### Carriage

Frame: Carriage object (origin [0.0, 0.0, 0.0] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| C01 | turntable plate (ref: top plate) | rbox | 0.858, 0.858, 0.044, 0.055 | (0.000, 0.000, -0.022) | r1 r4 r7 | gunmetal | rounded corners R25, 3 px chamfer; a raised rounded pad 330x330x4 px in its middle under the slewing ring (r7) |
| C02 | stacked plates x5 | rbox | 0.8492, 0.8492, 0.0286, 0.0528 | (0.000, 0.000, -0.059) | r1 r4 r7 | gunmetal | five plates 13 px thick with 2.5 px V-grooves between them (Z -20..-95); alternate plates inset 2 px; worn lighter edges (r1-3 show scratched paint on the dark carriage) |
| C03 | strap band | rbox | 0.8624, 0.8624, 0.088, 0.0484 | (0.000, 0.000, -0.253) | r1 r4 r7 | gunmetal | Z -95..-135; on both rail-side faces (+-Y, the cheeks' outer faces in the ship): the dot panels and the strap+buckle |
| C03a | dot panels (2 per face, 4 total) | box | 0.154, 0.0066, 0.0616 | (0.330, 0.431, -0.253) | r4 r7 | gunmetal | both sides (mirror Y). a raised panel at each end of the band; 2 rows x 3 round dimples, dimple dia 7 px, pitch 13 px |
| C03b | strap (flat) | box | 0.132, 0.0088, 0.0308 | (0.209, 0.433, -0.246) | r4 r7 | gunmetal | both sides (mirror Y). between dot panel and buckle |
| C03c | buckle chain (5 links per face) | links | 0.44, 0.0132, 0.0396 | (0.000, 0.438, -0.255) | r4 r7 | steel | both sides (mirror Y). five articulated flat links, each 42x18x6 px with rounded ends and 2 pins; the two outer pairs angle down 12 deg, the centre link sits 10 px lower (the strap sags); static (no rig) |
| C04 | lower block (ref) | rbox | 0.8536, 0.8536, 0.066, 0.0528 | (0.000, 0.000, -0.330) | r1 r4 r7 | gunmetal | Z -135..-165 with one groove line 4 px under its top edge |
| C05 | skirt with chamfered notch | rbox | 0.858, 0.858, 0.044, 0.055 | (0.000, 0.000, -0.385) | r4 r7 | gunmetal | Z -165..-185; on the +-Y faces the middle 55% is cut back 15 px with 45 deg chamfers (the 'feet' at the ends); a thin raised line runs round the face 4 px from the edge |
| C06 | rail channel (cut through C02..C05) | channel | 0.858, 0.578, 0.285 | (0.000, 0.000, -0.265) | added | gunmetal | [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] U channel along X for the rail + running flanges, 0.578 m wide, from the cheek tops (ship z -3.775) down to ship z -4.06 (clears the rack by 0.01); pockets in its floor and cheeks for the rollers and the pinion; made with loops/extrusion, no boolean; the cheeks either side are 0.140 m thick |
| C07 | load wheels x4 | cyl | 0.1, 0.04 | (0.300, -0.254, -0.252); (-0.300, -0.254, -0.252) | added | steel | both sides (mirror Y). [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] in the cheeks, axles along Y; they roll on the TOP of the running flanges K01 (ship z -3.93 centre) |
| C08 | counter-rollers x4 | cyl | 0.06, 0.035 | (0.300, -0.254, -0.142); (-0.300, -0.254, -0.142) | added | steel | both sides (mirror Y). [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] under the running flanges (ship z -4.04 centre); hold the arm's tipping moment |
| C09 | side guide rollers x4 | cyl | 0.06, 0.03 | (0.200, -0.309, -0.187); (-0.200, -0.309, -0.187) | added | steel | both sides (mirror Y). [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] vertical axles; run on the flanges' outer edges (lateral load) |
| C10 | drive motor + gearbox + pinion | cyl | 0.12, 0.3 | (0.000, 0.000, -0.084) | added | gunmetal | [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] axis along Y under the rail; pinion dia 0.096 (module 12, 8 teeth) meshes with the rack K02 from below; the motor's end cap (dia 0.12, steel bolt ring, thin orange ring) shows on the carriage's outboard face |
| C11 | energy-chain bracket | box | 0.1, 0.14, 0.05 | (0.000, -0.497, -0.387) | added | steel | [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] on the inboard cheek top (ship +y); carries the chain's moving end at ship y -5.23 |
| C12 | buffer strike pads x2 | box | 0.02, 0.2, 0.08 | (0.439, 0.000, -0.112); (-0.439, 0.000, -0.112) | added | steel | [frame: Carriage object in metres: A axes (X along the rail, Y = ship -y, Z = ship DOWN), origin at the turntable face centre; ship world = (c + X, -5.795 - Y, -4.182 - Z)] steel pads on both end faces below the rail (ship z -4.11..-4.03), where the rail's end-stop buffers K03 meet them |
| C13 | slewing ring, fixed race | ring | 0.594, 0.528, 0.0176 | (0.000, 0.000, 0.009) | r1 r4 | gunmetal | on C01's pad; 24 bolt heads dia 8 px on a 255 px circle |

