{
 "frames": [
  1,
  120,
  1
 ],
 "context_objects": [
  "Moonpool | curved dry basin channel",
  "Moonpool | deck around open well",
  "Moonpool | docking lamp",
  "Moonpool | docking lamp.001",
  "Moonpool | hull lining",
  "Moonpool | recessed docking lamp housing",
  "Moonpool | recessed docking lamp housing.001",
  "Moonpool | titanium aperture rim",
  "Moonpool_Door_Aft",
  "Moonpool_Door_Fore",
  "Pocket AFT | conformal closed end",
  "Pocket FORE | conformal closed end"
 ],
 "near_m": 0.2,
 "arms": {
  "AFT_B": {
   "pose_err_mm": 0.0022,
   "pose_err_deg": 0.014,
   "joints_deg": {
    "J1": [
     19.17,
     109.88
    ],
    "J2": [
     -60.86,
     22.91
    ],
    "J3": [
     -12.65,
     59.36
    ],
    "J4": [
     -45.6,
     24.52
    ],
    "J5": [
     -78.91,
     -31.82
    ],
    "J6": [
     -33.53,
     73.7
    ]
   },
   "limit_breaks": [],
   "carriage": [
    -5.5,
    -3.8709
   ],
   "carriage_ok": true,
   "cyl_L": [
    0.9203,
    1.8206
   ],
   "piston_end": [
    -0.3597,
    0.5406
   ],
   "piston_ok": true,
   "crossings": {},
   "crossing_frames": {},
   "curve_crossings": {},
   "objects": 11,
   "curves": 4,
   "carriage_ends": {
    "pad_to_buffer_mm": {
     "inner end": {
      "frames": "25 frames (1-120)",
      "min_mm": 7.38,
      "max_mm": 7.38
     },
     "end wall side": {
      "frames": "25 frames (48-72)",
      "min_mm": 7.38,
      "max_mm": 7.38
     }
    },
    "body_to_rail_inner_end_mm": 64.5,
    "arm_to_end_wall_m": null,
    "pad_to_buffer_min_mm": 7.38
   },
   "clear_joint_gaps_lowest": [
    [
     "flange  x  tool B",
     [
      0.0,
      1,
      "FL2",
      "B01"
     ]
    ],
    [
     "tool B  x  DoorArm_AFT | door fixture B",
     [
      0.0,
      1,
      "B02",
      "DB1"
     ]
    ],
    [
     "J3 cylinder  x  lower arm",
     [
      0.0008,
      120,
      "R02p",
      "L03.L"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | rail kit",
     [
      0.0008,
      1,
      "C08.R",
      "K01"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | rail beam",
     [
      0.0011,
      1,
      "C09.L",
      "K00"
     ]
    ],
    [
     "carriage  x  carriage pinion",
     [
      0.0016,
      1,
      "C10b",
      "C10p"
     ]
    ],
    [
     "carriage pinion  x  DoorArm_AFT | rail kit",
     [
      0.0019,
      16,
      "C10p",
      "rack t"
     ]
    ],
    [
     "J3 cylinder  x  J3 piston",
     [
      0.0022,
      120,
      "R01",
      "R05"
     ]
    ],
    [
     "carriage  x  turret",
     [
      0.0032,
      120,
      "C01p",
      "T01"
     ]
    ],
    [
     "J3 piston  x  upper arm",
     [
      0.004,
      120,
      "R06",
      "U11w"
     ]
    ],
    [
     "flange  x  wrist head",
     [
      0.004,
      120,
      "FL1",
      "W02"
     ]
    ],
    [
     "forearm  x  wrist head",
     [
      0.007,
      1,
      "F09c.R",
      "W01"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 00",
     [
      0.0079,
      1,
      "C11",
      "outer"
     ]
    ],
    [
     "lower arm  x  turret",
     [
      0.0128,
      120,
      "L01",
      "T03c.L"
     ]
    ],
    [
     "forearm  x  upper arm",
     [
      0.0325,
      120,
      "F01",
      "U12"
     ]
    ],
    [
     "lower arm  x  upper arm",
     [
      0.0346,
      120,
      "L03.R",
      "U10.R"
     ]
    ],
    [
     "carriage pinion  x  DoorArm_AFT | rail beam",
     [
      0.0384,
      13,
      "C10p",
      "K00"
     ]
    ]
   ],
   "clear_other_lowest": [
    [
     "carriage  x  Moonpool | deck around open well",
     [
      0.0104,
      1,
      "C11",
      "deck around open well"
