{
  "robot": "ARX5 X5A",
  "geometry": "Source URDF collision triangle meshes, transformed by source URDF forward kinematics.",
  "method": "FCL mesh-to-mesh distances for all link pairs except directly connected parent/child links.",
  "sampling": "Every trajectory command; consecutive qpos are linearly subdivided when any coordinate step exceeds 0.02 rad/m.",
  "continuous_collision_certification": false,
  "simulator_self_collision_enabled": true,
  "planned_grasp_command": "The commanded grasp closes the empty reference jaws to zero. Actual fingers stop against the object; their measured coordinates are checked separately.",
  "arm_pair_definition": "All non-adjacent link pairs except the opposing jaw pair link7/link8.",
  "planned": {
    "samples": 1284,
    "minimum_arm_clearance_m": 0.010130132967039894,
    "arm_intersection_pairs": [],
    "minimums": [
      {
        "pair": [
          "link7",
          "link8"
        ],
        "distance_m": 0.0,
        "sample": 314,
        "qpos": [
          -2.8356399536132812,
          1.8326499462127686,
          1.4270700216293335,
          -1.1653000116348267,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.01565999910235405,
          0.01565999910235405
        ]
      },
      {
        "pair": [
          "base_link",
          "link2"
        ],
        "distance_m": 0.010130132967039894,
        "sample": 802,
        "qpos": [
          -3.4967401027679443,
          1.891610026359558,
          1.9909800291061401,
          -1.6701799631118774,
          0.0,
          -1.9258899688720703,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link4",
          "link6"
        ],
        "distance_m": 0.012159353810460441,
        "sample": 997,
        "qpos": [
          -3.4970500469207764,
          1.8445600271224976,
          1.5260499715805054,
          -1.2523200511932373,
          1.9999999494757503e-05,
          -1.9261000156402588,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link3",
          "link5"
        ],
        "distance_m": 0.01336408247522346,
        "sample": 801,
        "qpos": [
          -3.496609926223755,
          1.891610026359558,
          1.9910000562667847,
          -1.6702100038528442,
          0.0,
          -1.92576003074646,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link3",
          "link6"
        ],
        "distance_m": 0.06023334545373174,
        "sample": 801,
        "qpos": [
          -3.496609926223755,
          1.891610026359558,
          1.9910000562667847,
          -1.6702100038528442,
          0.0,
          -1.92576003074646,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link5",
          "link7"
        ],
        "distance_m": 0.06447625637958254,
        "sample": 997,
        "qpos": [
          -3.4970500469207764,
          1.8445600271224976,
          1.5260499715805054,
          -1.2523200511932373,
          1.9999999494757503e-05,
          -1.9261000156402588,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link5",
          "link8"
        ],
        "distance_m": 0.0644764123199567,
        "sample": 308,
        "qpos": [
          -2.8356399536132812,
          1.8326499462127686,
          1.4270700216293335,
          -1.1653000116348267,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.02013999968767166,
          0.02013999968767166
        ]
      },
      {
        "pair": [
          "link4",
          "link8"
        ],
        "distance_m": 0.0658950665434103,
        "sample": 0,
        "qpos": [
          -2.8374500274658203,
          1.8274999856948853,
          1.7426199913024902,
          -1.488610029220581,
          -0.00013000000035390258,
          -1.2666699886322021,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link4",
          "link7"
        ],
        "distance_m": 0.06598187146548444,
        "sample": 802,
        "qpos": [
          -3.4967401027679443,
          1.891610026359558,
          1.9909800291061401,
          -1.6701799631118774,
          0.0,
          -1.9258899688720703,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link3",
          "link7"
        ],
        "distance_m": 0.1106679191200576,
        "sample": 1283,
        "qpos": [
          -3.4970200061798096,
          1.891160011291504,
          1.98989999294281,
          -1.6695200204849243,
          -9.999999747378752e-06,
          -1.926110029220581,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link3",
          "link8"
        ],
        "distance_m": 0.1156627465070139,
        "sample": 801,
        "qpos": [
          -3.496609926223755,
          1.891610026359558,
          1.9910000562667847,
          -1.6702100038528442,
          0.0,
          -1.92576003074646,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link2",
          "link6"
        ],
        "distance_m": 0.14360285482708285,
        "sample": 657,
        "qpos": [
          -3.0243499279022217,
          1.87090003490448,