### Turret

Frame: Turret object (origin [0.0, 0.0, 0.0] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| T01 | slewing ring, turning race | ring | 0.5764, 0.0, 0.0484 | (0.000, 0.000, 0.033) | r1 r4 r7 | gunmetal | three stacked rings with 2 V-grooves (r4); hollow centre for the cables (hidden) |
| T02 | lower block (skirt) | rbox | 0.77, 0.726, 0.187, 0.044 | (-0.033, 0.000, 0.147) | r1 r2 r3 r4 r7 | paint_white | X -190..160, Z 25..110; corners R20; seams: one horizontal groove 30 px above its foot |
| T02a | back screw strips | box | 0.0066, 0.0396, 0.176 | (-0.422, 0.114, 0.147) | r7 | paint_white | both sides (mirror Y). two vertical strips on the back face (Y +-52) with 3 round screw heads each (dia 10 px, steel) |
| T02b | back latch slot | box | 0.0066, 0.088, 0.187 | (-0.422, 0.000, 0.147) | r7 | gunmetal | a vertical slot in the back face with a bent U-tab (30x60 px, bar 8 px) hooked over its top (r7 centre) |
| T02c | side recess | box | 0.132, 0.0088, 0.033 | (-0.066, 0.365, 0.099) | r1 r2 | gunmetal | both sides (mirror Y). a horizontal recessed slot (r1 x_img 1030) |
| T02d | rear corner glands | cyl | 0.066, 0.0484 | (-0.330, 0.365, 0.066) | r1 r7 | rubber | axis Y. both sides (mirror Y). where the side cable pairs end (r1 x_img 1135, y 1530) |
| T02e | front corner screws | disc | 0.022, 0.0066 | (0.352, 0.264, 0.132); (0.352, 0.264, 0.187); (0.352, 0.264, 0.220) | r4 | steel | axis X. both sides (mirror Y). three small screw heads up each front corner of the lower block (r4) |
| T02f | side slot panel | rbox | 0.154, 0.0088, 0.0484, 0.0176 | (-0.176, 0.365, 0.110) | r4 | paint_white | both sides (mirror Y). a recessed rounded slot panel low on each side of the lower block (r4, right of the cable) |
| T03 | front housing | plate2d | outline (0.550, 0.242) (0.550, 0.638) (0.440, 0.748) (0.132, 0.770) (-0.088, 0.748) (-0.088, 0.242) | (0.000, 0.000, 0.000) | r1 r2 r4 | paint_white | side outline in X-Z (px) extruded Y +-140; top front edge chamfered 50 px; a lid 130x6 px on top (x_img 870-1000); two horizontal seams and one vertical seam on each side; fillets 6 px |
| T03a | front housing top plug | cyl | 0.055, 0.0264 | (0.330, 0.000, 0.781) | r4 | paint_white | axis Z. small round plug on the lid |
| T04 | J2 ears | rbox | 0.572, 0.187, 0.572, 0.088 | (-0.341, 0.378, 0.517) | r1 r3 r7 | paint_white | both sides (mirror Y). the two side housings that hold the shoulder; inner faces at Y +-130 (the drum turns between them) |
| T04a | J2 motor caps | stack | dia 0.363 h 0.040 paint_white / dia 0.264 h 0.022 gunmetal / dia 0.167 h 0.007 orange / dia 0.154 h 0.031 gunmetal / dia 0.088 h 0.022 steel | (-0.341, 0.473, 0.517) | r1 r2 r3 r4 r7 | mixed | axis Y. both sides (mirror Y). a stack of rings on each ear's outer face (outer dia, height px, material): white bezel, dark ring, thin ORANGE ring, dark stepped hub with 3 rings, hex bolt in the centre (r1: the orange-ring cap at x_img 1155) |
| T05 | connector boss | stack | dia 0.114 h 0.022 paint_white / dia 0.066 h 0.018 gunmetal | (0.407, 0.312, 0.440) | r1 r2 r4 | mixed | axis Y. double ring boss on the front housing side (r1 x_img 815; r4 left of the gland) |
