using ReachabilityAnalysis
Dict([
    "opts" => Dict(:T=>10.0, :alg=>TMJets(abstol=1e-15, orderT=8, orderQ=1, maxsteps=50_000)),
    "X0"   => Hyperrectangle(low=[1.3, 1.3, -0.2, -0.2], high=[1.7, 1.7, 0.2, 0.2]),
    "info" => Dict(
        "name" => "robot_arm",
        "dim" => 2,
        "linear" => false,
        "hybrid" => false
    )
])
