{
  "scope": "Exact STEP intersections at HOME plus single-joint sampled sweeps; purchased items as bounding boxes. Not a continuous sweep, tolerance, cable or fastener check.",
  "static_pairs": 703,
  "static_overlaps": [],
  "assembly_cleared": true,
  "motion": [
    {
      "joint": "left_hip_yaw",
      "angles_rad": [
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        -0.26,
        0.26,
        0.52
      ],
      "collisions": []
    },
    {
      "joint": "left_hip_roll",
      "angles_rad": [
        -0.4,
        -0.2,
        0.175,
        0.35
      ],
      "collisions": []
    },
    {
      "joint": "left_hip_pitch",
      "angles_rad": [
        -1.57,
        -0.785,
        0.45,
        0.9
      ],
      "collisions": []
    },
    {
      "joint": "left_knee",
      "angles_rad": [
        -1.57,
        -0.785,
        0.55,
        1.1
      ],
      "collisions": []
    },
    {
      "joint": "left_ankle",
      "angles_rad": [
        -0.55,
        -0.275,
        0.275,
        0.55
      ],
      "collisions": []
    },
    {
      "joint": "right_hip_yaw",
      "angles_rad": [
        -0.52,
        -0.26,
        0.26,
        0.52
      ],
      "collisions": []
    },
    {
      "joint": "right_hip_roll",
      "angles_rad": [
        -0.35,
        -0.175,
        0.2,
        0.4
      ],
      "collisions": []
    },
    {
      "joint": "right_hip_pitch",
      "angles_rad": [
        -0.9,
        -0.45,
        0.785,
        1.57
      ],
      "collisions": []
    },
    {
      "joint": "right_knee",
      "angles_rad": [
        -1.1,
        -0.55,
        0.785,
        1.57
      ],
      "collisions": []
    },
    {
      "joint": "right_ankle",
      "angles_rad": [
        -0.55,
        -0.275,
        0.275,
        0.55
      ],
      "collisions": []
    },
    {
      "joint": "neck_pitch",
      "angles_rad": [
        -0.2,
        -0.1,
        0.2,
        0.4
      ],
      "collisions": []
    },
    {
      "joint": "head_pitch",
      "angles_rad": [
        -0.85,
        -0.425,
        0.475,
        0.95
      ],
      "collisions": []
    },
    {
      "joint": "head_yaw",
      "angles_rad": [
        -2.0,
        -1.0,
        1.0,
        2.0
      ],
      "collisions": []
    },
    {
      "joint": "head_roll",
      "angles_rad": [
        -0.1,
        -0.05,
        0.075,
        0.15
      ],
      "collisions": []
    },
    {
      "joint": "jaw",
      "angles_rad": [
        0.05,
        0.1
      ],
      "collisions": []
    }
  ],
  "motion_cleared": true,
  "step_sha256": {
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    "left_hip": "5b5595ec22d54aa4054b685759f7401269eaffa3d7e654f5222d73dee69511bc",
    "left_upper_leg": "f0ccc54e5b87e9c1f19acaa9db224f23fa389e31ccf5d36bb100c01a09fcb250",
    "left_lower_leg": "597d7642661662157e07aaca526efc08e0bf7b5a87a4ab3983b8cec95b210a1d",
    "left_foot": "ff11167c5b2516e09b2bb24db1151b5d487be8255ad66092ba03f697e4ba352a",
    "right_yaw2roll": "4dcdf659c651265616eb6b8c14283f4b66111c445366f06a3d2fb99de40aa18f",
    "right_hip": "207afbec9ea24d361372dffc15e7f3b1454716b76f28b8e8b9a818693d1fc656",
    "right_upper_leg": "9a5642bb4839fb098539de090df5beb62e53049e77e1adb4f1dd7b435356b466",
    "right_lower_leg": "d83eb927d45de7c40502354aa8321ebbfd20d1568b4dfb21d23111e345cff2ec",
    "right_foot": "7faa80b1504a34ea898d435fe0cb13306790732072fe43f7096a8a25769a6fe8",
    "chassis": "b4c060fb54ff911bbf5c93610b61358dcca0b738af0af70dca5827d1cc86675c",
    "torso_shell": "4f125b7b23ed6336ccf8a384dca8216207b312e542ce117a19dae773757682a7",
    "tail_cover": "0146480a7600de39c085c9c4928bb34b7267740a62c49b15421917c952cf85d5",
    "neck_link": "df04b3aa91c0d2673fdc852f83ffad9d8a5e3faffb887e0a8b0a94f9b0867e34",
    "neck_sleeve": "19a7dc3cfe9fb23dea3aae5afad9f0fd9d5e9dc500f0f797c6d05c67cb2f9275",
    "head_base": "833628df8e095954d39c5b54e6f7b2ab51e6161c7ee6a46e0d169c40b5d427ce",
    "head_yoke": "dfa272b96e04448c17c6a62977da5de807acbf87f59343a84ddb6fb93598dded",
    "head_frame": "d333a1ef00cd368a8fe1a63d28b63746cf5b24963ee98eb811d0ce52a2b87454",
    "skull": "ecd4e9daa90383645466ce80675b70d86eb8cd39f28e9b3c85a5d76f00f440bf",
    "jaw_chin": "09b52d3b9e6ee9e06fc85654990186992f4c99cd556d7c2274f7a00b94822b41"
  }
}