| T06 | cable port glands (side pairs start) | stack | dia 0.106 h 0.026 paint_white / dia 0.070 h 0.044 rubber | (0.187, 0.312, 0.440) | r1 r2 r3 r4 | mixed | axis Y. both sides (mirror Y). white collar + rubber sleeve; the cable pair leaves here (r1 x_img 915, y 1350) |
| T07 | orange hatch marking | decal | 0.154, 0.044 | (0.154, 0.310, 0.726) | r1 r2 r3 | orange | both sides (mirror Y). five 45-deg stripes in a thin frame + a thin line above it, on both sides of the front housing |
| T07a | warning stripes, lower block | decal | 0.066, 0.077 | (-0.374, 0.365, 0.198) | r1 | orange | small striped square (r1 x_img 1120, y 1460) |
| T08 | bundle gland (front top) | stack | dia 0.136 h 0.066 paint_white / dia 0.106 h 0.026 rubber | (0.451, 0.132, 0.700) | r1 r2 r4 | mixed | axis X. a round collar with a lip on the front housing top (r4); the multi-cable bundle leaves it forward |
| T09 | cable bundle (7 cables) | tube | 0.022 | (0.451, 0.132, 0.726); (0.638, 0.145, 0.726); (0.748, 0.154, 0.572); (0.759, 0.154, 0.440) | r1 r2 r4 | rubber | 7 black cables dia 10 px in a hexagonal pack (dia 34 px), arcing forward and down to the clamp T10; cable ends enter T11 |
| T10 | bundle clamp block | rbox | 0.154, 0.132, 0.11, 0.0176 | (0.726, 0.154, 0.407) | r1 r2 r4 | paint_white | two-part clamp with one bolt head (dia 15, steel) and a slot; orange tick on its face (r2) |
| T11 | belt-drive arm | rbox | 0.286, 0.154, 0.176, 0.022 | (0.682, 0.077, 0.242) | r1 r2 r4 | paint_white | white bracket from the front housing forward to the pulley; 3 small bolt heads (r4) |
| T12 | drive pulley (J1 motor) | stack | dia 0.172 h 0.088 paint_white / dia 0.132 h 0.013 gunmetal / dia 0.088 h 0.022 gunmetal / dia 0.040 h 0.026 steel | (0.671, 0.077, 0.242) | r1 r2 r3 r4 | mixed | axis Y. ringed white pulley (5 grooves) with a dark core and shaft (r1 x_img 695, y 1440) |
| T12b | drive motor end cap | stack | dia 0.128 h 0.026 paint_white / dia 0.097 h 0.009 gunmetal / dia 0.066 h 0.013 glass_dark | (0.550, 0.165, 0.242) | r2 r4 | mixed | axis Y. the J1 motor's end on the belt arm's outer side, coaxial with the pulley: white ring, dark ring, dark lens (r2 turret crop) |
| T13 | toothed belt | belt | 0.066, 0.0176 | (0.671, 0.077, 0.242); (0.330, 0.077, 0.154) | r1 r4 | rubber | black belt 30 px wide from the pulley T12 back to a hidden pulley in the lower block (x_img 850); teeth on the outside every 12 px (r4: rectangular lugs); static |
| T14 | idler pulley | stack | dia 0.066 h 0.026 gunmetal / dia 0.026 h 0.035 steel | (0.561, 0.077, 0.110) | r1 r4 | mixed | axis Y. small dark pulley with a bolt (r1 x_img 745) |
| T15 | side cable pairs (2 x 2 cables) | tube | 0.0264 | (0.187, 0.330, 0.440); (0.132, 0.660, 0.385); (-0.088, 0.726, 0.242); (-0.264, 0.550, 0.088); (-0.330, 0.385, 0.066) | r1 r2 r3 r4 r7 | rubber | both sides (mirror Y). two cables per side side by side 25 px apart; loop out to Y +-330 (r7) and down to T02d; rubber ferrules at both ends |
| T16 | dot vent | box | 0.088, 0.0066, 0.055 | (0.264, 0.312, 0.253) | r4 | gunmetal | dark panel with 6x4 round holes dia 4 px (r4, under the housing) |
| T17 | recessed vent slot | box | 0.033, 0.0088, 0.088 | (0.462, 0.312, 0.352) | r4 | gunmetal | both sides (mirror Y). a vertical slot with one sloped edge (r4) |

