[
 {
  "mode": "joints by hand",
  "lowered_m": 0.0,
  "claw": 0.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0031,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "joints by hand",
  "lowered_m": 0.25,
  "claw": 1.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.0031,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "joints by hand",
  "lowered_m": 2.5,
  "claw": 0.5,
  "turret_rad": 0.7,
  "max_deviation_mm": 0.0026,
  "at": "Arm1_OreHose"
 },
 {
  "mode": "joints by hand",
  "lowered_m": 5.3,
  "claw": 1.0,
  "turret_rad": -2.1,
  "max_deviation_mm": 0.0049,
  "at": "Arm1_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 0.0,
  "claw": 0.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.004,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 0.01,
  "claw": 0.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.004,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 0.25,
  "claw": 1.0,
  "turret_rad": 0.0,
  "max_deviation_mm": 0.004,
  "at": "Arm2_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 1.0,
  "claw": 0.0,
  "turret_rad": 0.4,
  "max_deviation_mm": 0.003,
  "at": "Arm1_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 2.5,
  "claw": 0.5,
  "turret_rad": 0.7,
  "max_deviation_mm": 0.0045,
  "at": "Arm3_Claw4"
 },
 {
  "mode": "controls",
  "lowered_m": 4.0,
  "claw": 1.0,
  "turret_rad": 3.0,
  "max_deviation_mm": 0.0058,
  "at": "Arm1_OreHose"
 },
 {
  "mode": "controls",
  "lowered_m": 5.3,
  "claw": 1.0,
  "turret_rad": -2.1,
  "max_deviation_mm": 0.0048,
  "at": "Arm1_OreHose"
 },
 {
  "mode": "reach_in 2.34 at BOARD",
  "wrist_error_mm": 0.0029,
  "joints_deg": {
   "Upper": 51.11,
   "Lower": 149.85,
   "Head": 98.75
  },
  "head_tilt": 0.0
 },
 {
  "mode": "pool stage",
  "lowered_m": 7.0,
  "reach_in": 2.34,
  "max_deviation_mm": 0.006,
  "at": "Arm1_LowerLink",
  "joints_deg": {
   "Boom": 20.66,
   "Upper": 74.52,
   "Lower": 149.85,
   "Head": 95.99
  },
  "reference_deg": {
   "boom": 20.66,
   "shoulder": 74.52,
   "elbow": 149.85,
   "wrist": 95.99
  },
  "wrist_error_mm": 0.0036,
  "head_tilt": 1e-06
 },
 {
  "mode": "pool stage",
  "lowered_m": 9.3,
  "reach_in": 2.34,
  "max_deviation_mm": 0.0087,
  "at": "Arm1_Claw2",
  "joints_deg": {
   "Boom": 51.4,
   "Upper": 119.21,
   "Lower": 149.85,
   "Head": 82.04
  },
  "reference_deg": {
   "boom": 51.4,
   "shoulder": 119.21,
   "elbow": 149.85,
   "wrist": 82.04
  },
  "wrist_error_mm": 0.005,
  "head_tilt": 0.0
 },
 {
  "mode": "pool stage",
  "lowered_m": 9.3,
  "reach_in": 0.0,
  "max_deviation_mm": 0.0057,
  "at": "Arm1_LowerLink",
  "joints_deg": {
   "Boom": 58.69,
   "Upper": 154.9,
   "Lower": 150.28,
   "Head": 54.07
  },
  "reference_deg": {
   "boom": 58.69,
   "shoulder": 154.9,
   "elbow": 150.28,
   "wrist": 54.07
  },
  "wrist_error_mm": 0.0029,
  "head_tilt": 0.0
 },
 {
  "mode": "pool stage",
  "lowered_m": 8.0,
  "reach_in": 1.2,
  "max_deviation_mm": 0.0049,
  "at": "Arm1_OreHose",
  "joints_deg": {
   "Boom": 34.79,
   "Upper": 94.99,
   "Lower": 129.83,
   "Head": 69.63
  },
  "reference_deg": {
   "boom": 34.79,
   "shoulder": 94.99,
   "elbow": 129.83,
   "wrist": 69.63
  },
  "wrist_error_mm": 0.0025,
  "head_tilt": 0.0
 },
 {
  "mode": "pool stage",
  "lowered_m": 6.0,
  "reach_in": 2.5,
  "max_deviation_mm": 0.0065,
  "at": "Arm1_LowerLink",
  "joints_deg": {
   "Boom": 8.7,
   "Upper": 61.46,
   "Lower": 155.2,
   "Head": 102.44
  },
  "reference_deg": {
   "boom": 8.7,
   "shoulder": 61.46,
   "elbow": 155.2,
   "wrist": 102.44
  },
  "wrist_error_mm": 0.0042,
  "head_tilt": 0.0
 }
]