     ]
    ],
    [
     "cable elbow 2  x  upper arm",
     [
      0.014,
      1,
      "cable elbow 2",
      "U08l"
     ]
    ],
    [
     "J3 cylinder  x  upper arm",
     [
      0.0158,
      1,
      "R01",
      "U10.L"
     ]
    ],
    [
     "tool B  x  Moonpool_Door_Aft",
     [
      0.0158,
      120,
      "B02",
      "Moonpool_Door_Aft"
     ]
    ],
    [
     "J3 hose front  x  J3 piston",
     [
      0.0219,
      1,
      "J3 hose front",
      "R05"
     ]
    ],
    [
     "J3 hose rear  x  J3 piston",
     [
      0.03,
      120,
      "J3 hose rear",
      "R05"
     ]
    ],
    [
     "J3 hose rear  x  lower arm",
     [
      0.0413,
      120,
      "J3 hose rear",
      "L05"
     ]
    ],
    [
     "J3 piston  x  lower arm",
     [
      0.0459,
      16,
      "R05",
      "L04b.L"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 01",
     [
      0.0481,
      48,
      "C11",
      "outer"
     ]
    ],
    [
     "flange  x  forearm",
     [
      0.0566,
      40,
      "FL2s",
      "F09c.R"
     ]
    ],
    [
     "tool B  x  wrist head",
     [
      0.0672,
      120,
      "B01",
      "W02"
     ]
    ],
    [
     "cable elbow 1  x  upper arm",
     [
      0.0672,
      120,
      "cable elbow 1",
      "U08l"
     ]
    ],
    [
     "J3 hose front  x  lower arm",
     [
      0.0728,
      1,
      "J3 hose front",
      "L05"
     ]
    ],
    [
     "forearm  x  tool B",
     [
      0.0826,
      99,
      "F09c.L",
      "B01"
     ]
    ],
    [
     "carriage pinion  x  turret",
     [
      0.0992,
      107,
      "C10p",
      "T01"
     ]
    ],
    [
     "J3 hose front  x  J3 cylinder",
     [
      0.115,
      1,
      "J3 hose front",
      "R02"
     ]
    ],
    [
     "cable elbow 2  x  lower arm",
     [
      0.1232,
      27,
      "cable elbow 2",
      "L15.L"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 05",
     [
      0.1397,
      26,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 04",
     [
      0.1399,
      89,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 02",
     [
      0.1405,
      48,
      "C11",
      "outer"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 03",
     [
      0.1405,
      37,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "cable elbow 1  x  lower arm",
     [
      0.151,
      120,
      "cable elbow 1",
      "L15.L"
     ]
    ],
    [
     "carriage  x  DoorArm_AFT | chain link 06",
     [
      0.1687,
      101,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "turret  x  DoorArm_AFT | rail kit",
     [
      0.1892,
      1,
      "T02",
      "K03"
     ]
    ],
    [
     "J3 hose rear  x  J3 cylinder",
     [
      0.1996,
      120,
      "J3 hose rear",
      "R02"
     ]
    ]
   ],
   "clear_by_context_object": {
    "Moonpool | curved dry basin channel": "> 0.20",
    "Moonpool | deck around open well": [
     0.0104,
     1,
     "carriage",
     "C11",
     "deck around open well"
    ],
    "Moonpool | docking lamp": "> 0.20",
    "Moonpool | docking lamp.001": "> 0.20",
    "Moonpool | hull lining": "> 0.20",
    "Moonpool | recessed docking lamp housing": "> 0.20",
    "Moonpool | recessed docking lamp housing.001": "> 0.20",
    "Moonpool | titanium aperture rim": "> 0.20",
    "Moonpool_Door_Aft": [
     0.0158,
     120,
     "tool B",
     "B02",
     "Moonpool_Door_Aft"
    ],
    "Moonpool_Door_Fore": "> 0.20",
    "Pocket AFT | conformal closed end": "> 0.20",
    "Pocket FORE | conformal closed end": "> 0.20"
   }
  },
  "FORE_B": {
   "pose_err_mm": 0.0024,
   "pose_err_deg": 0.014,
   "joints_deg": {
    "J1": [
     70.12,
     160.83