### LowerArm

Frame: LowerArm object (origin [-0.341, 0.0, 0.517] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| L01 | drum (J2 barrel) | cyl | 0.594, 0.462 | (0.000, 0.000, 0.000) | r1 r2 r3 r7 | gunmetal | axis Y. turns with the lower arm between the turret ears; perforated: side faces 24 holes dia 14 px on a 210 px circle; barrel face 2 rows x 24 holes dia 16 px at Y +-55 (r7); holes are blind recesses 8 px deep (quad rings) |
| L02 | root shells | plate2d | outline (0.363, 0.000) (0.000, 0.363) (-0.319, 0.275) (-0.385, 0.000) (0.000, -0.363) | (0.000, 0.000, 0.000) | r1 r3 r5 | paint_white | both sides (mirror Y). the white side shells round the drum (R 160 about J2, white rim ring visible round the drum in r1), Y +-205 outer, blending into the beam L03 |
| L03 | beam J2 -> knee -> crotch | plate2d | outline (0.209, 0.209) (-0.209, 0.715) (-0.385, 0.891) (-0.803, 0.627) (-0.693, 0.209) (-0.385, -0.011) | (0.000, 0.000, 0.000) | r1 r2 r3 r5 | paint_white | box section, Y +-205 outer; side outline in X-Z px; seams and raised panels on the sides (r5) |
| L04 | back channel | channel | 0.242, 0.099 | (-0.275, 0.000, -0.143); (-0.693, 0.000, 0.473); (-0.891, 0.000, 1.111) | r3 r5 r7 | gunmetal | recessed channel down the back face (Y +-55, 45 px deep) from the drum to the elbow; the J3 cylinder lies in it |
| L05 | rungs | box | 0.022, 0.242, 0.066 | (-0.275, 0.000, -0.143); (-0.891, 0.000, 1.111) | r1 r2 r5 r7 | gunmetal | cross ribs every 20 px along the channel (about 40); in r1/r2 they show as the dashed strip on the arm's upper edge |
| L06 | knee bosses | ring | 0.55, 0.44, 0.044 | (-0.524, 0.451, 0.330) | r1 r2 r3 r5 | paint_white | axis Y. both sides (mirror Y). raised white ring round each slotted cap |
| L07 | knee caps (radial slotted) | stack | dia 0.418 h 0.022 gunmetal / dia 0.264 h 0.013 gunmetal / dia 0.198 h 0.013 gunmetal / dia 0.132 h 0.013 gunmetal / dia 0.121 h 0.004 orange / dia 0.055 h 0.018 steel | (-0.524, 0.473, 0.330) | r1 r2 r3 r5 | mixed | axis Y. both sides (mirror Y). black disc with 10 radial slots (35x12 px, open at the rim like teeth, at r 70), a stepped inner hub, a thin ORANGE ring and a bolt; they cover the J3 cylinder's trunnion pin |
| L18 | front dark core + inner cap | plate2d | outline (-0.385, 0.583) (-0.605, 1.023) (-0.693, 1.199) (-0.539, 1.155) (-0.319, 0.715) | (0.000, 0.000, 0.000) | r1 r5 | gunmetal | between the side shells on the lower arm's front a dark core shows (r1: the black region under the upper arm; r5: dark plates with two round bosses dia 20 px and small bolt heads); an inner round cap dia 45 px at (-380, 0, 645) (r1 x_img 1380, y 905) |
| L08 | hexagon outline (orange) | decal | 0.11, 0.11 | (-0.176, 0.453, 0.297) | r1 r2 | orange | 3 px line, left side only (r1 x_img 1235, y 1165) |
| L09 | triangle outline (orange) | decal | 0.0396, 0.0396 | (-0.451, 0.453, 0.605) | r1 r5 | orange | small, left side (r1 x_img 1360, y 1040) |
| L10 | light slot | box | 0.0396, 0.0132, 0.308 | (-0.814, 0.453, 0.979) | r1 r5 | lamp | recessed slot inclined along the arm with a pale bar inside (r1 x_img 1505-1550, y 800-940); left side only; very faint glow |
| L11 | round button | stack | dia 0.066 h 0.013 gunmetal / dia 0.048 h 0.018 paint_white | (-0.726, 0.453, 0.660) | r1 r5 | mixed | axis Y. domed button, left side (r1 x_img 1485, y 1015) |
| L12 | stepped side panels | plate2d | outline (-0.539, 0.627) (-0.803, 0.891) (-0.891, 1.199) (-0.693, 1.023) | (0.000, 0.000, 0.000) | r1 r5 | paint_white | both sides (mirror Y). raised panels 6 px proud with 45 deg steps and the notch block near the knee top (r5) |
| L13 | handles (bent tube) | U | 0.154, 0.33, 0.0264 | (-0.693, 0.407, 0.319) | r1 r3 r5 r7 | paint_white | both sides (mirror Y). on the back face near each side edge at knee height, standing out backward 70 px; the outer leg has a segmented sleeve of 5 rings (r5); two small mounting blocks 18x18x12 px |
| L14 | elbow yoke cheeks | plate2d | outline (-0.693, 1.023) (-0.979, 1.155) (-1.067, 1.309) (-0.869, 1.496) (-0.693, 1.397) | (0.000, 0.000, 0.000) | r1 r2 r5 | paint_white | both sides (mirror Y). two cheeks Y +-(125..205) from the crotch (55% of knee->J3) to J3, rounded R 85 round J3; the upper arm turns between them |
| L15 | elbow caps | stack | dia 0.308 h 0.026 paint_white / dia 0.242 h 0.013 gunmetal / dia 0.220 h 0.026 gunmetal / dia 0.132 h 0.009 steel | (-0.869, 0.451, 1.309) | r1 r2 r3 r5 | mixed | axis Y. both sides (mirror Y). black cap with a straight slot 60x12 px across ('minus' screw head) and two small tick notches at 12 and 6 o'clock |
| L16 | inner channel guide + hose loop | box | 0.088, 0.132, 0.132 | (-0.891, 0.000, 1.155) | r3 | gunmetal | in the channel's upper end (r3: a threaded rod and a white sliding block); here: the J3 cylinder's hose loop and a guide block (added) |
| L17 | cable gland, back of elbow | stack | dia 0.075 h 0.022 paint_white / dia 0.053 h 0.031 rubber | (-1.067, 0.132, 1.243) | r1 r3 | mixed | axis X. twin gland where the two upper-arm cables U09 come in (r1 x_img 1620-1640, y 690-710) |

