{
 "margin_deg": 3.0,
 "step_deg": 3.0,
 "q6_band_deg": 10.0,
 "ranges_used": {
  "A": {
   "J1": [
    14.51,
    165.49
   ],
   "J2": [
    -56.07,
    37.34
   ],
   "J3": [
    -23.56,
    48.96
   ],
   "J4": [
    -46.12,
    46.12
   ],
   "J5": [
    -85.49,
    -28.31
   ],
   "J6": [
    -83.55,
    83.55
   ]
  },
  "B": {
   "J1": [
    19.17,
    160.83
   ],
   "J2": [
    -60.86,
    22.91
   ],
   "J3": [
    -12.65,
    59.36
   ],
   "J4": [
    -45.6,
    45.6
   ],
   "J5": [
    -78.91,
    -31.82
   ],
   "J6": [
    -73.7,
    73.7
   ]
  }
 },
 "ranges_swept": {
  "A": {
   "J1": [
    -180.0,
    180.0
   ],
   "J2": [
    -59.07,
    40.34
   ],
   "J3": [
    -26.56,
    51.96
   ],
   "J4": [
    -49.12,
    49.12
   ],
   "J5": [
    -88.5,
    -25.3
   ],
   "J5_with_J6": "J6 as on the door path; J6 also +-10 deg along the path",
   "J6": [
    -86.55,
    86.55
   ]
  },
  "B": {
   "J1": [
    -180.0,
    180.0
   ],
   "J2": [
    -63.86,
    25.91
   ],
   "J3": [
    -15.65,
    62.36
   ],
   "J4": [
    -48.6,
    48.6
   ],
   "J5": [
    -81.9,
    -28.8
   ],
   "J5_with_J6": "J6 as on the door path; J6 also +-10 deg along the path",
   "J6": [
    -76.7,
    76.7
   ]
  }
 },
 "info": {
  "J5 margin at the deepest bend, arm A": {
   "J6 -93.6": {
    "path_deepest_J5": -85.5,
    "free_to_J5": -91.0,
    "margin_deg": 5.5
   },
   "J6 -83.6": {
    "path_deepest_J5": -85.5,
    "free_to_J5": -91.5,
    "margin_deg": 6.0
   },
   "J6 -73.6": {
    "path_deepest_J5": -85.5,
    "free_to_J5": -92.0,
    "margin_deg": 6.5
   },
   "J6 +73.6": {
    "path_deepest_J5": -85.5,
    "free_to_J5": -92.0,
    "margin_deg": 6.5
   },
   "J6 +83.6": {
    "path_deepest_J5": -85.5,
    "free_to_J5": -91.5,
    "margin_deg": 6.0
   },
   "J6 +93.6": {
    "path_deepest_J5": -85.5,
    "free_to_J5": -91.0,
    "margin_deg": 5.5
   }
  },
  "J5 limit with J6 at rest, arm A": {
   "free_to_deg": -91.0,
   "first_contact_deg": -91.5,
   "parts": [
    "A03.top x F09"
   ]
  },
  "J5 margin at the deepest bend, arm B": {
   "J6 -83.7": {
    "path_deepest_J5": -78.9,
    "free_to_J5": -93.9,
    "margin_deg": 15.0
   },
   "J6 -73.7": {
    "path_deepest_J5": -78.9,
    "free_to_J5": -93.9,
    "margin_deg": 15.0
   },
   "J6 -63.7": {
    "path_deepest_J5": -78.9,
    "free_to_J5": -93.9,
    "margin_deg": 15.0
   },
   "J6 +63.7": {
    "path_deepest_J5": -78.9,
    "free_to_J5": -93.9,
    "margin_deg": 15.0
   },
   "J6 +73.7": {
    "path_deepest_J5": -78.9,
    "free_to_J5": -93.9,
    "margin_deg": 15.0
   },
   "J6 +83.7": {
    "path_deepest_J5": -78.9,
    "free_to_J5": -93.9,
    "margin_deg": 15.0
   }
  },
  "J5 limit with J6 at rest, arm B": {
   "free_to_deg": -94.0,
   "first_contact_deg": -94.5,
   "parts": [
    "B03 x F09c.L",
    "B03 x F09c.R"
   ]
  }
 },
 "J1 arm A": [],
 "J2 arm A": [],
 "J3 arm A": [],
 "J4 arm A": [],
 "J5 arm A": [],
 "J6 arm A": [],
 "grip arm A": [],
 "J1 arm B": [],
 "J2 arm B": [],
 "J3 arm B": [],
 "J4 arm B": [],
 "J5 arm B": [],
 "J6 arm B": [],
 "summary": {
  "J1 arm A": 0,
  "J2 arm A": 0,
  "J3 arm A": 0,
  "J4 arm A": 0,
  "J5 arm A": 0,
  "J6 arm A": 0,
  "grip arm A": 0,
  "J1 arm B": 0,
  "J2 arm B": 0,
  "J3 arm B": 0,
  "J4 arm B": 0,
  "J5 arm B": 0,
  "J6 arm B": 0
 }
}