    ],
    "J2": [
     -60.86,
     22.91
    ],
    "J3": [
     -12.65,
     59.36
    ],
    "J4": [
     -24.52,
     45.6
    ],
    "J5": [
     -78.91,
     -31.82
    ],
    "J6": [
     -73.7,
     33.53
    ]
   },
   "limit_breaks": [],
   "carriage": [
    9.9709,
    11.6
   ],
   "carriage_ok": true,
   "cyl_L": [
    0.9203,
    1.8206
   ],
   "piston_end": [
    -0.3597,
    0.5406
   ],
   "piston_ok": true,
   "crossings": {},
   "crossing_frames": {},
   "curve_crossings": {},
   "objects": 11,
   "curves": 4,
   "carriage_ends": {
    "pad_to_buffer_mm": {
     "inner end": {
      "frames": "25 frames (1-120)",
      "min_mm": 7.38,
      "max_mm": 7.38
     },
     "end wall side": {
      "frames": "25 frames (48-72)",
      "min_mm": 7.38,
      "max_mm": 7.38
     }
    },
    "body_to_rail_inner_end_mm": 64.5,
    "arm_to_end_wall_m": null,
    "pad_to_buffer_min_mm": 7.38
   },
   "clear_joint_gaps_lowest": [
    [
     "flange  x  tool B",
     [
      0.0,
      1,
      "FL2",
      "B01"
     ]
    ],
    [
     "tool B  x  DoorArm_FORE | door fixture B",
     [
      0.0,
      1,
      "B02",
      "DB1"
     ]
    ],
    [
     "J3 cylinder  x  lower arm",
     [
      0.0008,
      120,
      "R02p",
      "L03.L"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | rail kit",
     [
      0.0008,
      1,
      "C08.R",
      "K01"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | rail beam",
     [
      0.0011,
      1,
      "C09.L",
      "K00"
     ]
    ],
    [
     "carriage  x  carriage pinion",
     [
      0.0016,
      1,
      "C10b",
      "C10p"
     ]
    ],
    [
     "carriage pinion  x  DoorArm_FORE | rail kit",
     [
      0.0019,
      16,
      "C10p",
      "rack t"
     ]
    ],
    [
     "J3 cylinder  x  J3 piston",
     [
      0.0022,
      120,
      "R01",
      "R05"
     ]
    ],
    [
     "carriage  x  turret",
     [
      0.0032,
      120,
      "C01p",
      "T01"
     ]
    ],
    [
     "J3 piston  x  upper arm",
     [
      0.004,
      120,
      "R06",
      "U11w"
     ]
    ],
    [
     "flange  x  wrist head",
     [
      0.004,
      120,
      "FL1",
      "W02"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 00",
     [
      0.0063,
      1,
      "C11",
      "outer"
     ]
    ],
    [
     "forearm  x  wrist head",
     [
      0.007,
      1,
      "F09c.R",
      "W01"
     ]
    ],
    [
     "lower arm  x  turret",
     [
      0.0128,
      120,
      "L01",
      "T03c.R"
     ]
    ],
    [
     "forearm  x  upper arm",
     [
      0.0325,
      120,
      "F01",
      "U12"
     ]
    ],
    [
     "lower arm  x  upper arm",
     [
      0.0346,
      120,
      "L03.R",
      "U10.R"
     ]
    ],
    [
     "carriage pinion  x  DoorArm_FORE | rail beam",
     [
      0.0384,
      13,
      "C10p",
      "K00"
     ]
    ]
   ],
   "clear_other_lowest": [
    [
     "carriage  x  Moonpool | deck around open well",
     [
      0.0104,
      1,
      "C11",
      "deck around open well"
     ]
    ],
    [
     "cable elbow 2  x  upper arm",
     [
      0.014,
      1,
      "cable elbow 2",
      "U08l"
     ]
    ],
    [
     "J3 cylinder  x  upper arm",
     [
      0.0158,
      1,
      "R01",
      "U10.R"
     ]
    ],
    [
     "tool B  x  Moonpool_Door_Fore",
     [
      0.0158,
      1,
      "B02",
      "Moonpool_Door_Fore"
     ]
    ],
    [
     "J3 hose front  x  J3 piston",
     [
      0.0219,
      1,
      "J3 hose front",
      "R05"
     ]
    ],
    [
     "J3 hose rear  x  J3 piston",
     [
      0.03,
      120,
      "J3 hose rear",
      "R05"
     ]
    ],
    [
