{
 "door": "FORE",
 "version": "A",
 "frames": 120,
 "step": 1,
 "spacing": 0.05,
 "d_t": 0.63,
 "joints": {
  "J1": [
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   147.266
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  "J2": [
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   9.769
  ],
  "J3": [
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   29.111
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  "J4": [
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   52.538
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  "J5": [
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   -39.975
  ],
  "J6": [
   -52.316,
   -11.544
  ]
 },
 "max_step_deg": {
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  "J2": 3.3,
  "J3": 4.059,
  "J4": 2.994,
  "J5": 2.414,
  "J6": 3.189
 },
 "pose_err_mm": 0.0020230487285229134,
 "pose_err_deg": 0.027976455118293345,
 "min_abs_q5_deg": 39.9745502519982,
 "elbow_inner_deg": [
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  91.732
 ],
 "reach_ratio": [
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  0.7266
 ],
 "wc_from_J1_axis_min": 0.7367340192795938,
 "carriage": [
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  14.2158
 ],
 "carriage_ok": true,
 "rod": {
  "length": [
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   1.2445
  ],
  "cyl_angle_deg": [
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   1.2994
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  "piston": [
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   0.4445
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  "rear_in_lower_max": -0.121
 },
 "limits_ok": true,
 "clear": {
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   120
  ],
  "Turret | lower block  x  Pocket FORE | upper rail": [
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   120
  ],
  "Turret | lower block  x  kit | end stop inner": [
   0.107,
   120
  ],
  "Turret | lower block  x  kit | chain tray": [
   0.332,
   1
  ],
  "Turret | front housing  x  Pocket FORE | upper rail": [
   0.403,
   120
  ],
  "Turret | front housing  x  kit | end stop inner": [
   0.283,
   119
  ],
  "Turret | ear L  x  Pocket FORE | upper rail": [
   0.483,
   72
  ],
  "Turret | ear L  x  kit | end stop inner": [
   0.4628,
   120
  ],
  "Turret | ear L  x  kit | chain tray": [
   0.541,
   7
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  "Turret | ear R  x  Pocket FORE | upper rail": [
   0.436,
   120
  ],
  "Turret | cap L  x  kit | end stop inner": [
   0.5336,
   120
  ],
  "Turret | cap R  x  Pocket FORE | upper rail": [
   0.5068,
   120
  ],
  "Turret | belt drive  x  Moonpool | deck around open well": [
   0.548,
   1
  ],
  "Turret | belt drive  x  Pocket FORE | upper rail": [
   0.293,
   107
  ],
  "Turret | belt drive  x  kit | end stop inner": [
   0.173,
   11
  ],
  "Turret | cable bundle  x  kit | end stop inner": [
   0.492,
   10
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  "Turret | side cables L  x  Moonpool | deck around open well": [
   0.493,
   1
  ],
  "Turret | side cables L  x  Pocket FORE | upper rail": [
   0.238,
   91
  ],
  "Turret | side cables L  x  kit | end stop inner": [
   0.118,
   1
  ],
  "Turret | side cables L  x  kit | chain tray": [
   0.343,
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  "Turret | side cables R  x  Moonpool | deck around open well": [
   0.493,
   1
  ],
  "Turret | side cables R  x  Pocket FORE | upper rail": [
   0.238,
   120
  ],
  "Turret | side cables R  x  kit | chain tray": [
   0.4198,
   72
  ],
  "Turret | drum envelope  x  Pocket FORE | upper rail": [
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   116
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  "Turret | drum envelope  x  kit | end stop inner": [
   0.5033,
   1
  ],
  "Turret | drum envelope  x  kit | chain tray": [
   0.5375,
   2
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  "Turret | root plates envelope L  x  Moonpool | deck around open well": [
