{
  "scope": "Collision-free travel of the Rev B printed parts and purchased envelopes, found by stepping out in 0.05 rad increments on exact STEP booleans with a 1 mm3 tolerance; every step up to the reported limit is clear. One joint moves at a time from the design pose; combined poses, fasteners, cables and print tolerance are not covered.",
  "search_limit_rad": {
    "hip_yaw": 0.52,
    "hip_roll": 0.4,
    "hip_pitch": 1.57,
    "knee": 1.57,
    "ankle": 1.57,
    "neck_pitch": 1.05,
    "head_pitch": 1.57,
    "head_yaw": 2.0,
    "head_roll": 0.44,
    "jaw": 0.7
  },
  "tolerance_mm3": 1.0,
  "joints": {
    "left_hip_yaw": {
      "min_rad": -0.5,
      "max_rad": 0.52,
      "catalogue_rad": [
        -0.52,
        0.52
      ]
    },
    "left_hip_roll": {
      "min_rad": -0.4,
      "max_rad": 0.35,
      "catalogue_rad": [
        -0.4,
        0.4
      ]
    },
    "left_hip_pitch": {
      "min_rad": -1.57,
      "max_rad": 0.9,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "left_knee": {
      "min_rad": -1.57,
      "max_rad": 1.1,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "left_ankle": {
      "min_rad": -0.55,
      "max_rad": 0.55,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "right_hip_yaw": {
      "min_rad": -0.52,
      "max_rad": 0.5,
      "catalogue_rad": [
        -0.52,
        0.52
      ]
    },
    "right_hip_roll": {
      "min_rad": -0.35,
      "max_rad": 0.4,
      "catalogue_rad": [
        -0.4,
        0.4
      ]
    },
    "right_hip_pitch": {
      "min_rad": -0.9,
      "max_rad": 1.57,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "right_knee": {
      "min_rad": -1.1,
      "max_rad": 1.57,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "right_ankle": {
      "min_rad": -0.55,
      "max_rad": 0.55,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "neck_pitch": {
      "min_rad": -0.2,
      "max_rad": 0.65,
      "catalogue_rad": [
        -1.05,
        1.05
      ]
    },
    "head_pitch": {
      "min_rad": -0.6,
      "max_rad": 0.6,
      "catalogue_rad": [
        -1.57,
        1.57
      ]
    },
    "head_yaw": {
      "min_rad": -2.0,
      "max_rad": 0.75,
      "catalogue_rad": [
        -2.0,
        2.0
      ]
    },
    "head_roll": {
      "min_rad": -0.1,
      "max_rad": 0.15,
      "catalogue_rad": [
        -0.44,
        0.44
      ]
    },
    "jaw": {
      "min_rad": 0.0,
      "max_rad": 0.1,
      "catalogue_rad": [
        0.0,
        0.7
      ]
    }
  }
}