          1.9599699974060059,
          -1.6598299741744995,
          9.999999747378752e-06,
          -1.453570008277893,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link2",
          "link7"
        ],
        "distance_m": 0.1500079597085035,
        "sample": 1283,
        "qpos": [
          -3.4970200061798096,
          1.891160011291504,
          1.98989999294281,
          -1.6695200204849243,
          -9.999999747378752e-06,
          -1.926110029220581,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link2",
          "link8"
        ],
        "distance_m": 0.17508544417916477,
        "sample": 786,
        "qpos": [
          -3.4904000759124756,
          1.8913300037384033,
          1.99058997631073,
          -1.6700700521469116,
          0.0,
          -1.9195499420166016,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link2",
          "link5"
        ],
        "distance_m": 0.18218459275013493,
        "sample": 801,
        "qpos": [
          -3.496609926223755,
          1.891610026359558,
          1.9910000562667847,
          -1.6702100038528442,
          0.0,
          -1.92576003074646,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link2",
          "link4"
        ],
        "distance_m": 0.1976412036934602,
        "sample": 801,
        "qpos": [
          -3.496609926223755,
          1.891610026359558,
          1.9910000562667847,
          -1.6702100038528442,
          0.0,
          -1.92576003074646,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link1",
          "link7"
        ],
        "distance_m": 0.21421300258652196,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link1",
          "link6"
        ],
        "distance_m": 0.21482612515023855,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link1",
          "link3"
        ],
        "distance_m": 0.22927364858155302,
        "sample": 801,
        "qpos": [
          -3.496609926223755,
          1.891610026359558,
          1.9910000562667847,
          -1.6702100038528442,
          0.0,
          -1.92576003074646,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "base_link",
          "link7"
        ],
        "distance_m": 0.23086790115398664,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "base_link",
          "link6"
        ],
        "distance_m": 0.23458509608892933,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link1",
          "link8"
        ],
        "distance_m": 0.25496930265221257,
        "sample": 335,
        "qpos": [
          -2.8356399536132812,
          1.8326499462127686,
          1.4270700216293335,
          -1.1653000116348267,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "base_link",
          "link8"
        ],
        "distance_m": 0.2737636842022886,
        "sample": 335,
        "qpos": [
          -2.8356399536132812,
          1.8326499462127686,
          1.4270700216293335,
          -1.1653000116348267,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "base_link",
          "link3"
        ],
        "distance_m": 0.28154042151039416,
        "sample": 802,
        "qpos": [
          -3.4967401027679443,
          1.891610026359558,
          1.9909800291061401,
          -1.6701799631118774,
          0.0,
          -1.9258899688720703,
          0.0,
          0.0
        ]
      },
      {
        "pair": [
          "link1",
          "link5"
        ],
        "distance_m": 0.2919342761381414,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "base_link",
          "link5"
        ],
        "distance_m": 0.31892811503602,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link1",
          "link4"
        ],
        "distance_m": 0.328507062273351,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "base_link",
          "link4"
        ],
        "distance_m": 0.36164805181226284,
        "sample": 270,
        "qpos": [
          -2.8356399536132812,
          1.832610011100769,
          1.4265300035476685,
          -1.1647900342941284,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.04399999976158142,
          0.04399999976158142
        ]
      }
    ]
  },
  "actual": {
    "samples": 1284,
    "minimum_arm_clearance_m": 0.010128521006652283,
    "arm_intersection_pairs": [],
    "minimums": [
      {
        "pair": [
          "link7",
          "link8"
        ],
        "distance_m": 0.001175129172097711,
        "sample": 369,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4269200563430786,
          -1.1653800010681152,
          1.9999999494757503e-05,
          -1.2591500282287598,
          0.021929999813437462,
          0.02047000080347061
        ]
      },
      {
        "pair": [
          "base_link",
          "link2"
        ],
        "distance_m": 0.010128521006652283,
        "sample": 808,
        "qpos": [
          -3.494149923324585,
          1.8941700458526611,
          1.9901200532913208,
          -1.669909954071045,
          1.9999999494757503e-05,
