[
 {
  "mode": "joints by hand",
  "lowered_m": 0.0,
  "claw": 0.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0035,
  "at": "Arm3_Claw3"
 },
 {
  "mode": "joints by hand",
  "lowered_m": 0.25,
  "claw": 1.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0034,
  "at": "Arm1_Claw1"
 },
 {
  "mode": "joints by hand",
  "lowered_m": 2.5,
  "claw": 0.5,
  "turret_rad": 0.7,
  "max_deviation_mm": 0.0037,
  "at": "Arm3_Claw3"
 },
 {
  "mode": "joints by hand",
  "lowered_m": 5.3,
  "claw": 1.0,
  "turret_rad": -2.1,
  "max_deviation_mm": 0.003,
  "at": "Arm2_Claw4"
 },
 {
  "mode": "controls",
  "lowered_m": 0.0,
  "claw": 0.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0031,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 0.01,
  "claw": 0.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0031,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 0.25,
  "claw": 1.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0034,
  "at": "Arm2_Claw1"
 },
 {
  "mode": "controls",
  "lowered_m": 1.0,
  "claw": 0.0,
  "turret_rad": 0.4,
  "max_deviation_mm": 0.0034,
  "at": "Arm3_Claw4"
 },
 {
  "mode": "controls",
  "lowered_m": 2.5,
  "claw": 0.5,
  "turret_rad": 0.7,
  "max_deviation_mm": 0.0028,
  "at": "Arm2_Claw2"
 },
 {
  "mode": "controls",
  "lowered_m": 4.0,
  "claw": 1.0,
  "turret_rad": 3.0,
  "max_deviation_mm": 0.0034,
  "at": "Arm3_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 5.3,
  "claw": 1.0,
  "turret_rad": -2.1,
  "max_deviation_mm": 0.0033,
  "at": "Arm3_Claw4"
 },
 {
  "mode": "reach_in 2.34 at BOARD",
  "wrist_error_mm": 0.0011,
  "joints_deg": {
   "Upper": 51.11,
   "Lower": 149.85,
   "Head": 98.75
  },
  "head_tilt": 0.0
 }
]