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   1
  ],
  "Turret | root plates envelope L  x  Pocket FORE | upper rail": [
   0.3686,
   48
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  "Turret | root plates envelope L  x  kit | end stop inner": [
   0.3737,
   1
  ],
  "Turret | root plates envelope L  x  kit | chain tray": [
   0.4324,
   7
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  "Turret | root plates envelope R  x  Moonpool | deck around open well": [
   0.5818,
   1
  ],
  "Turret | root plates envelope R  x  Pocket FORE | upper rail": [
   0.3268,
   120
  ],
  "Turret | root plates envelope R  x  kit | chain tray": [
   0.4588,
   48
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  "Forearm | wrist block  x  Moonpool_Door_Fore": [
   0.429,
   12
  ],
  "Forearm | wrist lobe L  x  Moonpool_Door_Fore": [
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   99
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  "Forearm | wrist lobe R  x  Moonpool_Door_Fore": [
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   20
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  "WristHead | head  x  Moonpool_Door_Fore": [
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  ],
  "ToolA | hub  x  Moonpool | hull lining": [
   0.5512,
   120
  ],
  "ToolA | hub  x  Moonpool_Door_Fore": [
   0.3323,
   1
  ],
  "ToolA | fingers (closed envelope)  x  Moonpool | hull lining": [
   0.4312,
   1
  ],
  "ToolA | fingers (closed envelope)  x  Moonpool | titanium aperture rim": [
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   1
  ],
  "ToolA | fingers (closed envelope)  x  Moonpool_Door_Fore": [
   0.1441,
   120
  ],
  "ToolA | finger roots  x  Moonpool | hull lining": [
   0.4976,
   120
  ],
  "ToolA | finger roots  x  Moonpool | titanium aperture rim": [
   0.5911,
   1
  ],
  "ToolA | finger roots  x  Moonpool_Door_Fore": [
   0.3204,
   1
  ],
  "ToolA | finger motor top  x  Moonpool_Door_Fore": [
   0.392,
   1
  ],
  "ToolA | finger motor bottom  x  Moonpool | hull lining": [
   0.5796,
   120
  ],
  "ToolA | finger motor bottom  x  Moonpool_Door_Fore": [
   0.392,
   1
  ],
  "ToolA | finger motor left  x  Moonpool_Door_Fore": [
   0.3941,
   120
  ],
  "ToolA | finger motor right  x  Moonpool | hull lining": [
   0.554,
   120
  ],
  "ToolA | finger motor right  x  Moonpool_Door_Fore": [
   0.3941,
   120
  ],
  "Turret | front housing  x  kit | chain tray": [
   0.5495,
   107
  ],
  "Forearm | motor cyl  x  Moonpool_Door_Fore": [
   0.4939,
   12
  ],
  "Forearm | dial housing  x  Moonpool_Door_Fore": [
   0.5083,
   108
  ],
  "LowerArm | root beam core  x  Pocket FORE | upper rail": [
   0.5161,
   87
  ],
  "UpperArm | housing  x  Moonpool_Door_Fore": [
   0.508,
   12
  ],
  "UpperArm | front block  x  Moonpool_Door_Fore": [
   0.4963,
   12
  ],
  "Turret | side cables R  x  kit | end stop inner": [
   0.5886,
   12
  ],
  "LowerArm | root beam core  x  kit | chain tray": [
   0.575,
   48
  ],
  "Turret | cap L  x  Pocket FORE | upper rail": [
   0.5582,
   72
  ],
  "Turret | side cables R  x  kit | end stop wall": [
   0.118,
   46
  ],
  "Turret | ear R  x  kit | chain tray": [
   0.5727,
   48
  ],
  "Turret | lower block  x  kit | end stop wall": [
   0.1206,
   72
  ],
  "Turret | ear R  x  kit | end stop wall": [
   0.3298,
   72
  ],
  "Turret | cap R  x  kit | end stop wall": [
   0.3956,
   47
  ],
  "LowerArm | yoke R  x  Pocket FORE | conformal closed end": [
   0.2516,
   72
  ],
  "LowerArm | elbow caps  x  Pocket FORE | conformal closed end": [
   0.2369,
   72
  ],
  "Turret | side cables R  x  Pocket FORE | conformal closed end": [
   0.1447,
   48
  ],
  "Turret | root plates envelope R  x  kit | end stop wall": [
   0.2378,
   72
  ],
  "LowerArm | knee caps  x  Pocket FORE | conformal closed end": [
   0.2598,
   48
  ],
  "LowerArm | beam sides R  x  Pocket FORE | conformal closed end": [
   0.2843,
   72
  ],
  "LowerArm | handle R  x  Pocket FORE | conformal closed end": [
