The printed STL parts from Thingiverse went into the MuJoCo sim. The FreeCAD file has no assembly, so a script places parts from their own geometry, and the holes confirm most firmware link lengths, 51.94 mm for L2 and about 50 mm for L3. But the shoulder bracket holds the hip-pitch servo about 9.1 mm below the roll axis, while the firmware IK assumes zero. With the firmware's pulses the robot stands about 9 mm taller than the IK expects. Nobody had compared the mechanical parts with the firmware's numbers until the sim forced it.