# HR-30 whole-body self-collision architecture P0.1

**PRELIMINARY - CONFIGURATION AND PACKAGING CAD ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, POWERED TESTING, MOTION, OR ENERGIZATION**

This package evaluates every nonexcluded pair of posed URDF link envelopes in all 10 S2–S5 configurations. Direct joint interfaces and explicitly named nested shoulder, hip and ankle structural interfaces are excluded in `collision-exclusion-register.csv`; no broad same-limb exemption is used. All other pairs are evaluated with OpenCascade B-Rep distance. Pairs at zero distance are evaluated for common volume.

The planning preference is **5.0 mm** between nonadjacent rigid envelopes. A value below that threshold is not automatically a collision, but it remains a packaging hold for covers, cable sweep, tolerance and tracking error. Zero common volume is required for every checked pair.

| Pose | Checked pairs | Interferences | Minimum clearance | Closest checked pair |
|---|---:|---:|---:|---|
| Neutral double support | 290 | 0 | 8.50 mm | `L_forearm::L_thigh` |
| Crouched double support | 290 | 0 | 8.50 mm | `L_forearm::L_thigh` |
| Left weight transfer | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Right foot lift | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Right capture-step candidate | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Right 40 mm touchdown | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Right weight transfer | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Left foot lift | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Left capture-step candidate | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |
| Left 40 mm touchdown | 290 | 0 | 10.00 mm | `L_hip_yaw_link::torso` |

This is a nominal rigid-envelope result. It does not cover manufacturing tolerance, cover deflection, belt/cable sweep, connector backshells, fastener protrusion, encoder wiring, tracking error, joint compliance, impacts, floor variation, fall restraint, or physical correlation. It grants no motion or safety credit.