970237e-21, 1.2011096935871255e-21, 4.4103801666666685e-05 ] ], "instance_id": "esc_1", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.073, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_esc_to_saddle:seat" ], "mpn": "ALPHA 60A 12S V1.2", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_tmotor_alpha_60a_12s", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.2771281292110204 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.15999999999999998 ], [ 0.0, 0.0, 1.0, 0.018000000000000002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 1.9884162259764847e-17, 0.32, 0.0261 ], "electrical_connector_ids": [], "electrical_record_ids": [ "ESC1..ESC6" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc.brep", "geometry_sha256": "73b48b3733eaca7aaf5f9958a79b8548f6bc65643e37e859be82676da2ff9dfa", "inertia_about_com_kg_m2": [ [ 3.9274790833333326e-05, -2.3537325847370743e-21, -2.2462558264219563e-22 ], [ -2.3537325847370743e-21, 8.022030833333334e-06, 3.515237381467472e-21 ], [ -2.2462558264219563e-22, 3.515237381467472e-21, 4.4103801666666665e-05 ] ], "instance_id": "esc_2", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.073, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_esc_to_saddle:seat" ], "mpn": "ALPHA 60A 12S V1.2", "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_tmotor_alpha_60a_12s", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 1.959434878635765e-17 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.32 ], [ 0.0, 0.0, 1.0, 0.018000000000000002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.2771281292110204, 0.15999999999999998, 0.0261 ], "electrical_connector_ids": [], "electrical_record_ids": [ "ESC1..ESC6" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc.brep", "geometry_sha256": "73b48b3733eaca7aaf5f9958a79b8548f6bc65643e37e859be82676da2ff9dfa", "inertia_about_com_kg_m2": [ [ 1.5835220833333336e-05, 1.3532842049189084e-05, -1.0321662441877437e-20 ], [ 1.3532842049189084e-05, 3.1461600833333365e-05, 3.429935255783101e-21 ], [ -1.0321662441877437e-20, 3.429935255783101e-21, 4.410380166666669e-05 ] ], "instance_id": "esc_3", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.073, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_esc_to_saddle:seat" ], "mpn": "ALPHA 60A 12S V1.2", "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_tmotor_alpha_60a_12s", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.2771281292110204 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.15999999999999998 ], [ 0.0, 0.0, 1.0, 0.018000000000000002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.27712812921102037, -0.16000000000000006, 0.0261 ], "electrical_connector_ids": [], "electrical_record_ids": [ "ESC1..ESC6" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc.brep", "geometry_sha256": "73b48b3733eaca7aaf5f9958a79b8548f6bc65643e37e859be82676da2ff9dfa", "inertia_about_com_kg_m2": [ [ 1.5835220833333343e-05, -1.3532842049189079e-05, 2.447198832449216e-21 ], [ -1.3532842049189079e-05, 3.146160083333334e-05, -8.037775320927753e-22 ], [ 2.447198832449216e-21, -8.037775320927753e-22, 4.4103801666666685e-05 ] ], "instance_id": "esc_4", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.073, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_esc_to_saddle:seat" ], "mpn": "ALPHA 60A 12S V1.2", "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_tmotor_alpha_60a_12s", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.27712812921102037 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.16000000000000006 ], [ 0.0, 0.0, 1.0, 0.018000000000000002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -6.076208443258047e-17, -0.32, 0.0261 ], "electrical_connector_ids": [], "electrical_record_ids": [ "ESC1..ESC6" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc.brep", "geometry_sha256": "73b48b3733eaca7aaf5f9958a79b8548f6bc65643e37e859be82676da2ff9dfa", "inertia_about_com_kg_m2": [ [ 3.9274790833333326e-05, -6.978307961498958e-21, -5.582090939133393e-23 ], [ -6.978307961498958e-21, 8.022030833333337e-06, -3.432445488468037e-21 ], [ -5.582090939133393e-23, -3.432445488468037e-21, 4.410380166666667e-05 ] ], "instance_id": "esc_5", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.073, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_esc_to_saddle:seat" ], "mpn": "ALPHA 60A 12S V1.2", "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_tmotor_alpha_60a_12s", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -5.878304635907295e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.32 ], [ 0.0, 0.0, 1.0, 0.018000000000000002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.2771281292110203, -0.16000000000000011, 0.026099999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [ "ESC1..ESC6" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc.brep", "geometry_sha256": "73b48b3733eaca7aaf5f9958a79b8548f6bc65643e37e859be82676da2ff9dfa", "inertia_about_com_kg_m2": [ [ 1.583522083333335e-05, 1.3532842049189082e-05, 1.775744971366298e-21 ], [ 1.3532842049189082e-05, 3.146160083333332e-05, 1.3858334406752e-21 ], [ 1.775744971366298e-21, 1.3858334406752e-21, 4.410380166666667e-05 ] ], "instance_id": "esc_6", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.073, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_esc_to_saddle:seat" ], "mpn": "ALPHA 60A 12S V1.2", "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_tmotor_alpha_60a_12s", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.2771281292110203 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.16000000000000014 ], [ 0.0, 0.0, 1.0, 0.018000000000000002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.2771281292110204, 0.15999999999999998, -0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141596e-05, -6.677952993780151e-06, -8.806105731827594e-21 ], [ -6.677952993780151e-06, 2.7403014884330888e-05, 3.094397607968791e-22 ], [ -8.806105731827594e-21, 3.094397607968791e-22, 4.453914090717686e-05 ] ], "instance_id": "esc_saddle_lower_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_esc_saddle_lower_to_upper:split_face" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ 0.8660254037844387, 0.49999999999999994, 0.0, 0.2771281292110204 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.15999999999999998 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 1.9845585935652125e-17, 0.31999999999999995, -0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 3.1258532842925495e-05, -3.2179774223095598e-21, 2.652023267325888e-22 ], [ -3.2179774223095598e-21, 1.5836461008546955e-05, -9.386540397732465e-21 ], [ 2.652023267325888e-22, -9.386540397732465e-21, 4.4539140907176845e-05 ] ], "instance_id": "esc_saddle_lower_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_esc_saddle_lower_to_upper:split_face" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ 6.123233995736766e-17, 1.0, 0.0, 1.959434878635765e-17 ], [ 1.0, -6.123233995736766e-17, 0.0, 0.32 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.2771281292110204, 0.15999999999999998, -0.01071492445120096 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141596e-05, 6.677952993780151e-06, 1.1166215413604648e-20 ], [ 6.677952993780151e-06, 2.7403014884330895e-05, 1.7199479403408018e-21 ], [ 1.1166215413604648e-20, 1.7199479403408018e-21, 4.453914090717687e-05 ] ], "instance_id": "esc_saddle_lower_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_esc_saddle_lower_to_upper:split_face" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ -0.8660254037844387, 0.49999999999999994, 0.0, -0.2771281292110204 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.15999999999999998 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.27712812921102037, -0.16000000000000006, -0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141596e-05, -6.677952993780146e-06, -3.253436840740788e-21 ], [ -6.677952993780146e-06, 2.7403014884330867e-05, -6.80090756102017e-22 ], [ -3.253436840740788e-21, -6.80090756102017e-22, 4.453914090717686e-05 ] ], "instance_id": "esc_saddle_lower_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_esc_saddle_lower_to_upper:split_face" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ -0.8660254037844386, -0.5000000000000001, 0.0, -0.27712812921102037 ], [ -0.5000000000000001, 0.8660254037844386, 0.0, -0.16000000000000006 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -5.799068304206731e-17, -0.31999999999999995, -0.010714924451200961 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 3.1258532842925495e-05, -3.242276989112724e-21, -1.1604652368298338e-21 ], [ -3.242276989112724e-21, 1.583646100854696e-05, 2.4833082009081222e-21 ], [ -1.1604652368298338e-21, 2.4833082009081222e-21, 4.4539140907176845e-05 ] ], "instance_id": "esc_saddle_lower_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_esc_saddle_lower_to_upper:split_face" ], "mpn": null, "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ -1.8369701987210297e-16, -1.0, 0.0, -5.878304635907295e-17 ], [ -1.0, 1.8369701987210297e-16, 0.0, -0.32 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.2771281292110203, -0.16000000000000014, -0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141606e-05, 