### Cylinder

Frame: Cylinder object: origin at the trunnion; at = (s, 0, 0) with s measured along the rod axis u = (-0.7997, 0, 0.6003) (lower-arm rest axes, toward the knob).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| R01 | barrel | cyl | 0.075, 0.8 | (0.100, 0.000, 0.000) | r1 r3 r5 | gunmetal | black barrel from 0.30 m behind the trunnion to 0.50 m ahead of it (middle trunnion), on the line to the knob; the part behind the trunnion stays inside the lower arm channel |
| R02 | trunnion block + pin | box | 0.1, 0.11, 0.1 | (0.000, 0.000, 0.000) | added | gunmetal | pin dia 0.06 across the lower arm, hidden by the knee caps |
| R03 | gland collar | cyl | 0.085, 0.04 | (0.480, 0.000, 0.000) | r1 r3 r5 | steel | bright ring where the rod leaves the barrel |
| R04 | hoses x2 | tube | 0.02 | - | added | rubber | [frame: A] from the barrel's two ports into the channel wall; hooked at both ends |

### Piston

Frame: Piston object: origin at the rod eye centre; at = (s, 0, 0) with s along the rod axis u (negative = into the barrel).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| R05 | piston rod | cyl | 0.05, 0.8 | (-0.400, 0.000, 0.000) | r1 r3 r5 | steel | chrome rod from its eye 0.80 m back to the piston |
| R06 | rod eye | ring | 0.075, 0.05, 0.024 | (0.000, 0.000, 0.000) | r1 r3 | steel | [frame: Piston object: origin at the rod eye centre] eye on the knob pin between the two truss plates |

