{
  "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": [
        -0.5,
        -0.25,
        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,
        0.25,
        0.5
      ],
      "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,
        0.325,
        0.65
      ],
      "collisions": []
    },
    {
      "joint": "head_pitch",
      "angles_rad": [
        -0.6,
        -0.3,
        0.3,
        0.6
      ],
      "collisions": []
    },
    {
      "joint": "head_yaw",
      "angles_rad": [
        -2.0,
        -1.0,
        0.375,
        0.75
      ],
      "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": "d7c6a5cf2b59d8485c5140ce666b630736eac982d7a51e5a44123ed2f63a6a52",
    "left_upper_leg": "1521782d3597c89a5d8c1a863b5ffba0f8398a8c60cf770b1183fb8b0f1270ed",
    "left_lower_leg": "d81e1fd3f7d7e156ebd7480509994ca93dcfc45f1e6f88f86ea1dffdb3a527ce",
    "left_foot": "f8bc0fe817ebcb72cca3cc841c3df8f58c443c86156a37640a3c5a4fca92e31e",
    "right_yaw2roll": "bd6cff75b85aad61704ecdf3f4d5ed6114b24ff173163515de25821baee5c3d3",
    "right_hip": "fbe16febacd6f6745a8e5aad13aabb892fd2da8d09dd03356ce0efb7353b5a34",
    "right_upper_leg": "6e0fb6e901747ca2aea48ab7d334176e5d828987b6884f736fa8d47ecf4cc335",
    "right_lower_leg": "090e72b376ccbe6585a50bb5d4b5b8e38b0c7a16cc69bde1611e2b91f4a17713",
    "right_foot": "b67351cf0b2247f3cf9bff04f0d595517f02b086cdd23284665743300a89a95e",
    "chassis": "783e8369e5b4af4e28974bdf13e393049e5ed373e6af3fe79eb6972d3f846da7",
    "torso_shell": "b1df0180663a87a03dd45a58344864e5b108c855185067009e0ccbc65ba59c1c",
    "tail_cover": "9e8de434c2b5da7e8c527f6664c769b7e700453e35bce6ac7a8ea4b2281ce1b3",
    "neck_link": "3656c3ec2a63f1d65aff7a947b0fba9a421dcbc4c96b1a2df2d24b6b4cad3fc3",
    "neck_sleeve": "2347ea316d0a90a3d130bf91c2dd315253cbefe069d38a66cbedaf67277cffae",
    "head_base": "8cb3091647c76385a9528a06e1d66dc1d835f5843c2a26a9f7f891b9f0ddda55",
    "head_yoke": "fa03ea46a059b5c30af7329b2976a1b348ac076863e6872f30c18bd7a5b9a201",
    "head_frame": "7f4aaf274bcdd87c39f1089c9dceb70e78000b251eda96e089ec90139de28c01",
    "skull": "b4eb414ac494d1b105ea6214c981a70231fb6d64287788af636757815206b477",
    "jaw_beak": "4f95f3a5af18f450818965ebcfe02cc3f27c902741e8c38673c78ee5172eaa32"
  }
}