6.677952993780156e-06, -2.242944818188564e-21 ], [ 6.677952993780156e-06, 2.7403014884330867e-05, 8.844729516411935e-22 ], [ -2.242944818188564e-21, 8.844729516411935e-22, 4.453914090717686e-05 ] ], "instance_id": "esc_saddle_lower_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_esc_saddle_lower_to_upper:split_face" ], "mpn": null, "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ 0.8660254037844384, -0.5000000000000004, 0.0, 0.2771281292110203 ], [ -0.5000000000000004, -0.8660254037844384, 0.0, -0.16000000000000014 ], [ 0.0, 0.0, -1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.2771281292110204, 0.15999999999999998, 0.01071492445120096 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141596e-05, -6.677952993780151e-06, 1.1166215413604648e-20 ], [ -6.677952993780151e-06, 2.7403014884330895e-05, -1.7199479403408018e-21 ], [ 1.1166215413604648e-20, -1.7199479403408018e-21, 4.453914090717687e-05 ] ], "instance_id": "esc_saddle_upper_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_esc_on_tube_check:bore", "@mate:arm_1_esc_saddle_lower_to_upper:split_face", "@mate:arm_1_esc_saddle_upper_to_clamp:bore", "@mate:arm_1_esc_to_saddle:esc_pad" ], "mpn": null, "occurrence_index": 6, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.2771281292110204 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.15999999999999998 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 1.8067599956029704e-17, 0.31999999999999995, 0.010714924451200961 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 3.125853284292549e-05, -2.0353076024548477e-21, -4.946412645598001e-22 ], [ -2.0353076024548477e-21, 1.583646100854696e-05, 4.3732684851617274e-21 ], [ -4.946412645598001e-22, 4.3732684851617274e-21, 4.4539140907176845e-05 ] ], "instance_id": "esc_saddle_upper_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_esc_on_tube_check:bore", "@mate:arm_2_esc_saddle_lower_to_upper:split_face", "@mate:arm_2_esc_saddle_upper_to_clamp:bore", "@mate:arm_2_esc_to_saddle:esc_pad" ], "mpn": null, "occurrence_index": 7, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 1.959434878635765e-17 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.32 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.2771281292110204, 0.15999999999999998, 0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141596e-05, 6.677952993780151e-06, -8.806105731827594e-21 ], [ 6.677952993780151e-06, 2.7403014884330888e-05, -3.094397607968791e-22 ], [ -8.806105731827594e-21, -3.094397607968791e-22, 4.453914090717686e-05 ] ], "instance_id": "esc_saddle_upper_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_esc_on_tube_check:bore", "@mate:arm_3_esc_saddle_lower_to_upper:split_face", "@mate:arm_3_esc_saddle_upper_to_clamp:bore", "@mate:arm_3_esc_to_saddle:esc_pad" ], "mpn": null, "occurrence_index": 8, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.2771281292110204 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.15999999999999998 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.27712812921102037, -0.16000000000000006, 0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141593e-05, -6.677952993780146e-06, 3.1580591997927535e-21 ], [ -6.677952993780146e-06, 2.7403014884330864e-05, 6.184375065215236e-22 ], [ 3.1580591997927535e-21, 6.184375065215236e-22, 4.4539140907176845e-05 ] ], "instance_id": "esc_saddle_upper_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_esc_on_tube_check:bore", "@mate:arm_4_esc_saddle_lower_to_upper:split_face", "@mate:arm_4_esc_saddle_upper_to_clamp:bore", "@mate:arm_4_esc_to_saddle:esc_pad" ], "mpn": null, "occurrence_index": 9, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.27712812921102037 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.16000000000000006 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -6.016485068019254e-17, -0.32, 0.010714924451200963 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 3.12585328429255e-05, -7.298481818907196e-23, -3.3998573530286883e-22 ], [ -7.298481818907196e-23, 1.583646100854696e-05, -1.883272797016472e-21 ], [ -3.3998573530286883e-22, -1.883272797016472e-21, 4.453914090717686e-05 ] ], "instance_id": "esc_saddle_upper_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_esc_on_tube_check:bore", "@mate:arm_5_esc_saddle_lower_to_upper:split_face", "@mate:arm_5_esc_saddle_upper_to_clamp:bore", "@mate:arm_5_esc_to_saddle:esc_pad" ], "mpn": null, "occurrence_index": 10, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -5.878304635907295e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.32 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.2771281292110203, -0.16000000000000014, 0.01071492445120096 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/esc_saddle.brep", "geometry_sha256": "d4c1592bf4aa568e6025ebae4017ab30f6c8765e1b49a63f685142872e8ca5e2", "inertia_about_com_kg_m2": [ [ 1.9691978967141606e-05, 6.677952993780153e-06, 4.2716405687378865e-21 ], [ 6.677952993780153e-06, 2.740301488433088e-05, 9.645066318895029e-22 ], [ 4.2716405687378865e-21, 9.645066318895029e-22, 4.453914090717686e-05 ] ], "instance_id": "esc_saddle_upper_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.04753144774892278, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_esc_on_tube_check:bore", "@mate:arm_6_esc_saddle_lower_to_upper:split_face", "@mate:arm_6_esc_saddle_upper_to_clamp:bore", "@mate:arm_6_esc_to_saddle:esc_pad" ], "mpn": null, "occurrence_index": 11, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "esc_saddle", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.2771281292110203 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.16000000000000014 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -1.6840098897584247e-19, -1.8985262036863493e-19, 0.00675 ], "electrical_connector_ids": [], "electrical_record_ids": [ "U_FC" ], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/flight_controller.brep", "geometry_sha256": "b6dc8b412a9494857fa7d0d3a70b2c39cf1391b39dbcc1e5704deb600b37d2d1", "inertia_about_com_kg_m2": [ [ 2.297360833333333e-05, -7.979417623631797e-23, 1.0034382146230416e-23 ], [ -7.979417623631797e-23, 7.197270833333335e-05, 0.0 ], [ 1.0034382146230416e-23, 0.0, 8.286347333333334e-05 ] ], "instance_id": "flight_controller", "link_id": "base_link", "manufacturer": "Holybro", "mass_kg": 0.074, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:flight_controller_to_hub_top:seat" ], "mpn": "Pixhawk 6X (Standard Baseboard)", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "fc_pixhawk6x_standard", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, -1.0, 0.0, 0.0 ], [ 0.0, 0.0, -1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 2.941705917010183e-18, 1.2299948364974618e-17, -0.023799999999999995 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/hub_plate_bottom.brep", "geometry_sha256": "84e7194a5f71bdd418dfcd366dce7fb000d3f05dc53f8b7ec74718dfa5eede2b", "inertia_about_com_kg_m2": [ [ 0.0016063709044441415, 2.353044692426921e-20, 6.577829481102959e-23 ], [ 2.353044692426921e-20, 0.0016050660849095087, 1.3845528883394035e-21 ], [ 6.577829481102959e-23, 1.3845528883394035e-21, 0.0032110699847250537 ] ], "instance_id": "hub_plate_bottom", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.28087088923300224, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_clamp_lower_to_hub:arm_1_clamp_seat", "@mate:arm_2_clamp_lower_to_hub:arm_2_clamp_seat", "@mate:arm_3_clamp_lower_to_hub:arm_3_clamp_seat", "@mate:arm_4_clamp_lower_to_hub:arm_4_clamp_seat", "@mate:arm_5_clamp_lower_to_hub:arm_5_clamp_seat", "@mate:arm_6_clamp_lower_to_hub:arm_6_clamp_seat", "@mate:article_u_oa2_u_oa5_1_to_hub_plate_bottom:topside", "@mate:article_u_oa2_u_oa5_2_to_hub_plate_bottom:topside", "@mate:article_u_oa2_u_oa5_3_to_hub_plate_bottom:topside", "@mate:article_u_oa2_u_oa5_4_to_hub_plate_bottom:topside", "@mate:payload_rail_1_to_hub:rail_1_seat", "@mate:payload_rail_2_to_hub:rail_2_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "hub_plate_bottom", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, -0.0252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 5.3232485172345405e-18, 9.54955643903538e-18, 0.023800000000000005 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/hub_plate_top.brep", "geometry_sha256": "e0245f7aac71b91b216c43a5eb7485ea81564a543393d6529e9f6555e35abe7a", "inertia_about_com_kg_m2": [ [ 0.001609552180258625, -2.1562445908784852e-20, 1.3789376680506452e-21 ], [ -2.1562445908784852e-20, 0.0016078763491796874, -1.050313585437824e-21 ], [ 1.3789376680506452e-21, -1.050313585437824e-21, 0.0032170606451914965 ] ], "instance_id": "hub_plate_top", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.2815440664395571, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:article_u_oa1_to_hub_plate_top:topside", "@mate:article_u_pm_to_hub_plate_top:topside", "@mate:article_u_telem_to_hub_plate_top:topside", "@mate:battery_tray_to_hub_top:topside", "@mate:dls2_to_hub_top:topside", "@mate:flight_controller_to_hub_top:fc_pad", "@mate:hub_plate_top_arm_2_check:arm_2_clamp_seat", "@mate:hub_plate_top_arm_3_check:arm_3_clamp_seat", "@mate:hub_plate_top_arm_4_check:arm_4_clamp_seat", "@mate:hub_plate_top_arm_5_check:arm_5_clamp_seat", "@mate:hub_plate_top_arm_6_check:arm_6_clamp_seat", "@mate:hub_plate_top_to_arm_1:arm_1_clamp_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "hub_plate_top", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.034999999999999996, 