{
  "class_inputs": {
    "actuator_count": 12,
    "battery_location_body_m": [],
    "battery_mass_kg": 0,
    "ir_payload_sensor_mass_kg": 0.363,
    "mass_by_electrical_category_kg": {
      "actuator": 1.206,
      "auxiliary": 0.378,
      "communication": 0.014,
      "compute": 0.074,
      "sensor": 0.509
    },
    "payload_sensor_mass_kg": 0.245
  },
  "method": "parallel-axis roll-up of the Stage-2A per-occurrence OCCT integrals (body frame, zero joint config)",
  "per_link": [
    {
      "agrees": true,
      "com_error_m": 2.0314908206107302e-17,
      "contributions": 114,
      "declared_mass_terms_folded": 138,
      "inertia_relative_error": 3.5868511978321866e-16,
      "link": "base_link",
      "mass_kg": 13.002509341714516,
      "mass_relative_error": 5.464658529262077e-16
    },
    {
      "agrees": true,
      "com_error_m": 0.0,
      "contributions": 1,
      "declared_mass_terms_folded": 0,
      "inertia_relative_error": 1.0534739459879008e-15,
      "link": "rotor_1",
      "mass_kg": 0.063,
      "mass_relative_error": 0.0
    },
    {
      "agrees": true,
      "com_error_m": 5.551115123125822e-17,
      "contributions": 1,
      "declared_mass_terms_folded": 0,
      "inertia_relative_error": 1.2039702239861722e-15,
      "link": "rotor_2",
      "mass_kg": 0.063,
      "mass_relative_error": 2.2028234615578498e-16
    },
    {
      "agrees": true,
      "com_error_m": 0.0,
      "contributions": 1,
      "declared_mass_terms_folded": 0,
      "inertia_relative_error": 6.019851119930861e-16,
      "link": "rotor_3",
      "mass_kg": 0.063,
      "mass_relative_error": 2.2028234615578498e-16
    },
    {
      "agrees": true,
      "com_error_m": 0.0,
      "contributions": 1,
      "declared_mass_terms_folded": 0,
      "inertia_relative_error": 7.524813899913576e-16,
      "link": "rotor_4",
      "mass_kg": 0.063,
      "mass_relative_error": 0.0
    },
    {
      "agrees": true,
      "com_error_m": 5.551115123125783e-17,
      "contributions": 1,
      "declared_mass_terms_folded": 0,
      "inertia_relative_error": 1.2039702239861722e-15,
      "link": "rotor_5",
      "mass_kg": 0.063,
      "mass_relative_error": 2.2028234615578498e-16
    },
    {
      "agrees": true,
      "com_error_m": 0.0,
      "contributions": 1,
      "declared_mass_terms_folded": 0,
      "inertia_relative_error": 6.019851119930861e-16,
      "link": "rotor_6",
      "mass_kg": 0.063,
      "mass_relative_error": 2.2028234615578508e-16
    }
  ],
  "reconciliation": {
    "com_error_m": 3.110734558905512e-17,
    "graph_folds_declared_mass_terms": true,
    "graph_geometry_mass_kg": 13.380509341714513,
    "graph_mass_relative_error": 5.310281676235908e-16,
    "graph_total_mass_kg": 16.74534858627635,
    "inertia_relative_error": 4.3382546072245023e-16,
    "mass_relative_error": 7.96542251435387e-16,
    "placed_com_body_m": [
      -0.0004058515159112986,
      0.001374715979058741,
      0.017600684346057372
    ],
    "placed_inertia_about_com_kg_m2": [
      [
        0.5555673123638953,
        0.0007291603480777709,
        9.948058365872106e-05
      ],
      [
        0.0007291603480777709,
        0.5940271373091381,
        -0.000531099021864882
      ],
      [
        9.948058365872106e-05,
        -0.000531099021864882,
        1.023658706223743
      ]
    ],
    "placed_mass_kg": 13.38050934171452,
    "stage2a_published_mass_kg": 13.38050934171451
  },
  "schema": "anubis.stage2f5.final_mass_properties/1",
  "takeoff": {
    "excluded_terms": 11,
    "excluded_unplaced_mass_kg": 3.331086856537542,
    "ir_max_takeoff_mass_kg": 16.8,
    "ir_total_mass_budget_kg": 16.8,
    "margin_to_mtom_kg": 0.08840380174794049,
    "placed_margin_to_mtom_kg": 3.419490658285481,
    "placed_mass_kg": 13.38050934171452,
    "takeoff_mass_kg": 16.71159619825206
  },
  "vehicle_centre_of_mass": {
    "basis": "nominal of vehicle_mass_properties_envelope.json: placed geometry + declared placements (ANUBIS_INTERNAL_POLICY); grade at the envelope corners, not at the nominal",
    "envelope": {
      "authority": "ANUBIS_INTERNAL_POLICY \u2014 recorded design intent with quoted geometric basis; superseded by geometry when the bracket set and the payload manifest exist",
      "centre_of_mass_m_hi": [
        0.02510355093197617,
        0.015750387078511504,
        0.010249731627564767
      ],
      "centre_of_mass_m_lo": [
        -0.025752148955728617,
        -0.013553430723112018,
        -0.017367198132399574
      ],
      "declared_terms": [
        "catalogue_fasteners",
        "vendor_thread_screws",
        "avionics_devices",
        "payload_allocation"
      ],
      "inertia_is_lower_bound": true,
      "inertia_nominal_about_com_kg_m2": [
        [
          0.6188451697252471,
          0.0007306604574584255,
          0.0002168175110953427
        ],
        [
          0.0007306604574584255,
          0.6597847780032945,
          -0.0009285472085907513
        ],
        [
          0.0002168175110953427,
          -0.0009285472085907513,
          1.074680696150009
        ]
      ],
      "principal_inertia_diag_hi_kg_m2": [
        0.7017216628238417,
        0.7776069895516894,
        1.1500221359462799
      ],
      "principal_inertia_diag_lo_kg_m2": [
        0.5849341928627371,
        0.6258774335201418,
        1.0746761991984495
      ],
      "source": {
        "path": "design_package/mechanical/vehicle_mass_properties_envelope.json",
        "sha256": "f8dc8fad1c8be9f9b3d4b1f84cebbce660cefac5bb186b2d64b3653c1a4275a7"
      },
      "takeoff_mass_kg": 16.745348586276375
    },
    "gap": null,
    "placed_assembly_com_m_is_not_vehicle_com": [
      -0.0004058515159112986,
      0.001374715979058741,
      0.017600684346057372
    ],
    "reason": "11 exclusions carry 3.331086856537542 kg of take-off mass with no adopted position (see excluded.terms for each one's tier and gap). Stage 2A's rule (mass_properties.json#assembly.pending) is that the vehicle fields are null rather than estimated while any take-off mass is unplaced",
    "value_m": [
      -0.0003242990118762242,
      0.0010984781776997433,
      -0.004006336634560061
    ]
  }
}