### UpperArm

Frame: UpperArm object (origin [-1.21, 0.0, 1.826] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| U01 | elbow hub | cyl | 0.33, 0.506 | (0.000, 0.000, 0.000) | r1 r5 | gunmetal | axis Y. between the yoke cheeks (Y +-115) |
| U02 | housing (the hump) | plate2d | outline (-0.198, -0.066) (-0.110, 0.396) (0.176, 0.550) (0.484, 0.583) (0.858, 0.583) (0.858, 0.132) (0.550, 0.088) (0.176, -0.066) | (0.000, 0.000, 0.000) | r1 r2 r3 r5 | paint_white | side outline X-Z px, Y +-110; a raised spine along the top; a dark recess strip along the lower edge (x_img 1380-1500); seams |
| U03 | big caps | stack | dia 0.363 h 0.031 paint_white / dia 0.229 h 0.009 orange / dia 0.220 h 0.022 glass_dark / dia 0.158 h 0.013 steel | (0.634, 0.246, 0.341) | r1 r2 r3 | mixed | axis Y. both sides (mirror Y). white bezel, thin ORANGE ring, a dark glossy recessed disc and a slotted screw head (bar 70x14 px) inside |
| U04 | ribbed vents | box | 0.22, 0.0132, 0.121 | (0.176, 0.244, 0.209) | r1 r2 r3 r5 | paint_white | both sides (mirror Y). raised panel with 8 slots 10x45 px, pitch 12 px, inclined 30 deg along the top edge |
| U05 | indicator lights | stack | dia 0.073 h 0.009 gunmetal / dia 0.055 h 0.013 lamp | (0.429, 0.244, 0.198) | r1 r3 | mixed | axis Y. both sides (mirror Y). white lens in a dark ring; faint glow |
| U06 | small dot | disc | 0.0176, 0.0044 | (0.297, 0.244, 0.242) | r1 | gunmetal | axis Y.  |
| U07 | orange ticks | decal | 0.0308, 0.0308 | (0.055, 0.244, 0.396) | r1 r2 | orange | two small abstract chevrons (the reference has glyphs; no text here) |
| U08 | twin cable gland | rbox | 0.11, 0.088, 0.066, 0.0132 | (0.176, 0.110, 0.418) | r1 r2 r3 | paint_white | on the top behind the vents; two rubber glands dia 16 px face backward |
| U09 | two cables over the elbow | tube | 0.0264 | (0.176, 0.110, 0.418); (-0.198, 0.121, 0.594); (-0.572, 0.132, 0.352); (-0.462, 0.136, 0.066); (-0.198, 0.132, -0.066) | r1 r2 r3 r5 | rubber | cross J3: hooked at both ends, middle points blended 50/50 (see the rig); 18 px apart |
| U10 | truss plates (pair) | plate2d | outline (-0.022, 0.066) (0.110, -0.154) (-0.418, -0.440) (-0.528, -0.330) (-0.132, 0.066) | (0.000, 0.000, 0.000) | r1 r2 r3 r5 | paint_white | two plates Y +-(14..40) behind the elbow down to the knob; raised rim 8 px; 4 triangular cut-outs alternating (the 'ANN' pattern), dark backing visible through them; the rod eye sits between the plates |
| U11 | knob pin + caps | knurl | 0.1364, 0.044, 24 | (-0.466, 0.101, -0.370) | r1 r3 r5 | gunmetal | axis Y. both sides (mirror Y). pin dia 50 px through both plates; knurled caps (24 ribs) on both sides with a dark dome centre dia 25 |
| U12 | front block (J4 housing) | rbox | 0.209, 0.462, 0.451, 0.0264 | (1.008, 0.000, 0.356) | r1 r2 r3 | paint_white | X -140..-45; 3 ring grooves round it; a small square button (x_img 1090, y 520), a small white indicator rectangle 18x10 px (x_img 1155, y 545, lamp), a dark bolt (x_img 1150, y 650) |

### Forearm

Frame: Forearm object (origin [-0.077, 0.0, 2.0614] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| F01 | roll bearing ring | ring | 0.418, 0.33, 0.0264 | (0.013, 0.000, 0.000) | r1 r2 r6 | gunmetal | axis X. the black thin ring between the upper arm and the forearm |
| F02 | dial housing | rbox | 0.55, 0.418, 0.429, 0.066 | (0.275, 0.000, 0.022) | r1 r2 r3 r6 | paint_white | X -35..215, Z 850..1045 |
| F03 | dark side plates | rbox | 0.506, 0.0132, 0.319, 0.066 | (0.286, 0.211, 0.077) | r1 r3 r6 | gunmetal | both sides (mirror Y). rounded plates with a '7'-shaped groove near the rear top corner (r6), a small bolt with a white ring at x_img 1015 |
| F04 | dials | stack | dia 0.242 h 0.013 gunmetal / dia 0.187 h 0.009 gunmetal / dia 0.121 h 0.009 steel / dia 0.044 h 0.013 gunmetal | (0.275, 0.220, 0.051) | r1 r2 r3 r6 | mixed | axis Y. both sides (mirror Y). black stepped disc with a '+' cross groove (6 px) through it and 4 notches on the rim (r6) |
| F05 | belly | rbox | 0.44, 0.352, 0.132, 0.0308 | (0.319, 0.000, -0.125) | r1 r6 | paint_white | below the side plates; seam; a flat bar 230x25 px under it (r6) |
| F06 | orange dot grids | decal | 0.0572, 0.0308 | (0.473, 0.211, 0.007) | r1 r3 | orange | both sides (mirror Y). 2 x 3 dots dia 5 px |
| F07 | J5/J6 motor cylinder | cyl | 0.165, 0.198 | (0.638, 0.000, 0.139) | r1 r2 r6 | paint_white | axis X. ringed (3 grooves) white cylinder, top front, joining the wrist block |
| F08 | hose | tube | 0.0484 | (0.517, -0.022, -0.147); (0.649, -0.022, -0.169); (0.803, -0.022, -0.147) | r1 r3 r6 | rubber | black hose with metal ferrules (dia 28 x 15 px) at both ends and an ORANGE band (6 px) near the front end |
| F09 | wrist block (fork) | plate2d | outline (0.550, 0.260) (0.814, 0.238) (1.045, 0.117) (1.177, 0.000) (1.045, -0.169) (0.550, -0.191) | (0.000, 0.000, 0.000) | r1 r2 r3 r6 | paint_white | angled housing Y +-75; its front is a fork (cheeks Y +-(55..75)) carrying J5; lobes R 60 round WC |
| F10 | wrist fin (left) | rbox | 0.165, 0.033, 0.0484, 0.0176 | (0.803, 0.167, 0.172) | r1 r6 | paint_white | raised rounded bar, inclined 20 deg; right side has an oval recessed slot 70x18 px instead (r3) |
| F11 | orange triangles + dots | decal | 0.077, 0.055 | (0.836, 0.167, 0.084) | r1 r3 r6 | orange | both sides (mirror Y). three small triangles and two dots (left); 2x2 dots (right) |
| F12 | screw caps | disc | 0.033, 0.011 | (0.957, 0.167, -0.015); (0.924, 0.167, -0.114) | r1 r6 | paint_white | axis Y. both sides (mirror Y). two white domes per side |
| F13 | bottom handle | U | 0.121, 0.033, 0.011 | (0.928, 0.000, -0.209) | r1 r3 r6 | gunmetal | flat-bar loop under the wrist block |
| F14 | J5 caps (wrist round caps) | stack | dia 0.220 h 0.013 gunmetal / dia 0.176 h 0.009 gunmetal / dia 0.132 h 0.009 gunmetal / dia 0.088 h 0.009 steel / dia 0.044 h 0.009 gunmetal | (1.034, 0.167, 0.000) | r1 r2 r3 r6 | mixed | axis Y. both sides (mirror Y). stepped concentric rings on both cheeks |
| F15 | wrist top cylinder | cyl | 0.099, 0.088 | (0.781, 0.000, 0.150) | r6 | paint_white | axis X. short cylinder with a black band on the wrist block top; kept outside 0.25 m of the wrist centre on the upper side, where the tool swings |