0.0683770126368076, -0.04516128634443993 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349414e-06, 1.1961988850441804e-22, 2.1404322699519544e-22 ], [ 1.1961988850441804e-22, 1.7006733474491096e-06, 2.7527905770356783e-07 ], [ 2.1404322699519544e-22, 2.7527905770356783e-07, 7.334465605378604e-07 ] ], "instance_id": "iso_bracket_fixed_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_fixed_1_to_deck:foot_face", "@mate:isolator_1_to_fixed_bracket:isolator_face_inner" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ 1.0, 0.0, 0.0, -0.035 ], [ 0.0, 1.0, 0.0, 0.07 ], [ 0.0, 0.0, 1.0, -0.0308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.035, -0.0683770126368076, -0.04516128634443993 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349414e-06, 6.792164495341022e-23, -1.5253268356340222e-22 ], [ 6.792164495341022e-23, 1.700673347449109e-06, -2.7527905770356783e-07 ], [ -1.5253268356340222e-22, -2.7527905770356783e-07, 7.334465605378608e-07 ] ], "instance_id": "iso_bracket_fixed_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_fixed_2_to_deck:foot_face", "@mate:isolator_2_to_fixed_bracket:isolator_face_inner" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ -1.0, 0.0, 0.0, -0.035 ], [ 0.0, -1.0, 0.0, -0.07 ], [ 0.0, 0.0, 1.0, -0.0308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.035, 0.0683770126368076, -0.04516128634443993 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349414e-06, 6.792164495341022e-23, 1.5253268356340222e-22 ], [ 6.792164495341022e-23, 1.700673347449109e-06, 2.7527905770356783e-07 ], [ 1.5253268356340222e-22, 2.7527905770356783e-07, 7.334465605378608e-07 ] ], "instance_id": "iso_bracket_fixed_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_fixed_3_to_deck:foot_face", "@mate:isolator_3_to_fixed_bracket:isolator_face_inner" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.035 ], [ 0.0, 1.0, 0.0, 0.07 ], [ 0.0, 0.0, 1.0, -0.0308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.034999999999999996, -0.0683770126368076, -0.04516128634443993 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349414e-06, 1.1961988850441804e-22, -2.1404322699519544e-22 ], [ 1.1961988850441804e-22, 1.7006733474491096e-06, -2.7527905770356783e-07 ], [ -2.1404322699519544e-22, -2.7527905770356783e-07, 7.334465605378604e-07 ] ], "instance_id": "iso_bracket_fixed_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_fixed_4_to_deck:foot_face", "@mate:isolator_4_to_fixed_bracket:isolator_face_inner" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ -1.0, 0.0, 0.0, 0.035 ], [ 0.0, -1.0, 0.0, -0.07 ], [ 0.0, 0.0, 1.0, -0.0308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.035, 0.038577012636807594, -0.062438713655560064 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349405e-06, -1.5420773892946657e-23, 1.1409788669191996e-22 ], [ -1.5420773892946657e-23, 1.7006733474491073e-06, -2.7527905770356783e-07 ], [ 1.1409788669191996e-22, -2.7527905770356783e-07, 7.334465605378601e-07 ] ], "instance_id": "iso_bracket_float_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:camera_subtray_to_float_bracket_1:foot_face", "@mate:iso_bracket_float_1_to_isolator_1:isolator_face_outer" ], "mpn": null, "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ -1.0, 0.0, 0.0, -0.035 ], [ 0.0, 1.0, 0.0, 0.04020000000000001 ], [ 0.0, 0.0, -1.0, -0.0768 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.035, -0.038577012636807594, -0.062438713655560064 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349405e-06, 5.790240603799828e-23, 3.8930295017453147e-22 ], [ 5.790240603799828e-23, 1.7006733474491082e-06, 2.7527905770356794e-07 ], [ 3.8930295017453147e-22, 2.7527905770356794e-07, 7.334465605378602e-07 ] ], "instance_id": "iso_bracket_float_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_float_2_to_subtray:foot_face", "@mate:isolator_2_float_check:isolator_face_outer" ], "mpn": null, "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ 1.0, 0.0, 0.0, -0.035 ], [ 0.0, -1.0, 0.0, -0.04020000000000001 ], [ 0.0, 0.0, -1.0, -0.0768 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.035, 0.038577012636807594, -0.062438713655560064 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349405e-06, 5.790240603799828e-23, -3.8930295017453147e-22 ], [ 5.790240603799828e-23, 1.7006733474491082e-06, -2.7527905770356794e-07 ], [ -3.8930295017453147e-22, -2.7527905770356794e-07, 7.334465605378602e-07 ] ], "instance_id": "iso_bracket_float_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_float_3_to_subtray:foot_face", "@mate:isolator_3_float_check:isolator_face_outer" ], "mpn": null, "occurrence_index": 6, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ -1.0, 0.0, 0.0, 0.035 ], [ 0.0, 1.0, 0.0, 0.04020000000000001 ], [ 0.0, 0.0, -1.0, -0.0768 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.035, -0.038577012636807594, -0.062438713655560064 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_bracket.brep", "geometry_sha256": "bed0db8c199b7b8f6a58ba93e35efd2c081df17753a30a8746bc35c5230b3d3e", "inertia_about_com_kg_m2": [ [ 1.3747155076349405e-06, -1.5420773892946657e-23, -1.1409788669191996e-22 ], [ -1.5420773892946657e-23, 1.7006733474491073e-06, 2.7527905770356783e-07 ], [ -1.1409788669191996e-22, 2.7527905770356783e-07, 7.334465605378601e-07 ] ], "instance_id": "iso_bracket_float_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.007025686001403315, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_float_4_to_subtray:foot_face", "@mate:isolator_4_float_check:isolator_face_outer" ], "mpn": null, "occurrence_index": 7, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_bracket", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.035 ], [ 0.0, -1.0, 0.0, -0.04020000000000001 ], [ 0.0, 0.0, -1.0, -0.0768 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -1.4151617055879297e-18, 4.487980856595992e-19, -0.029400000000000003 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/iso_deck.brep", "geometry_sha256": "50153e6d9deb04eeb214a02d743a49587d5c0528f4e1a2a403f77caaac585d34", "inertia_about_com_kg_m2": [ [ 0.00017307505422022745, -1.3904355000704526e-21, 3.42929524776992e-23 ], [ -1.3904355000704526e-21, 0.000172911660690031, -1.505413820268586e-22 ], [ 3.42929524776992e-23, -1.505413820268586e-22, 0.0003458660466591038 ] ], "instance_id": "iso_deck", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09234815139391597, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_fixed_1_to_deck:bracket_1_seat", "@mate:iso_bracket_fixed_2_to_deck:bracket_2_seat", "@mate:iso_bracket_fixed_3_to_deck:bracket_3_seat", "@mate:iso_bracket_fixed_4_to_deck:bracket_4_seat", "@mate:iso_deck_rail_2_check:rail_seat", "@mate:iso_deck_to_rail_1:rail_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "iso_deck", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, -0.0308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.035, 0.0565, -0.0538 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/isolator.brep", "geometry_sha256": "7d01871f9414f2e48064d7b9f79d50cddbed55c8a443c29b74260168cd2ac4fd", "inertia_about_com_kg_m2": [ [ 3.7300875000000005e-07, 1.1208442149872719e-23, -3.065032890069691e-26 ], [ 1.1208442149872719e-23, 3.7300875e-07, 1.2089397876327266e-22 ], [ -3.065032890069691e-26, 1.2089397876327266e-22, 5.4675e-07 ] ], "instance_id": "isolator_1", "link_id": "base_link", "manufacturer": "Enidine (ITT)", "mass_kg": 0.0045000000000000005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_bracket_float_1_to_isolator_1:bar_a", "@mate:isolator_1_to_fixed_bracket:bar_b" ], "mpn": "CR2-400-D", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "isolator_enidine_cr2_400", "placement_body_m": [ [ -1.0, 0.0, 0.0, -0.035 ], [ 0.0, 1.0, 0.0, 0.043000000000000003 ], [ 0.0, 0.0, -1.0, -0.0538 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.035, -0.0565, -0.0538 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/isolator.brep", "geometry_sha256": "7d01871f9414f2e48064d7b9f79d50cddbed55c8a443c29b74260168cd2ac4fd", "inertia_about_com_kg_m2": [ [ 3.7300875000000005e-07, 1.1208442149872719e-23, 3.065032890069691e-26 ], [ 1.1208442149872719e-23, 3.7300875e-07, -1.2089397876327266e-22 ], [ 3.065032890069691e-26, -1.2089397876327266e-22, 5.4675e-07 ] ], "instance_id": "isolator_2", "link_id": "base_link", "manufacturer": "Enidine (ITT)", "mass_kg": 0.0045000000000000005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:isolator_2_float_check:bar_a", "@mate:isolator_2_to_fixed_bracket:bar_b" ], "mpn": "CR2-400-D", "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "isolator_enidine_cr2_400", "placement_body_m": [ [ 1.0, 0.0, 0.0, -0.035 ], [ 0.0, -1.0, 0.0, -0.043000000000000003 ], [ 0.0, 0.0, -1.0, -0.0538 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.035, 