     "J3 hose rear  x  lower arm",
     [
      0.0413,
      120,
      "J3 hose rear",
      "L05"
     ]
    ],
    [
     "J3 piston  x  lower arm",
     [
      0.0459,
      16,
      "R05",
      "L04b.L"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 01",
     [
      0.0482,
      72,
      "C11",
      "outer"
     ]
    ],
    [
     "flange  x  forearm",
     [
      0.0566,
      40,
      "FL2s",
      "F09c.L"
     ]
    ],
    [
     "tool B  x  wrist head",
     [
      0.0672,
      120,
      "B01",
      "W02"
     ]
    ],
    [
     "cable elbow 1  x  upper arm",
     [
      0.0672,
      120,
      "cable elbow 1",
      "U08l"
     ]
    ],
    [
     "J3 hose front  x  lower arm",
     [
      0.0728,
      1,
      "J3 hose front",
      "L05"
     ]
    ],
    [
     "forearm  x  tool B",
     [
      0.0826,
      99,
      "F09c.R",
      "B01"
     ]
    ],
    [
     "carriage pinion  x  turret",
     [
      0.0992,
      107,
      "C10p",
      "T01"
     ]
    ],
    [
     "J3 hose front  x  J3 cylinder",
     [
      0.115,
      1,
      "J3 hose front",
      "R02"
     ]
    ],
    [
     "cable elbow 2  x  lower arm",
     [
      0.1232,
      26,
      "cable elbow 2",
      "L15.L"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 05",
     [
      0.1397,
      26,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 04",
     [
      0.1399,
      89,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 03",
     [
      0.1405,
      37,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 02",
     [
      0.1406,
      72,
      "C11",
      "outer"
     ]
    ],
    [
     "cable elbow 1  x  lower arm",
     [
      0.151,
      120,
      "cable elbow 1",
      "L15.L"
     ]
    ],
    [
     "carriage  x  DoorArm_FORE | chain link 06",
     [
      0.1687,
      101,
      "C03a.R",
      "outer"
     ]
    ],
    [
     "turret  x  DoorArm_FORE | rail kit",
     [
      0.1937,
      17,
      "T14",
      "K03"
     ]
    ],
    [
     "J3 hose rear  x  J3 cylinder",
     [
      0.1996,
      120,
      "J3 hose rear",
      "R02"
     ]
    ]
   ],
   "clear_by_context_object": {
    "Moonpool | curved dry basin channel": "> 0.20",
    "Moonpool | deck around open well": [
     0.0104,
     1,
     "carriage",
     "C11",
     "deck around open well"
    ],
    "Moonpool | docking lamp": "> 0.20",
    "Moonpool | docking lamp.001": "> 0.20",
    "Moonpool | hull lining": "> 0.20",
    "Moonpool | recessed docking lamp housing": "> 0.20",
    "Moonpool | recessed docking lamp housing.001": "> 0.20",
    "Moonpool | titanium aperture rim": "> 0.20",
    "Moonpool_Door_Aft": "> 0.20",
    "Moonpool_Door_Fore": [
     0.0158,
     1,
     "tool B",
     "B02",
     "Moonpool_Door_Fore"
    ],
    "Pocket AFT | conformal closed end": "> 0.20",
    "Pocket FORE | conformal closed end": "> 0.20"
   }
  }
 },
 "notes": [
  "crossing = two triangles that meet and each reach more than 0.2 mm through the other's plane",
  "joint gaps = a link and its parent link, or a declared mount (MOUNTS): running clearances by design",
  "a clearance shown as '> 0.20' was never measured closer than that"
 ],
 "chain": {
  "AFT": {
   "links": 15,
   "crossings": 0,
   "crossing_frames": [],
   "spacing_error_mm": 1.246,
   "lowest_to_rail_kit": [
    0.0058,
    26,
    "chain link 05",
    "outer",
    "K04"
   ]
  },
  "FORE": {
   "links": 15,
   "crossings": 0,
   "crossing_frames": [],
   "spacing_error_mm": 1.247,
   "lowest_to_rail_kit": [
    0.0058,
    26,
    "chain link 05",
    "outer",
    "K04"
   ]
  }
 },
 "fixtures_follow_door_mm": {
  "AFT A": {