          -1.917639970779419,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link4",
          "link6"
        ],
        "distance_m": 0.012159448147520539,
        "sample": 1134,
        "qpos": [
          -3.497040033340454,
          1.8500200510025024,
          1.5606199502944946,
          -1.2838200330734253,
          1.9999999494757503e-05,
          -1.9260900020599365,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link3",
          "link5"
        ],
        "distance_m": 0.013368067783351024,
        "sample": 802,
        "qpos": [
          -3.4920198917388916,
          1.8940999507904053,
          1.9902600049972534,
          -1.6701099872589111,
          1.9999999494757503e-05,
          -1.9155100584030151,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link3",
          "link6"
        ],
        "distance_m": 0.060235608216451096,
        "sample": 802,
        "qpos": [
          -3.4920198917388916,
          1.8940999507904053,
          1.9902600049972534,
          -1.6701099872589111,
          1.9999999494757503e-05,
          -1.9155100584030151,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link5",
          "link8"
        ],
        "distance_m": 0.06447641231995438,
        "sample": 621,
        "qpos": [
          -2.8819398880004883,
          1.8672399520874023,
          1.9501500129699707,
          -1.6566799879074097,
          1.9999999494757503e-05,
          -1.3055299520492554,
          0.02201000042259693,
          0.020390000194311142
        ]
      },
      {
        "pair": [
          "link5",
          "link7"
        ],
        "distance_m": 0.06447642546541271,
        "sample": 1027,
        "qpos": [
          -3.497030019760132,
          1.846519947052002,
          1.5258500576019287,
          -1.2525500059127808,
          2.9999999242136255e-05,
          -1.9243600368499756,
          0.021700000390410423,
          0.02118000015616417
        ]
      },
      {
        "pair": [
          "link4",
          "link8"
        ],
        "distance_m": 0.06589506641464439,
        "sample": 5,
        "qpos": [
          -2.8374500274658203,
          1.8285000324249268,
          1.7425800561904907,
          -1.4887299537658691,
          -0.00013000000035390258,
          -1.2666699886322021,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link4",
          "link7"
        ],
        "distance_m": 0.06730149810015013,
        "sample": 1027,
        "qpos": [
          -3.497030019760132,
          1.846519947052002,
          1.5258500576019287,
          -1.2525500059127808,
          2.9999999242136255e-05,
          -1.9243600368499756,
          0.021700000390410423,
          0.02118000015616417
        ]
      },
      {
        "pair": [
          "link3",
          "link7"
        ],
        "distance_m": 0.11067004066284014,
        "sample": 1283,
        "qpos": [
          -3.496999979019165,
          1.893779993057251,
          1.9894499778747559,
          -1.669510006904602,
          -9.999999747378752e-06,
          -1.9261000156402588,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link3",
          "link8"
        ],
        "distance_m": 0.12094157121623268,
        "sample": 803,
        "qpos": [
          -3.4924700260162354,
          1.8941199779510498,
          1.9902700185775757,
          -1.6700999736785889,
          1.9999999494757503e-05,
          -1.9159599542617798,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link2",
          "link6"
        ],
        "distance_m": 0.14357790706665718,
        "sample": 667,
        "qpos": [
          -3.0289900302886963,
          1.873710036277771,
          1.9598499536514282,
          -1.6599400043487549,
          1.9999999494757503e-05,
          -1.4525599479675293,
          0.02198999933898449,
          0.020409999415278435
        ]
      },
      {
        "pair": [
          "link2",
          "link7"
        ],
        "distance_m": 0.14999358531440907,
        "sample": 1283,
        "qpos": [
          -3.496999979019165,
          1.893779993057251,
          1.9894499778747559,
          -1.669510006904602,
          -9.999999747378752e-06,
          -1.9261000156402588,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link2",
          "link5"
        ],
        "distance_m": 0.18219299427538393,
        "sample": 802,
        "qpos": [
          -3.4920198917388916,
          1.8940999507904053,
          1.9902600049972534,
          -1.6701099872589111,
          1.9999999494757503e-05,
          -1.9155100584030151,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link2",
          "link8"
        ],
        "distance_m": 0.19326954505987812,
        "sample": 803,
        "qpos": [
          -3.4924700260162354,
          1.8941199779510498,
          1.9902700185775757,
          -1.6700999736785889,
          1.9999999494757503e-05,
          -1.9159599542617798,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link2",