0.0565, -0.0538 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/isolator.brep", "geometry_sha256": "7d01871f9414f2e48064d7b9f79d50cddbed55c8a443c29b74260168cd2ac4fd", "inertia_about_com_kg_m2": [ [ 3.7300875000000005e-07, 1.1208442149872719e-23, -3.065032890069691e-26 ], [ 1.1208442149872719e-23, 3.7300875e-07, 1.2089397876327266e-22 ], [ -3.065032890069691e-26, 1.2089397876327266e-22, 5.4675e-07 ] ], "instance_id": "isolator_3", "link_id": "base_link", "manufacturer": "Enidine (ITT)", "mass_kg": 0.0045000000000000005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:isolator_3_float_check:bar_a", "@mate:isolator_3_to_fixed_bracket:bar_b" ], "mpn": "CR2-400-D", "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "isolator_enidine_cr2_400", "placement_body_m": [ [ -1.0, 0.0, 0.0, 0.035 ], [ 0.0, 1.0, 0.0, 0.043000000000000003 ], [ 0.0, 0.0, -1.0, -0.0538 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.035, -0.0565, -0.0538 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "envelope_only", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/isolator.brep", "geometry_sha256": "7d01871f9414f2e48064d7b9f79d50cddbed55c8a443c29b74260168cd2ac4fd", "inertia_about_com_kg_m2": [ [ 3.7300875000000005e-07, 1.1208442149872719e-23, 3.065032890069691e-26 ], [ 1.1208442149872719e-23, 3.7300875e-07, -1.2089397876327266e-22 ], [ 3.065032890069691e-26, -1.2089397876327266e-22, 5.4675e-07 ] ], "instance_id": "isolator_4", "link_id": "base_link", "manufacturer": "Enidine (ITT)", "mass_kg": 0.0045000000000000005, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:isolator_4_float_check:bar_a", "@mate:isolator_4_to_fixed_bracket:bar_b" ], "mpn": "CR2-400-D", "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "isolator_enidine_cr2_400", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.035 ], [ 0.0, -1.0, 0.0, -0.043000000000000003 ], [ 0.0, 0.0, -1.0, -0.0538 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688776, 0.09999999999999999, -0.02366077351856759 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_lower.brep", "geometry_sha256": "2cd57ba3056de5d15e90d66c9c42d6ae38aff8634cf3d56812fa4bb050f69870", "inertia_about_com_kg_m2": [ [ 6.28106721049592e-05, 4.900308817325956e-06, -2.1763926160847355e-20 ], [ 4.900308817325956e-06, 5.715228287536829e-05, -1.1180330490225024e-21 ], [ -2.1763926160847355e-20, -1.1180330490225024e-21, 8.017636588852903e-05 ] ], "instance_id": "leg_clamp_lower_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.13687590391812376, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_1_clamp_lower_to_arm:arm_bore", "@mate:leg_1_clamp_on_tube_check:arm_bore", "@mate:leg_1_clamp_upper_to_lower:split_face", "@mate:leg_1_tube_to_clamp:leg_socket" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_lower", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.17320508075688776 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, -0.0448 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.17320508075688776, 0.09999999999999999, -0.023660773518567588 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_lower.brep", "geometry_sha256": "2cd57ba3056de5d15e90d66c9c42d6ae38aff8634cf3d56812fa4bb050f69870", "inertia_about_com_kg_m2": [ [ 6.281067210495919e-05, -4.9003088173259624e-06, 1.7124569370017042e-20 ], [ -4.9003088173259624e-06, 5.7152282875368296e-05, 9.213960431836195e-21 ], [ 1.7124569370017042e-20, 9.213960431836195e-21, 8.017636588852903e-05 ] ], "instance_id": "leg_clamp_lower_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.13687590391812376, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_2_clamp_lower_to_arm:arm_bore", "@mate:leg_2_clamp_on_tube_check:arm_bore", "@mate:leg_2_clamp_upper_to_lower:split_face", "@mate:leg_2_tube_to_clamp:leg_socket" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_lower", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.17320508075688776 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, -0.0448 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.1732050807568877, -0.10000000000000003, -0.02366077351856758 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_lower.brep", "geometry_sha256": "2cd57ba3056de5d15e90d66c9c42d6ae38aff8634cf3d56812fa4bb050f69870", "inertia_about_com_kg_m2": [ [ 6.281067210495917e-05, 4.900308817325964e-06, 9.940201551087735e-21 ], [ 4.900308817325964e-06, 5.715228287536826e-05, -6.4677646787253994e-21 ], [ 9.940201551087735e-21, -6.4677646787253994e-21, 8.017636588852903e-05 ] ], "instance_id": "leg_clamp_lower_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.13687590391812376, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_3_clamp_lower_to_arm:arm_bore", "@mate:leg_3_clamp_on_tube_check:arm_bore", "@mate:leg_3_clamp_upper_to_lower:split_face", "@mate:leg_3_tube_to_clamp:leg_socket" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_lower", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.1732050807568877 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.10000000000000003 ], [ 0.0, 0.0, 1.0, -0.0448 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688767, -0.10000000000000009, -0.023660773518567584 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_lower.brep", "geometry_sha256": "2cd57ba3056de5d15e90d66c9c42d6ae38aff8634cf3d56812fa4bb050f69870", "inertia_about_com_kg_m2": [ [ 6.281067210495912e-05, -4.900308817325963e-06, -5.260065274553267e-21 ], [ -4.900308817325963e-06, 5.7152282875368275e-05, -2.2609793033702334e-22 ], [ -5.260065274553267e-21, -2.2609793033702334e-22, 8.017636588852901e-05 ] ], "instance_id": "leg_clamp_lower_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.13687590391812376, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_4_clamp_lower_to_arm:arm_bore", "@mate:leg_4_clamp_on_tube_check:arm_bore", "@mate:leg_4_clamp_upper_to_lower:split_face", "@mate:leg_4_tube_to_clamp:leg_socket" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_lower", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.1732050807568877 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.10000000000000009 ], [ 0.0, 0.0, 1.0, -0.0448 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688776, 0.09999999999999999, 0.013155668856463892 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_upper.brep", "geometry_sha256": "aeedfd3fb3bb38548c6c5dd68a863866c5ff2c695b750f4af731513040ecdba5", "inertia_about_com_kg_m2": [ [ 2.3404535635646092e-05, 3.4391503626259126e-06, 3.1244128545869648e-21 ], [ 3.4391503626259126e-06, 1.9433346860354744e-05, 1.7041384375620867e-21 ], [ 3.1244128545869648e-21, 1.7041384375620867e-21, 3.7617159904641255e-05 ] ], "instance_id": "leg_clamp_upper_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0667754211267821, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_1_clamp_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_upper", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.17320508075688776 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.17320508075688776, 0.09999999999999999, 0.013155668856463899 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_upper.brep", "geometry_sha256": "aeedfd3fb3bb38548c6c5dd68a863866c5ff2c695b750f4af731513040ecdba5", "inertia_about_com_kg_m2": [ [ 2.340453563564609e-05, -3.439150362625911e-06, -9.217722435537903e-22 ], [ -3.439150362625911e-06, 1.9433346860354744e-05, -2.453055532581925e-21 ], [ -9.217722435537903e-22, -2.453055532581925e-21, 3.761715990464126e-05 ] ], "instance_id": "leg_clamp_upper_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0667754211267821, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_2_clamp_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_upper", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.17320508075688776 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.1732050807568877, -0.10000000000000003, 0.0131556688564639 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_upper.brep", "geometry_sha256": "aeedfd3fb3bb38548c6c5dd68a863866c5ff2c695b750f4af731513040ecdba5", "inertia_about_com_kg_m2": [ [ 2.3404535635646082e-05, 3.439150362625912e-06, -5.765716393308193e-21 ], [ 3.439150362625912e-06, 1.9433346860354754e-05, 7.881555241975147e-22 ], [ -5.765716393308193e-21, 7.881555241975147e-22, 3.761715990464126e-05 ] ], "instance_id": "leg_clamp_upper_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0667754211267821, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_3_clamp_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_upper", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.1732050807568877 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.10000000000000003 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688767, -0.10000000000000009, 0.013155668856463899 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_clamp_upper.brep", "geometry_sha256": "aeedfd3fb3bb38548c6c5dd68a863866c5ff2c695b750f4af731513040ecdba5", "inertia_about_com_kg_m2": [ [ 2.340453563564608e-05, -3.439150362625913e-06, -2.374585971494444e-21 ], [ -3.439150362625913e-06, 1.9433346860354748e-05, -5.14326919320687e-22 ], [ -2.374585971494444e-21, -5.14326919320687e-22, 