{
  "robot": "CobotMagic V100",
  "assets": "CobotMagicArm/CobotMagicWithGripperV100.urdf",
  "method": "FCL triangle-mesh intersection and distance queries with URDF forward kinematics. Camera housings are part of each gripper_base mesh.",
  "sampling": "Every compiled command and corresponding measured joint state; directly fixed/adjacent rigid link groups excluded from non-adjacent checks.",
  "continuous_collision_certification": false,
  "self_collision_enabled": true,
  "native_joint_limits_preserved": true,
  "planned_jaw_contact": "Opposing jaw pairs are omitted from the non-adjacent planned-arm summary: the grasp command closes empty reference jaws to zero; actual object-blocked jaws are checked.",
  "cross_arm": {
    "collision": {
      "planned": {
        "samples": 2139,
        "minimum_clearance_m": 0.03498018931935959,
        "intersection_pairs": [],
        "pairs_within_100mm": [
          {
            "links": [
              "left_gripper_base",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.03498018931935959,
            "sample": 1183,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link5",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.03650168650735377,
            "sample": 784,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link8",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.04340807594706405,
            "sample": 1215,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link4",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.04657850994955019,
            "sample": 756,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link6",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.050264030308232364,
            "sample": 835,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link7",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.05108912721566754,
            "sample": 1226,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link3",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.06657918126897348,
            "sample": 756,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link5",
              "right_link5"
            ],
            "minimum_clearance_m": 0.08973199328642475,
            "sample": 855,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link5",
              "right_link4"
            ],
            "minimum_clearance_m": 0.09282340377457293,
            "sample": 854,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_gripper_base",
              "right_link5"
            ],
            "minimum_clearance_m": 0.09816446450579301,
            "sample": 1333,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link4",
              "right_link5"
            ],
            "minimum_clearance_m": 0.09833539301700114,
            "sample": 852,
            "intersection_sample_count": 0
          }
        ]
      },
      "actual": {
        "samples": 2139,
        "minimum_clearance_m": 0.035002557168660166,
        "intersection_pairs": [],
        "pairs_within_100mm": [
          {
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              "left_gripper_base",
              "right_gripper_base"
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            "minimum_clearance_m": 0.035002557168660166,
            "sample": 1184,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link5",
              "right_gripper_base"
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            "minimum_clearance_m": 0.03649132816708318,
            "sample": 786,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link8",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.04352018356464462,
            "sample": 1216,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link4",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.04657040806699355,
            "sample": 759,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link6",
              "right_gripper_base"
            ],
            "minimum_clearance_m": 0.05028646566243082,
            "sample": 836,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link7",
              "right_gripper_base"
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            "minimum_clearance_m": 0.05095191387183569,
            "sample": 1228,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link3",
              "right_gripper_base"
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            "minimum_clearance_m": 0.06657937117649247,
            "sample": 757,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link5",
              "right_link5"
            ],
            "minimum_clearance_m": 0.08969596312897436,
            "sample": 857,
            "intersection_sample_count": 0
          },
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            "minimum_clearance_m": 0.09278738566875397,
            "sample": 856,
            "intersection_sample_count": 0
          },
          {
            "links": [
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              "right_link5"
            ],
            "minimum_clearance_m": 0.09804392297760782,
            "sample": 1334,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link4",
              "right_link5"
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            "minimum_clearance_m": 0.09828869043529005,
            "sample": 854,
            "intersection_sample_count": 0
          }
        ]
      }
    },
    "visual": {
      "planned": {
        "samples": 2139,
        "minimum_clearance_m": 0.0374770538955878,
        "intersection_pairs": [],
        "pairs_within_100mm": [
          {
            "links": [
              "left_gripper_base",
              "right_gripper_base"
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            "minimum_clearance_m": 0.0374770538955878,
            "sample": 1190,
            "intersection_sample_count": 0
          },
          {
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            "minimum_clearance_m": 0.03839901817337396,
            "sample": 786,
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          {
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            "minimum_clearance_m": 0.044441575659791635,
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            "intersection_sample_count": 0
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            "minimum_clearance_m": 0.04838712996504155,
            "sample": 756,
            "intersection_sample_count": 0
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          {
            "links": [
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              "right_gripper_base"
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            "minimum_clearance_m": 0.051417737473205265,
            "sample": 835,
            "intersection_sample_count": 0
          },
          {
            "links": [
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              "right_gripper_base"
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            "minimum_clearance_m": 0.05188204010280181,
            "sample": 1245,
            "intersection_sample_count": 0
          },
          {
            "links": [
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            "minimum_clearance_m": 0.0696086423303814,
            "sample": 756,
            "intersection_sample_count": 0
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          {
            "links": [
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            "minimum_clearance_m": 0.09151814121512444,
            "sample": 858,
            "intersection_sample_count": 0
          },
          {
            "links": [
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            "minimum_clearance_m": 0.0942214888966167,
            "sample": 857,
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          {
            "links": [
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            "minimum_clearance_m": 0.09967640674232726,
            "sample": 854,
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        ]
      },
      "actual": {
        "samples": 2139,
        "minimum_clearance_m": 0.03749667981840702,
        "intersection_pairs": [],
        "pairs_within_100mm": [
          {
            "links": [
              "left_gripper_base",
              "right_gripper_base"
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            "minimum_clearance_m": 0.03749667981840702,
            "sample": 1191,
            "intersection_sample_count": 0
          },
          {
            "links": [
              "left_link5",
              "right_gripper_base"
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            "minimum_clearance_m": 0.03838836693734543,
            "sample": 788,
            "intersection_sample_count": 0
          },
          {
            "links": [
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              "right_gripper_base"
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            "minimum_clearance_m": 0.04455501306215292,
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          {
            "links": [
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            "minimum_clearance_m": 0.04837975184985284,
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          {
            "links": [
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            "minimum_clearance_m": 0.05144097326101169,
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          {
            "links": [
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            "minimum_clearance_m": 0.05175552569585599,
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            "intersection_sample_count": 0
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          {
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            "links": [
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              "right_link5"
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          {
            "links": [
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            "minimum_clearance_m": 0.09418722309516014,
            "sample": 858,
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          {
            "links": [
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            "minimum_clearance_m": 0.09962949395134651,
            "sample": 856,
            "intersection_sample_count": 0
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        ]
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    }
  },
  "all_non_adjacent": {
    "collision": {
      "planned": {
        "samples": 2139,
        "pair_count": 161,
        "intersection_pairs": []
      },
      "actual": {
        "samples": 2139,
        "pair_count": 163,
        "intersection_pairs": []
      }
    },
    "visual": {
      "planned": {
        "samples": 2139,
        "pair_count": 161,
        "intersection_pairs": []
      },
      "actual": {
        "samples": 2139,
        "pair_count": 163,
        "intersection_pairs": []
      }
    }
  },
  "before_camera_housing_intersection": {
    "planned": true,
    "actual": true
  }
}