          "link4"
        ],
        "distance_m": 0.1976457028789752,
        "sample": 802,
        "qpos": [
          -3.4920198917388916,
          1.8940999507904053,
          1.9902600049972534,
          -1.6701099872589111,
          1.9999999494757503e-05,
          -1.9155100584030151,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "link1",
          "link7"
        ],
        "distance_m": 0.2143217164935349,
        "sample": 276,
        "qpos": [
          -2.8356199264526367,
          1.834439992904663,
          1.4289100170135498,
          -1.167549967765808,
          -4.999999873689376e-05,
          -1.2647199630737305,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "link1",
          "link6"
        ],
        "distance_m": 0.21477772020438937,
        "sample": 315,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4266799688339233,
          -1.1653499603271484,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.021880000829696655,
          0.021880000829696655
        ]
      },
      {
        "pair": [
          "link1",
          "link3"
        ],
        "distance_m": 0.22927825398041793,
        "sample": 803,
        "qpos": [
          -3.4924700260162354,
          1.8941199779510498,
          1.9902700185775757,
          -1.6700999736785889,
          1.9999999494757503e-05,
          -1.9159599542617798,
          0.022019999101758003,
          0.02037999965250492
        ]
      },
      {
        "pair": [
          "base_link",
          "link7"
        ],
        "distance_m": 0.23100894554251708,
        "sample": 276,
        "qpos": [
          -2.8356199264526367,
          1.834439992904663,
          1.4289100170135498,
          -1.167549967765808,
          -4.999999873689376e-05,
          -1.2647199630737305,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "base_link",
          "link6"
        ],
        "distance_m": 0.23447625049749013,
        "sample": 315,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4266799688339233,
          -1.1653499603271484,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.021880000829696655,
          0.021880000829696655
        ]
      },
      {
        "pair": [
          "link1",
          "link8"
        ],
        "distance_m": 0.27431063088869667,
        "sample": 370,
        "qpos": [
          -2.835629940032959,
          1.8344199657440186,
          1.4270199537277222,
          -1.1655100584030151,
          9.999999747378752e-06,
          -1.2591400146484375,
          0.021940000355243683,
          0.02046000026166439
        ]
      },
      {
        "pair": [
          "base_link",
          "link3"
        ],
        "distance_m": 0.28151146599499793,
        "sample": 1283,
        "qpos": [
          -3.496999979019165,
          1.893779993057251,
          1.9894499778747559,
          -1.669510006904602,
          -9.999999747378752e-06,
          -1.9261000156402588,
          0.04399999976158142,
          0.04399999976158142
        ]
      },
      {
        "pair": [
          "base_link",
          "link8"
        ],
        "distance_m": 0.29188800362226136,
        "sample": 370,
        "qpos": [
          -2.835629940032959,
          1.8344199657440186,
          1.4270199537277222,
          -1.1655100584030151,
          9.999999747378752e-06,
          -1.2591400146484375,
          0.021940000355243683,
          0.02046000026166439
        ]
      },
      {
        "pair": [
          "link1",
          "link5"
        ],
        "distance_m": 0.29192281988807717,
        "sample": 315,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4266799688339233,
          -1.1653499603271484,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.021880000829696655,
          0.021880000829696655
        ]
      },
      {
        "pair": [
          "base_link",
          "link5"
        ],
        "distance_m": 0.3188489666956099,
        "sample": 315,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4266799688339233,
          -1.1653499603271484,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.021880000829696655,
          0.021880000829696655
        ]
      },
      {
        "pair": [
          "link1",
          "link4"
        ],
        "distance_m": 0.328524155202091,
        "sample": 315,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4266799688339233,
          -1.1653499603271484,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.021880000829696655,
          0.021880000829696655
        ]
      },
      {
        "pair": [
          "base_link",
          "link4"
        ],
        "distance_m": 0.3615977617591049,
        "sample": 315,
        "qpos": [
          -2.835629940032959,
          1.8344099521636963,
          1.4266799688339233,
          -1.1653499603271484,
          -4.999999873689376e-05,
          -1.2647299766540527,
          0.021880000829696655,
          0.021880000829696655
        ]
      }
    ]
  }
}