3.761715990464126e-05 ] ], "instance_id": "leg_clamp_upper_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0667754211267821, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_4_clamp_upper_to_lower:split_face" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_clamp_upper", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.1732050807568877 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.10000000000000009 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688776, 0.09999999999999999, -0.1786533023728499 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_elbow.brep", "geometry_sha256": "37da5baf358fc7548e35cb60fbe7ef89a42449e92d837ffbbea0a6a4eecabd34", "inertia_about_com_kg_m2": [ [ 6.942769183371129e-05, 1.2628990155803341e-21, -3.45484453112834e-20 ], [ 1.2628990155803341e-21, 6.36879773155606e-05, 8.656898787838146e-21 ], [ -3.45484453112834e-20, 8.656898787838146e-21, 5.379155853269611e-05 ] ], "instance_id": "leg_elbow_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12011920621197206, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_1_elbow_to_tube:leg_socket", "@mate:skid_1_tube_to_elbow:skid_bore" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_elbow", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.17320508075688776 ], [ 0.0, 1.0, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, -0.2108 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.17320508075688776, 0.09999999999999999, -0.1786533023728499 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_elbow.brep", "geometry_sha256": "37da5baf358fc7548e35cb60fbe7ef89a42449e92d837ffbbea0a6a4eecabd34", "inertia_about_com_kg_m2": [ [ 6.942769183371125e-05, 3.384601661045374e-22, -4.611262866162448e-20 ], [ 3.384601661045374e-22, 6.368797731556057e-05, 1.1597144362956156e-20 ], [ -4.611262866162448e-20, 1.1597144362956156e-20, 5.379155853269611e-05 ] ], "instance_id": "leg_elbow_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12011920621197206, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_2_elbow_to_tube:leg_socket", "@mate:skid_1_far_elbow_check:skid_bore" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_elbow", "placement_body_m": [ [ 1.0, 0.0, 0.0, -0.17320508075688776 ], [ 0.0, 1.0, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, -0.2108 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.1732050807568877, -0.10000000000000003, -0.17865330237284988 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_elbow.brep", "geometry_sha256": "37da5baf358fc7548e35cb60fbe7ef89a42449e92d837ffbbea0a6a4eecabd34", "inertia_about_com_kg_m2": [ [ 6.942769183371107e-05, 1.746998182844193e-21, 4.049234718314566e-21 ], [ 1.746998182844193e-21, 6.368797731556043e-05, 1.599598677146785e-20 ], [ 4.049234718314566e-21, 1.599598677146785e-20, 5.379155853269612e-05 ] ], "instance_id": "leg_elbow_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12011920621197206, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_3_elbow_to_tube:leg_socket", "@mate:skid_2_far_elbow_check:skid_bore" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_elbow", "placement_body_m": [ [ 1.0, 0.0, 0.0, -0.1732050807568877 ], [ 0.0, 1.0, 0.0, -0.10000000000000003 ], [ 0.0, 0.0, 1.0, -0.2108 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.1732050807568877, -0.10000000000000009, -0.17865330237284988 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_elbow.brep", "geometry_sha256": "37da5baf358fc7548e35cb60fbe7ef89a42449e92d837ffbbea0a6a4eecabd34", "inertia_about_com_kg_m2": [ [ 6.942769183371117e-05, 3.496908670115934e-22, -2.0055835794610357e-20 ], [ 3.496908670115934e-22, 6.36879773155605e-05, -1.3030390417720392e-21 ], [ -2.0055835794610357e-20, -1.3030390417720392e-21, 5.379155853269611e-05 ] ], "instance_id": "leg_elbow_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.12011920621197206, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_4_elbow_to_tube:leg_socket", "@mate:skid_2_tube_to_elbow:skid_bore" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_elbow", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.1732050807568877 ], [ 0.0, 1.0, 0.0, -0.10000000000000009 ], [ 0.0, 0.0, 1.0, -0.2108 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688776, 0.09999999999999998, -0.09699999999999996 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_tube.brep", "geometry_sha256": "3d4497011c7881a86b4e06114f5fb08da01200bbeac2b53105449ebe1010e4c0", "inertia_about_com_kg_m2": [ [ 6.345568125000005e-05, 4.2664411619257076e-20, 4.3128155223814234e-20 ], [ 4.2664411619257076e-20, 6.345568124999986e-05, -1.0016861858434288e-20 ], [ 4.3128155223814234e-20, -1.0016861858434288e-20, 6.536362500000016e-06 ] ], "instance_id": "leg_tube_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.03209999999999999, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_1_elbow_to_tube:end_a", "@mate:leg_1_tube_to_clamp:end_b" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_tube", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.17320508075688776 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, -0.17200000000000001 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.17320508075688776, 0.09999999999999999, -0.09699999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_tube.brep", "geometry_sha256": "3d4497011c7881a86b4e06114f5fb08da01200bbeac2b53105449ebe1010e4c0", "inertia_about_com_kg_m2": [ [ 6.345568125000008e-05, -3.747048324821709e-20, -1.894392624615925e-20 ], [ -3.747048324821709e-20, 6.345568125000008e-05, 3.918633458507847e-21 ], [ -1.894392624615925e-20, 3.918633458507847e-21, 6.53636250000002e-06 ] ], "instance_id": "leg_tube_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.03209999999999999, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_2_elbow_to_tube:end_a", "@mate:leg_2_tube_to_clamp:end_b" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_tube", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.17320508075688776 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.09999999999999999 ], [ 0.0, 0.0, 1.0, -0.17200000000000001 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.17320508075688767, -0.10000000000000002, -0.09699999999999996 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_tube.brep", "geometry_sha256": "3d4497011c7881a86b4e06114f5fb08da01200bbeac2b53105449ebe1010e4c0", "inertia_about_com_kg_m2": [ [ 6.345568124999992e-05, 3.1256318947151386e-20, 4.669898097890424e-20 ], [ 3.1256318947151386e-20, 6.34556812500001e-05, 1.6671582583829272e-20 ], [ 4.669898097890424e-20, 1.6671582583829272e-20, 6.536362500000015e-06 ] ], "instance_id": "leg_tube_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.03209999999999999, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_3_elbow_to_tube:end_a", "@mate:leg_3_tube_to_clamp:end_b" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_tube", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.1732050807568877 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.10000000000000003 ], [ 0.0, 0.0, 1.0, -0.17200000000000001 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.17320508075688773, -0.10000000000000012, -0.09700000000000002 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/leg_tube.brep", "geometry_sha256": "3d4497011c7881a86b4e06114f5fb08da01200bbeac2b53105449ebe1010e4c0", "inertia_about_com_kg_m2": [ [ 6.34556812500002e-05, -2.9911462493935694e-20, 5.1150919582652786e-20 ], [ -2.9911462493935694e-20, 6.34556812500003e-05, 1.643971078155071e-20 ], [ 5.1150919582652786e-20, 1.643971078155071e-20, 6.53636250000002e-06 ] ], "instance_id": "leg_tube_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.03209999999999999, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:leg_4_elbow_to_tube:end_a", "@mate:leg_4_tube_to_clamp:end_b" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "leg_tube", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.1732050807568877 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.10000000000000009 ], [ 0.0, 0.0, 1.0, -0.17200000000000001 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.4243183859337303, 0.24490757026304402, 0.049322915766234564 ], "electrical_connector_ids": [], "electrical_record_ids": [ "M1..M6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor.brep", "geometry_sha256": "87bf33d96145e573bcc289ead5205b6cfa53a80f0381c1e1f3e02cb165262602", "inertia_about_com_kg_m2": [ [ 2.8664573547848174e-05, -5.808710549353393e-08, -4.978820470100488e-08 ], [ -5.808710549353393e-08, 2.8528351291625436e-05, -1.3510693712610267e-07 ], [ -4.978820470100488e-08, -1.3510693712610267e-07, 4.1973916930443844e-05 ] ], "instance_id": "motor_1", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.128, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_motor_to_plate:base_mount", "@mate:arm_1_propeller_to_motor:prop_mount" ], "mpn": "MN5008 KV170", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_tmotor_mn5008_kv170", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.424352447854375 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.0336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 