### WristHead

Frame: WristHead object (origin [0.957, 0.0, 2.0614] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| W01 | head drum | cyl | 0.209, 0.2332 | (0.000, 0.000, 0.000) | r1 r6 | gunmetal | axis Y. between the fork cheeks, turns about Y |
| W02 | neck collar | cyl | 0.165, 0.0264 | (0.077, 0.000, 0.000) | r1 r6 | gunmetal | axis X.  |

### Flange

Frame: Flange object (origin [0.957, 0.0, 2.0614] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| FL1 | knurled ring | knurl | 0.1584, 0.055, 36 | (0.103, 0.000, 0.000) | r1 r6 | steel | axis X. J6 turns here (r6 knurled neck) |
| FL2 | flange face | disc | 0.176, 0.011 | (0.136, 0.000, 0.000) | added | gunmetal | axis X. 6 bolt holes; tools bolt here |

### ToolA

Frame: ToolA object (origin [0.957, 0.0, 2.0614] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| A01 | hub | cyl | 0.275, 0.165 | (0.213, 0.000, 0.000) | r1 r2 r3 r6 | paint_white | axis X. white body with a black ring at each end, 3 grooves; front face: 4 dark stepped rings (dia 125/100/75/45) |
| A02 | finger brackets x4 | box | 0.077, 0.066, 0.055 | (0.257, 0.000, 0.154) | r1 r2 r3 r6 | gunmetal | on the hub's front rim at r 70, one per finger |
| A03 | finger motors x4 | knurl | 0.066, 0.143, 24 | (0.319, 0.000, 0.242) | r1 r2 r6 | steel | knurled cylinder fixed to each bracket, axis in the finger's plane pointing back-outward 20 deg from the tool axis (r1 top finger) |

### Finger

Frame: Finger object (origin [0.0, 0.0, 0.0] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| A04 | knuckle pin caps | disc | 0.0528, 0.0132 | (0.000, 0.000, 0.000) | r1 r6 | steel | axis Y. both sides of the knuckle |
| A05 | proximal link | rbox | 0.1936, 0.0396, 0.0484, 0.011 | (0.097, 0.000, 0.000) | r1 r2 r3 r6 | gunmetal | with a ribbed rubber boot (8 ribs, dia 26, 45 px long) on its middle and a threaded tendon rod dia 5 px along its outer side |
| A06 | distal pin caps | disc | 0.044, 0.0132 | (0.194, 0.000, 0.000) | r1 r6 | steel | axis Y.  |
| A07 | distal link + hooked tip | rbox | 0.154, 0.0352, 0.0396, 0.0088 | (0.271, 0.000, 0.000) | r1 r2 r3 r6 | gunmetal | tapered 18 -> 10 px; a 15 px hook turned inward at the tip; ridged steel jaw insert on the inner face |

### ToolB

Frame: ToolB object (origin [0.957, 0.0, 2.0614] m in the arm frame A at rest).

