[lukevanoort]

It is a really small volume once you start working with it. I've been sitting here for a bit today just playing with a spreadsheet I whipped up that determines our robot's arm's length extending from our robot. It just figures out the length sticking out (it's a double jointed arm) in the two worst-case scenarios, and from that, determines roughly how much play we have left in the envelope. Let me just say that there is very little play.