6.301553994662168e-05, 0.489924286642942, 0.04932291576623454 ], "electrical_connector_ids": [], "electrical_record_ids": [ "M1..M6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor.brep", "geometry_sha256": "87bf33d96145e573bcc289ead5205b6cfa53a80f0381c1e1f3e02cb165262602", "inertia_about_com_kg_m2": [ [ 2.8612711764670795e-05, 8.802951997146986e-08, 9.211193742846616e-08 ], [ 8.802951997146986e-08, 2.858021307480227e-05, -1.1067131864261914e-07 ], [ 9.211193742846616e-08, -1.1067131864261914e-07, 4.19739169304438e-05 ] ], "instance_id": "motor_2", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.128, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_motor_to_plate:base_mount", "@mate:arm_2_propeller_to_motor:prop_mount" ], "mpn": "MN5008 KV170", "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_tmotor_mn5008_kv170", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 3.0003846579110155e-17 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.49 ], [ 0.0, 0.0, 1.0, 0.0336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.4242553703937837, 0.24501671637989794, 0.049322915766234335 ], "electrical_connector_ids": [], "electrical_record_ids": [ "M1..M6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor.brep", "geometry_sha256": "87bf33d96145e573bcc289ead5205b6cfa53a80f0381c1e1f3e02cb165262602", "inertia_about_com_kg_m2": [ [ 2.8512101946694204e-05, -2.9942414477954173e-08, 1.4190014212927616e-07 ], [ -2.9942414477954173e-08, 2.8680822892784363e-05, 2.4435618483427235e-08 ], [ 1.4190014212927616e-07, 2.4435618483427235e-08, 4.197391693044372e-05 ] ], "instance_id": "motor_3", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.128, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_motor_to_plate:base_mount", "@mate:arm_3_propeller_to_motor:prop_mount" ], "mpn": "MN5008 KV170", "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_tmotor_mn5008_kv170", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.424352447854375 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.0336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.4243183859337302, -0.2449075702630441, 0.04932291576623454 ], "electrical_connector_ids": [], "electrical_record_ids": [ "M1..M6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor.brep", "geometry_sha256": "87bf33d96145e573bcc289ead5205b6cfa53a80f0381c1e1f3e02cb165262602", "inertia_about_com_kg_m2": [ [ 2.8664573547848025e-05, -5.808710549353325e-08, 4.978820470104494e-08 ], [ -5.808710549353325e-08, 2.8528351291625338e-05, 1.3510693712663431e-07 ], [ 4.978820470104494e-08, 1.3510693712663431e-07, 4.197391693044376e-05 ] ], "instance_id": "motor_4", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.128, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_motor_to_plate:base_mount", "@mate:arm_4_propeller_to_motor:prop_mount" ], "mpn": "MN5008 KV170", "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_tmotor_mn5008_kv170", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.4243524478543749 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.24500000000000005 ], [ 0.0, 0.0, 1.0, 0.0336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -6.301553994668919e-05, -0.489924286642942, 0.049322915766234564 ], "electrical_connector_ids": [], "electrical_record_ids": [ "M1..M6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor.brep", "geometry_sha256": "87bf33d96145e573bcc289ead5205b6cfa53a80f0381c1e1f3e02cb165262602", "inertia_about_com_kg_m2": [ [ 2.8612711764670192e-05, 8.802951997147357e-08, -9.21119374284599e-08 ], [ 8.802951997147357e-08, 2.858021307480202e-05, 1.1067131864254722e-07 ], [ -9.21119374284599e-08, 1.1067131864254722e-07, 4.197391693044378e-05 ] ], "instance_id": "motor_5", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.128, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_motor_to_plate:base_mount", "@mate:arm_5_propeller_to_motor:prop_mount" ], "mpn": "MN5008 KV170", "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_tmotor_mn5008_kv170", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -9.001153973733046e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.49 ], [ 0.0, 0.0, 1.0, 0.0336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.42425537039378347, -0.2450167163798982, 0.049322915766234515 ], "electrical_connector_ids": [], "electrical_record_ids": [ "M1..M6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor.brep", "geometry_sha256": "87bf33d96145e573bcc289ead5205b6cfa53a80f0381c1e1f3e02cb165262602", "inertia_about_com_kg_m2": [ [ 2.851210194669195e-05, -2.994241447795183e-08, -1.419001421293512e-07 ], [ -2.994241447795183e-08, 2.8680822892782364e-05, -2.443561848328338e-08 ], [ -1.419001421293512e-07, -2.443561848328338e-08, 4.1973916930443675e-05 ] ], "instance_id": "motor_6", "link_id": "base_link", "manufacturer": "T-MOTOR", "mass_kg": 0.128, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_motor_to_plate:base_mount", "@mate:arm_6_propeller_to_motor:prop_mount" ], "mpn": "MN5008 KV170", "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_tmotor_mn5008_kv170", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.42435244785437476 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.24500000000000025 ], [ 0.0, 0.0, 1.0, 0.0336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.424352447854375, 0.24499999999999997, 0.028290942184534793 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor_plate.brep", "geometry_sha256": "f46f26bdc651af79d42642096f4148d46831bd884062725abad119d1d89e3d00", "inertia_about_com_kg_m2": [ [ 3.232246343784137e-05, -1.0074923082470385e-20, -3.801962262495587e-21 ], [ -1.0074923082470385e-20, 3.232246343784137e-05, -3.080906733903256e-21 ], [ -3.801962262495587e-21, -3.080906733903256e-21, 6.316879104879345e-05 ] ], "instance_id": "motor_plate_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0711823962041631, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_motor_plate_to_boom:boom_seat", "@mate:arm_1_motor_to_plate:motor_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_plate", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.424352447854375 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 3.4508858225771435e-17, 0.49, 0.02829094218453479 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor_plate.brep", "geometry_sha256": "f46f26bdc651af79d42642096f4148d46831bd884062725abad119d1d89e3d00", "inertia_about_com_kg_m2": [ [ 3.232246343784136e-05, -3.651943994159369e-21, -1.7815861162869512e-22 ], [ -3.651943994159369e-21, 3.232246343784136e-05, 8.061375625099577e-21 ], [ -1.7815861162869512e-22, 8.061375625099577e-21, 6.316879104879342e-05 ] ], "instance_id": "motor_plate_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0711823962041631, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_motor_plate_to_boom:boom_seat", "@mate:arm_2_motor_to_plate:motor_seat" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_plate", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 3.0003846579110155e-17 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.49 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.424352447854375, 0.24499999999999997, 0.02829094218453479 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor_plate.brep", "geometry_sha256": "f46f26bdc651af79d42642096f4148d46831bd884062725abad119d1d89e3d00", "inertia_about_com_kg_m2": [ [ 3.232246343784135e-05, -8.55454160841896e-22, -4.725507121647084e-21 ], [ -8.55454160841896e-22, 3.232246343784137e-05, 3.380027661115163e-21 ], [ -4.725507121647084e-21, 3.380027661115163e-21, 6.316879104879342e-05 ] ], "instance_id": "motor_plate_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0711823962041631, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_motor_plate_to_boom:boom_seat", "@mate:arm_3_motor_to_plate:motor_seat" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_plate", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.424352447854375 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.42435244785437487, -0.24500000000000002, 0.028290942184534793 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor_plate.brep", "geometry_sha256": "f46f26bdc651af79d42642096f4148d46831bd884062725abad119d1d89e3d00", "inertia_about_com_kg_m2": [ [ 3.232246343784137e-05, 8.227718240050913e-22, 4.0925412299047594e-21 ], [ 8.227718240050913e-22, 3.232246343784138e-05, -4.68385023443639e-21 ], [ 4.0925412299047594e-21, -4.68385023443639e-21, 6.316879104879345e-05 ] ], "instance_id": "motor_plate_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0711823962041631, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_motor_plate_to_boom:boom_seat", "@mate:arm_4_motor_to_plate:motor_seat" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_plate", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.4243524478543749 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.24500000000000005 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -9.051032069557181e-17, -0.49, 0.02829094218453479 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor_plate.brep", "geometry_sha256": "f46f26bdc651af79d42642096f4148d46831bd884062725abad119d1d89e3d00", "inertia_about_com_kg_m2": [ [ 3.232246343784137e-05, -6.0409473100317095e-21, 7.089565922355969e-22 ], [ -6.0409473100317095e-21, 3.232246343784136e-05, -3.856384373502831e-21 ], [ 7.089565922355969e-22, -3.856384373502831e-21, 6.316879104879343e-05 ] ], "instance_id": "motor_plate_5", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0711823962041631, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_motor_plate_to_boom:boom_seat", "@mate:arm_5_motor_to_plate:motor_seat" ], "mpn": null, "occurrence_index": 4, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_plate", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -9.001153973733046e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.49 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.42435244785437476, -0.24500000000000022, 0.028290942184534793 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/motor_plate.brep", "geometry_sha256": "f46f26bdc651af79d42642096f4148d46831bd884062725abad119d1d89e3d00", "inertia_about_com_kg_m2": [ [ 3.232246343784137e-05, 5.773117024432377e-21, 3.114680475642926e-22 ], [ 5.773117024432377e-21, 3.2322463437841386e-05, 6.795720686591153e-22 ], [ 3.114680475642926e-22, 6.795720686591153e-22, 6.316879104879345e-05 ] ], "instance_id": "motor_plate_6", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.0711823962041631, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_motor_plate_to_boom:boom_seat", "@mate:arm_6_motor_to_plate:motor_seat" ], "mpn": null, "occurrence_index": 5, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "motor_plate", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.42435244785437476 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.24500000000000025 ], [ 0.0, 0.0, 1.0, 0.0224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 7.220696262213645e-18, 0.06063110970318994, -0.026600000000000002 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/payload_rail.brep", "geometry_sha256": "4ccfbb15b08755a4f5264d45b7d0335c50a6c2ccecd701f742507288ddea1a9c", "inertia_about_com_kg_m2": [ [ 8.325734953301767e-06, -1.833491750750002e-21, 3.915947672794573e-22 ], [ -1.833491750750002e-21, 0.00039275132357276287, 1.0695657692849636e-23 ], [ 3.915947672794573e-22, 1.0695657692849636e-23, 0.00040101088861143545 ] ], "instance_id": "payload_rail_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.05064024078783191, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_deck_to_rail_1:payload_face", "@mate:payload_rail_1_to_hub:plate_seat" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "payload_rail", "placement_body_m": [ [ 1.0, 0.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0, 0.06 ], [ 0.0, 0.0, 1.0, -0.028 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -7.220696262213645e-18, -0.06063110970318994, -0.026600000000000002 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/payload_rail.brep", "geometry_sha256": "4ccfbb15b08755a4f5264d45b7d0335c50a6c2ccecd701f742507288ddea1a9c", "inertia_about_com_kg_m2": [ [ 8.325734953301767e-06, -1.833491750750002e-21, -3.915947672794573e-22 ], [ -1.833491750750002e-21, 0.00039275132357276287, -1.0695657692849636e-23 ], [ -3.915947672794573e-22, -1.0695657692849636e-23, 0.00040101088861143545 ] ], "instance_id": "payload_rail_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.05064024078783191, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:iso_deck_rail_2_check:payload_face", "@mate:payload_rail_2_to_hub:plate_seat" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "payload_rail", "placement_body_m": [ [ -1.0, 0.0, 0.0, 0.0 ], [ 0.0, -1.0, 0.0, -0.06 ], [ 0.0, 0.0, 1.0, -0.028 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.4243528127221386, 0.24500027257485604, 0.06270591248164047 ], "electrical_connector_ids": [], "electrical_record_ids": [ "PROP1..PROP6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/propeller.brep", "geometry_sha256": "13c47db1abe27353ae7f41a5ab830d017fec996af2e4cd52ef55c55eda62af87", "inertia_about_com_kg_m2": [ [ 0.00019105090407971762, -0.000311842034564591, -2.244728866710592e-12 ], [ -0.000311842034564591, 0.0005303125108928297, -5.662990181878577e-12 ], [ -2.244728866710592e-12, -5.662990181878577e-12, 0.0007204179311982432 ] ], "instance_id": "propeller_1", "link_id": "rotor_1", "manufacturer": "T-MOTOR", "mass_kg": 0.063, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_1_propeller_to_motor:hub_mount" ], "mpn": "P18*6.1 CF Polish", "occurrence_index": 0, "parent_integration_unit_id": "unit:link:rotor_1", "part_or_mpn_id": "prop_tmotor_p18x61_cf", "placement_body_m": [ [ 0.8660254037844387, -0.49999999999999994, 0.0, 0.424352447854375 ], [ 0.49999999999999994, 0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.060599999999999994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -5.3622867953758196e-08, 0.4900004522721804, 0.06270591248164047 ], "electrical_connector_ids": [], "electrical_record_ids": [ "PROP1..PROP6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/propeller.brep", "geometry_sha256": "13c47db1abe27353ae7f41a5ab830d017fec996af2e4cd52ef55c55eda62af87", "inertia_about_com_kg_m2": [ [ 0.0007155602330903123, 9.016432267854091e-06, 3.781928929094231e-12 ], [ 9.016432267854091e-06, 5.803181882234902e-06, -4.775487310739747e-12 ], [ 3.781928929094231e-12, -4.775487310739747e-12, 0.0007204179311982428 ] ], "instance_id": "propeller_2", "link_id": "rotor_2", "manufacturer": "T-MOTOR", "mass_kg": 0.063, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_2_propeller_to_motor:hub_mount" ], "mpn": "P18*6.1 CF Polish", "occurrence_index": 1, "parent_integration_unit_id": "unit:link:rotor_2", "part_or_mpn_id": "prop_tmotor_p18x61_cf", "placement_body_m": [ [ 6.123233995736766e-17, -1.0, 0.0, 3.0003846579110155e-17 ], [ 1.0, 6.123233995736766e-17, 0.0, 0.49 ], [ 0.0, 0.0, 1.0, 0.060599999999999994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.4243528663450066, 0.24500017969732427, 0.06270591248164047 ], "electrical_connector_ids": [], "electrical_record_ids": [ "PROP1..PROP6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/propeller.brep", "geometry_sha256": "13c47db1abe27353ae7f41a5ab830d017fec996af2e4cd52ef55c55eda62af87", "inertia_about_com_kg_m2": [ [ 0.00017543398528879084, 0.0003028256022967368, 6.026657786954821e-12 ], [ 0.0003028256022967368, 0.0005459294296837566, 8.875028712312575e-13 ], [ 6.026657786954821e-12, 8.875028712312575e-13, 0.0007204179311982428 ] ], "instance_id": "propeller_3", "link_id": "rotor_3", "manufacturer": "T-MOTOR", "mass_kg": 0.063, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_3_propeller_to_motor:hub_mount" ], "mpn": "P18*6.1 CF Polish", "occurrence_index": 2, "parent_integration_unit_id": "unit:link:rotor_3", "part_or_mpn_id": "prop_tmotor_p18x61_cf", "placement_body_m": [ [ -0.8660254037844387, -0.49999999999999994, 0.0, -0.424352447854375 ], [ 0.49999999999999994, -0.8660254037844387, 0.0, 0.24499999999999997 ], [ 0.0, 0.0, 1.0, 0.060599999999999994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.42435281272213854, -0.24500027257485613, 0.06270591248164047 ], "electrical_connector_ids": [], "electrical_record_ids": [ "PROP1..PROP6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/propeller.brep", "geometry_sha256": "13c47db1abe27353ae7f41a5ab830d017fec996af2e4cd52ef55c55eda62af87", "inertia_about_com_kg_m2": [ [ 0.00019105090407971784, -0.000311842034564591, 2.2447288694811936e-12 ], [ -0.000311842034564591, 0.0005303125108928295, 5.662990186040801e-12 ], [ 2.2447288694811936e-12, 5.662990186040801e-12, 0.0007204179311982431 ] ], "instance_id": "propeller_4", "link_id": "rotor_4", "manufacturer": "T-MOTOR", "mass_kg": 0.063, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_4_propeller_to_motor:hub_mount" ], "mpn": "P18*6.1 CF Polish", "occurrence_index": 3, "parent_integration_unit_id": "unit:link:rotor_4", "part_or_mpn_id": "prop_tmotor_p18x61_cf", "placement_body_m": [ [ -0.8660254037844386, 0.5000000000000001, 0.0, -0.4243524478543749 ], [ -0.5000000000000001, -0.8660254037844386, 0.0, -0.24500000000000005 ], [ 0.0, 0.0, 1.0, 0.060599999999999994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 5.3622867895333635e-08, -0.4900004522721804, 0.06270591248164047 ], "electrical_connector_ids": [], "electrical_record_ids": [ "PROP1..PROP6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/propeller.brep", "geometry_sha256": "13c47db1abe27353ae7f41a5ab830d017fec996af2e4cd52ef55c55eda62af87", "inertia_about_com_kg_m2": [ [ 0.0007155602330903123, 9.016432267854002e-06, -3.78192892944522e-12 ], [ 9.016432267854002e-06, 5.803181882234898e-06, 4.775487308195598e-12 ], [ -3.78192892944522e-12, 4.775487308195598e-12, 0.0007204179311982428 ] ], "instance_id": "propeller_5", "link_id": "rotor_5", "manufacturer": "T-MOTOR", "mass_kg": 0.063, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_5_propeller_to_motor:hub_mount" ], "mpn": "P18*6.1 CF Polish", "occurrence_index": 4, "parent_integration_unit_id": "unit:link:rotor_5", "part_or_mpn_id": "prop_tmotor_p18x61_cf", "placement_body_m": [ [ -1.8369701987210297e-16, 1.0, 0.0, -9.001153973733046e-17 ], [ -1.0, -1.8369701987210297e-16, 0.0, -0.49 ], [ 0.0, 0.0, 1.0, 0.060599999999999994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.42435286634500635, -0.24500017969732452, 0.06270591248164047 ], "electrical_connector_ids": [], "electrical_record_ids": [ "PROP1..PROP6" ], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/propeller.brep", "geometry_sha256": "13c47db1abe27353ae7f41a5ab830d017fec996af2e4cd52ef55c55eda62af87", "inertia_about_com_kg_m2": [ [ 0.00017543398528879108, 0.000302825602296737, -6.026657793963675e-12 ], [ 0.000302825602296737, 0.0005459294296837561, -8.875028713727911e-13 ], [ -6.026657793963675e-12, -8.875028713727911e-13, 0.0007204179311982426 ] ], "instance_id": "propeller_6", "link_id": "rotor_6", "manufacturer": "T-MOTOR", "mass_kg": 0.063, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:arm_6_propeller_to_motor:hub_mount" ], "mpn": "P18*6.1 CF Polish", "occurrence_index": 5, "parent_integration_unit_id": "unit:link:rotor_6", "part_or_mpn_id": "prop_tmotor_p18x61_cf", "placement_body_m": [ [ 0.8660254037844384, 0.5000000000000004, 0.0, 0.42435244785437476 ], [ -0.5000000000000004, 0.8660254037844384, 0.0, -0.24500000000000025 ], [ 0.0, 0.0, 1.0, 0.060599999999999994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -8.526512829121202e-17, 0.09999999999999998, -0.19299999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/skid_tube.brep", "geometry_sha256": "61ff2cce318f550ec995f2d4ffb77f8f8c3bea0b13419e86726de8e014c49f16", "inertia_about_com_kg_m2": [ [ 1.8737572500000095e-05, -1.6980041959885307e-19, 2.3279928948768557e-20 ], [ -1.6980041959885307e-19, 0.001427243619583339, -1.1671260625922376e-20 ], [ 2.3279928948768557e-20, -1.1671260625922376e-20, 0.001427243619583342 ] ], "instance_id": "skid_tube_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09201999999999995, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:skid_1_far_elbow_check:end_a", "@mate:skid_1_sleeve_1:axis", "@mate:skid_1_sleeve_2:axis", "@mate:skid_1_tube_to_elbow:end_b" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "skid_tube", "placement_body_m": [ [ 0.0, 0.0, 1.0, -0.215 ], [ 0.0, -1.0, 0.0, 0.09999999999999999 ], [ 1.0, 0.0, 0.0, -0.19299999999999998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -1.4210854715202004e-16, -0.1000000000000001, -0.19299999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/skid_tube.brep", "geometry_sha256": "61ff2cce318f550ec995f2d4ffb77f8f8c3bea0b13419e86726de8e014c49f16", "inertia_about_com_kg_m2": [ [ 1.873757250000012e-05, -2.0168379226601804e-19, 4.748734510665136e-20 ], [ -2.0168379226601804e-19, 0.001427243619583342, -1.0838224145320254e-20 ], [ 4.748734510665136e-20, -1.0838224145320254e-20, 0.001427243619583342 ] ], "instance_id": "skid_tube_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.09201999999999995, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:skid_2_far_elbow_check:end_a", "@mate:skid_2_sleeve_3:axis", "@mate:skid_2_sleeve_4:axis", "@mate:skid_2_tube_to_elbow:end_b" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "skid_tube", "placement_body_m": [ [ 0.0, 0.0, 1.0, -0.21500000000000005 ], [ 0.0, -1.0, 0.0, -0.10000000000000009 ], [ 1.0, 0.0, 0.0, -0.19299999999999998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.06000000000000001, 0.09999999999999999, -0.19299999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/skid_wear_sleeve.brep", "geometry_sha256": "ec0ffe272bb40b0fa6fc10072d30c39112c6f79afcb2c946108ea899729e6d77", "inertia_about_com_kg_m2": [ [ 6.898247573536506e-06, 5.6706647773780654e-21, 1.0582152754068374e-21 ], [ 5.6706647773780654e-21, 1.6851912029219133e-05, 2.388749501004932e-21 ], [ 1.0582152754068374e-21, 2.388749501004932e-21, 1.6851912029219177e-05 ] ], "instance_id": "skid_wear_sleeve_1", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.025130227954595474, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:skid_1_sleeve_1:bore" ], "mpn": null, "occurrence_index": 0, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "skid_wear_sleeve", "placement_body_m": [ [ 0.0, 0.0, 1.0, 0.02 ], [ 0.0, -1.0, 0.0, 0.09999999999999999 ], [ 1.0, 0.0, 0.0, -0.19299999999999998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.05999999999999999, 0.09999999999999999, -0.19299999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/skid_wear_sleeve.brep", "geometry_sha256": "ec0ffe272bb40b0fa6fc10072d30c39112c6f79afcb2c946108ea899729e6d77", "inertia_about_com_kg_m2": [ [ 6.898247573536506e-06, 5.616555380647358e-21, 5.878973752260206e-22 ], [ 5.616555380647358e-21, 1.6851912029219133e-05, 2.388749501004932e-21 ], [ 5.878973752260206e-22, 2.388749501004932e-21, 1.6851912029219177e-05 ] ], "instance_id": "skid_wear_sleeve_2", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.025130227954595474, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:skid_1_sleeve_2:bore" ], "mpn": null, "occurrence_index": 1, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "skid_wear_sleeve", "placement_body_m": [ [ 0.0, 0.0, 1.0, -0.1 ], [ 0.0, -1.0, 0.0, 0.09999999999999999 ], [ 1.0, 0.0, 0.0, -0.19299999999999998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ 0.05999999999999991, -0.10000000000000009, -0.19299999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/skid_wear_sleeve.brep", "geometry_sha256": "ec0ffe272bb40b0fa6fc10072d30c39112c6f79afcb2c946108ea899729e6d77", "inertia_about_com_kg_m2": [ [ 6.898247573536511e-06, -2.686892276991099e-21, -5.17349690198898e-21 ], [ -2.686892276991099e-21, 1.6851912029219204e-05, -1.8270939629401914e-21 ], [ -5.17349690198898e-21, -1.8270939629401914e-21, 1.685191202921923e-05 ] ], "instance_id": "skid_wear_sleeve_3", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.025130227954595474, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:skid_2_sleeve_3:bore" ], "mpn": null, "occurrence_index": 2, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "skid_wear_sleeve", "placement_body_m": [ [ 0.0, 0.0, 1.0, 0.019999999999999945 ], [ 0.0, -1.0, 0.0, -0.10000000000000009 ], [ 1.0, 0.0, 0.0, -0.19299999999999998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" }, { "com_body_m": [ -0.060000000000000074, -0.10000000000000009, -0.19299999999999998 ], "electrical_connector_ids": [], "electrical_record_ids": [], "geometry_fidelity": "exact", "geometry_format": "BREP", "geometry_path": "design_package/mechanical/parts/skid_wear_sleeve.brep", "geometry_sha256": "ec0ffe272bb40b0fa6fc10072d30c39112c6f79afcb2c946108ea899729e6d77", "inertia_about_com_kg_m2": [ [ 6.898247573536511e-06, -3.162694238909791e-21, -1.0346993803977964e-20 ], [ -3.162694238909791e-21, 1.6851912029219157e-05, -2.2195674538935815e-21 ], [ -1.0346993803977964e-20, -2.2195674538935815e-21, 1.685191202921923e-05 ] ], "instance_id": "skid_wear_sleeve_4", "link_id": "base_link", "manufacturer": null, "mass_kg": 0.025130227954595474, "mass_source": "design_package/mechanical/resolved_parts_mass_properties.json", "mount_port_ids": [ "@mate:skid_2_sleeve_4:bore" ], "mpn": null, "occurrence_index": 3, "parent_integration_unit_id": "unit:link:base_link", "part_or_mpn_id": "skid_wear_sleeve", "placement_body_m": [ [ 0.0, 0.0, 1.0, -0.10000000000000006 ], [ 0.0, -1.0, 0.0, -0.10000000000000009 ], [ 1.0, 0.0, 0.0, -0.19299999999999998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "placement_state": "fixed", "service_class": null, "source_artifact": "design_package/mechanical/mechanical_assembly_spec.json", "source_artifact_sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14", "source_stage": "stage2a_mechanical" } ], "join_rule": "normalised MPN equality AND manufacturer-token intersection; nested in PCBA when a netlist id is a PCB placement ref, or every refdes is on the board and of the record's own refdes class", "mechanical_cots_without_electrical_record": [ "battery_tattu_neo_compact_26000_12s", "dls2_micasense", "isolator_enidine_cr2_400" ], "metrics": { "electrical_records": 51, "electrical_records_physical": 50, "leaf_genealogy_coverage": 1.0, "mass_record_coverage": 1.0, "placed_mechanical_occurrences": 120, "realised_occurrences_off_board": 27, "required_occurrence_coverage": 0.84375, "required_occurrences_off_board": 32 }, "schema": "anubis.stage2f5.component_instance_manifest/1", "sources": { "battery_design": { "path": "design_package/electrical/battery_design.json", "sha256": "b8e660c55985416c9f36cb07687192c5a1e113efb74160d88b9dd0adf81442d0" }, "electrical_component_manifest": { "path": "design_package/electrical/component_manifest.json", "sha256": "a877a7a2d6825c557203d34e0ceebc560ae326e0dedea7ca753d94a1beaefd30" }, "mechanical_assembly_spec": { "path": "design_package/mechanical/mechanical_assembly_spec.json", "sha256": "560e66c267d0462fa7af846879ac89258781f7f1369ba78d8fcae8495102bd14" }, "pcb_placement_report": { "path": "design_package/pcb/placement_report.json", "sha256": "fd30a086e6d00fd02f4c16ea2831930894ac09887b6fd63d47f36c74b730a0a3" }, "resolved_mass": { "path": "design_package/mechanical/resolved_parts_mass_properties.json", "sha256": "38e01ec8afab325c99cbaa26ed8a76abe9c3b0b8fd4aee6d114f3a58c1ba1fa7" } } }