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| B01 | flared neck | cone | 0.154, 0.2926, 0.4334 | (0.348, 0.000, 0.000) | r6 (red sketch) | paint_white | axis X. trumpet-shaped: the sketch's two lines spread from the wrist to the plate (the sketch is a 3/4 view looking along the tool, so the neck shows short); 0.434 m long so the plate's face lands where version A grips (both versions share one arm pose); straight for its first 60%, flaring over the last 40%; two ring grooves; fillet into the plate |
| B02 | mounting plate | rbox | 0.044, 0.55, 0.55, 0.033 | (0.585, 0.000, 0.000) | r6 (red sketch) | gunmetal | square plate 0.55 x 0.55 x 0.044 m, corner R 0.033, 2 mm chamfers; its door face is flat |
| B03 | plate bolts x8 | hex | 0.0396, 0.022 | (0.561, 0.000, 0.000) | added | steel | M24-size hex heads, 2 per edge on a 0.46 m square |
| B04 | orange corner ticks | decal | 0.044, 0.044 | (0.561, 0.000, 0.000) | added (matches the arm's accents) | orange | four small L-ticks at the plate's corners |

### DoorFixtureA

Frame: fixture local: Z = door normal.

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| DA1 | conformal pad | pad | 0.32, 0.32, 0.02 | (0.000, 0.000, 0.000) | added | gunmetal | underside follows the door's inner face (ray-cast), top flat |
| DA2 | base plate | rbox | 0.26, 0.26, 0.03, 0.02 | (0.000, 0.000, 0.035) | added | gunmetal | [frame: fixture local] 4 bolts |
| DA3 | stem | cyl | 0.08, 0.115 | (0.000, 0.000, 0.107) | added | steel | [frame: fixture local]  |
| DA4 | grab knob (mushroom head) | cyl | 0.13, 0.05 | (0.000, 0.000, 0.190) | added | steel | [frame: fixture local] 3 mm chamfers; the 4 hooked tips close under it round the stem |

### DoorFixtureB

Frame: fixture local.

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| DB1 | conformal pad | pad | 0.6, 0.6, 0.02 | (0.000, 0.000, 0.000) | added | gunmetal | underside follows the door's face; the plate B02 bolts to its flat top |

### RailKit

Frame: world.

| id | part | shape | size (m) | at (m) | refs | material | notes |
|---|---|---|---|---|---|---|---|
| K01 | running flanges x2 | box | 6.49, 0.05, 0.03 | (-5.790, -6.049, -3.995) | added | steel | both sides (mirror Y). flat bars bolted to both side faces at the rail's bottom, x -9.0348..-2.5453, z -4.010..-3.980, protruding 0.05 (y -6.0738..-6.0238 and -5.5662..-5.5162); bolt heads (M16) every 0.25 m on their outer faces |
| K02 | rack | rack | 5.32, 0.06, 0.04 | (-5.565, -5.795, -4.030) | added | steel | gear rack bolted under the rail's bottom face over the pinion's travel (x -8.225..-2.905), teeth down, module 12 mm |
| K03 | end stops x2 | box | 0.13, 0.3, 0.12 | (-8.620, -5.795, -4.070); (-2.525, -5.795, -4.070) | added | gunmetal | wall end: steel block x -8.685..-8.585 bolted under the rail + rubber buffer x -8.585..-8.555; inner end: rubber buffer x -2.575..-2.545 + steel block x -2.545..-2.475 bolted to the rail's end face and underside; both z -4.13..-4.01 between the flanges; the carriage's end faces (strike pads C12) stop 10 mm short of the buffers at its travel ends (c -8.1158 / -3.0143) |
| K04 | energy-chain tray | channel | 6.05, 0.4, 0.125 | (-5.975, -5.080, -3.840) | added | gunmetal | a shallow tray hung under the deck on the inboard side: y -5.28..-4.88, floor top at z -3.895, walls to -3.78, x -9.00 to a slanted well-side end (x -2.95 at y -5.28, -3.08 at y -4.88: >= 0.05 m short of the moon pool well's rounded edge); hangers to the deck every 0.8 m |
| K05 | energy chain | chain | 3.27, 0.1, 0.06 | - | added | rubber | lying on its side in the tray (bend axis vertical), 44 links of pitch 0.075 m (link 0.075 x 0.06 x 0.10 high), length 3.30 m, bend radius 0.15 m; runs at y -5.23 (moving, carriage side) and -4.93 (fixed); fixed end at x -5.565 (mid travel), moving end on the carriage bracket C11; the loop travels x -8.40..-5.70; links are rigid objects driven by simple expressions of the carriage x |