   "position_mm": 0.0,
   "rotation_deg": 0.0
  },
  "FORE A": {
   "position_mm": 0.0,
   "rotation_deg": 0.0
  },
  "AFT B": {
   "position_mm": 0.0,
   "rotation_deg": 0.0
  },
  "FORE B": {
   "position_mm": 0.0,
   "rotation_deg": 0.0
  }
 },
 "grip_contact": {
  "AFT": {
   "min_mm": 0.901,
   "max_mm": 0.906,
   "crossing_frames": [],
   "per_hook_min_mm": {
    "finger top distal": 0.901,
    "finger left distal": 0.902,
    "finger bottom distal": 0.904,
    "finger right distal": 0.903
   }
  },
  "FORE": {
   "min_mm": 0.902,
   "max_mm": 0.907,
   "crossing_frames": [],
   "per_hook_min_mm": {
    "finger top distal": 0.902,
    "finger left distal": 0.902,
    "finger bottom distal": 0.904,
    "finger right distal": 0.902
   }
  }
 },
 "version_switch": {
  "objects": 84,
  "ok": true,
  "wrong": []
 },
 "drivers": {
  "count": 430,
  "simple_and_valid": 430,
  "not_simple_or_invalid": 0,
  "bad": []
 },
 "summary": {
  "AFT_B": {
   "pose_err_mm": 0.0022,
   "pose_err_deg": 0.014,
   "limit_breaks": 0,
   "carriage": [
    -5.5,
    -3.8709
   ],
   "carriage_ok": true,
   "piston_ok": true,
   "piston_end": [
    -0.3597,
    0.5406
   ],
   "crossing_pairs": 0,
   "crossing_tris": 0,
   "curve_crossing_pairs": 0,
   "pad_to_buffer_min_mm": 7.38,
   "body_to_rail_inner_end_mm": 64.5,
   "arm_to_end_wall_m": null,
   "lowest_joint_gap": [
    "flange  x  tool B",
    [
     0.0,
     1,
     "FL2",
     "B01"
    ]
   ],
   "lowest_other": [
    "carriage  x  Moonpool | deck around open well",
    [
     0.0104,
     1,
     "C11",
     "deck around open well"
    ]
   ]
  },
  "FORE_B": {
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   "pose_err_deg": 0.014,
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   "carriage": [
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   "carriage_ok": true,
   "piston_ok": true,
   "piston_end": [
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   "crossing_tris": 0,
   "curve_crossing_pairs": 0,
   "pad_to_buffer_min_mm": 7.38,
   "body_to_rail_inner_end_mm": 64.5,
   "arm_to_end_wall_m": null,
   "lowest_joint_gap": [
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    [
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     "FL2",
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    ]
   ],
   "lowest_other": [
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    [
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     1,
     "C11",
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    ]
   ]
  },
  "chain": {
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    "spacing_error_mm": 1.246,
    "lowest_to_tray": [
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     "chain link 05",
     "outer",
     "K04"
    ]
   },
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    "lowest_to_tray": [
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     26,
     "chain link 05",
     "outer",
     "K04"
    ]
   }
  },
  "fixtures_follow_door_mm": {
   "AFT A": {
    "position_mm": 0.0,
    "rotation_deg": 0.0
   },
   "FORE A": {
    "position_mm": 0.0,
    "rotation_deg": 0.0
   },
   "AFT B": {
    "position_mm": 0.0,
    "rotation_deg": 0.0
   },
   "FORE B": {
    "position_mm": 0.0,
    "rotation_deg": 0.0
   }
  },
  "grip_contact_mm": {
   "AFT": {
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    "max": 0.906,
    "crossing_frames": []
   },
   "FORE": {
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    "max": 0.907,
    "crossing_frames": []
   }
  },
  "version_switch_ok": true,
  "drivers": {
   "count": 430,
   "simple_and_valid": 430,
   "not_simple_or_invalid": 0
  }
 },
 "seconds": 108.7
}