   0.3113,
   48
  ],
  "Turret | front housing  x  kit | end stop wall": [
   0.3083,
   72
  ],
  "Turret | cap R  x  Pocket FORE | conformal closed end": [
   0.3395,
   72
  ],
  "Turret | drum envelope  x  kit | end stop wall": [
   0.3702,
   48
  ],
  "Turret | ear R  x  Pocket FORE | conformal closed end": [
   0.3713,
   48
  ],
  "LowerArm | root beam core  x  kit | end stop wall": [
   0.5081,
   48
  ],
  "UpperArm | hub  x  Pocket FORE | conformal closed end": [
   0.4565,
   72
  ],
  "UpperArm | housing  x  Pocket FORE | conformal closed end": [
   0.4892,
   72
  ],
  "UpperArm | knob  x  Pocket FORE | conformal closed end": [
   0.5182,
   48
  ],
  "Turret | lower block  x  Pocket FORE | conformal closed end": [
   0.5037,
   48
  ],
  "Turret | root plates envelope R  x  Pocket FORE | conformal closed end": [
   0.4984,
   48
  ],
  "UpperArm | truss  x  Pocket FORE | conformal closed end": [
   0.561,
   48
  ]
 },
 "self": {
  "Carriage | body  x  LowerArm | root beam core": [
   0.294,
   72
  ],
  "Carriage | body  x  LowerArm | knee caps": [
   0.5779,
   42
  ],
  "UpperArm | housing  x  LowerArm | beam core": [
   0.1487,
   72
  ],
  "UpperArm | housing  x  LowerArm | knee caps": [
   0.509,
   48
  ],
  "UpperArm | front block  x  LowerArm | beam core": [
   0.495,
   72
  ],
  "UpperArm | truss  x  LowerArm | beam core": [
   0.0806,
   120
  ],
  "UpperArm | knob  x  LowerArm | beam core": [
   0.1826,
   1
  ],
  "UpperArm | knob  x  LowerArm | beam sides R": [
   0.0855,
   1
  ],
  "UpperArm | truss  x  LowerArm | knee caps": [
   0.3263,
   1
  ],
  "UpperArm | knob  x  LowerArm | knee caps": [
   0.3706,
   1
  ],
  "UpperArm | knob  x  LowerArm | handle L": [
   0.3356,
   1
  ],
  "UpperArm | knob  x  LowerArm | handle R": [
   0.3356,
   1
  ],
  "UpperArm | gland+cables  x  LowerArm | yoke L": [
   0.088,
   120
  ],
  "UpperArm | front block  x  LowerArm | knee caps": [
   0.6218,
   72
  ],
  "ToolA | hub  x  Forearm | wrist block": [
   0.0995,
   12
  ],
  "ToolA | hub  x  Forearm | wrist lower web": [
   0.1287,
   48
  ],
  "ToolA | hub  x  Forearm | wrist lobe L": [
   0.0088,
   85
  ],
  "ToolA | hub  x  Forearm | wrist lobe R": [
   0.0088,
   85
  ],
  "ToolA | hub  x  Forearm | motor cyl": [
   0.1985,
   12
  ],
  "ToolA | hub  x  Forearm | hose+handle": [
   0.2984,
   108
  ],
  "ToolA | hub  x  Forearm | dial housing": [
   0.3855,
   12
  ],
  "ToolA | hub  x  Forearm | belly": [
   0.4542,
   108
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | wrist block": [
   0.0565,
   12
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | wrist lower web": [
   0.2189,
   48
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | wrist lobe L": [
   0.099,
   85
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | wrist lobe R": [
   0.099,
   93
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | motor cyl": [
   0.1615,
   12
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | hose+handle": [
   0.3886,
   108
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | dial housing": [
   0.3429,
   12
  ],
  "ToolA | fingers (closed envelope)  x  Forearm | belly": [
   0.4814,
   12
  ],
  "ToolA | finger roots  x  Forearm | wrist block": [
   0.0708,
   12
  ],
  "ToolA | finger roots  x  Forearm | wrist lower web": [
   0.2189,
   48
  ],
  "ToolA | finger roots  x  Forearm | wrist lobe L": [
   0.099,
   78
  ],
  "ToolA | finger roots  x  Forearm | wrist lobe R": [
   0.099,
   117
  ],
  "ToolA | finger roots  x  Forearm | motor cyl": [
   0.1748,
   108
  ],
  "ToolA | finger roots  x  Forearm | hose+handle": [
   0.3886,
   108
  ],
  "ToolA | finger roots  x  Forearm | dial housing": [
   0.3571,
   12
  ],
  "ToolA | finger roots  x  Forearm | belly": [
   0.4896,
   12
  ],
  "ToolA | finger motor top  x  Forearm | wrist block": [
   0.0768,
   10
  ],
  "ToolA | finger motor top  x  Forearm | wrist lower web": [
   0.2191,
   12
  ],
  "ToolA | finger motor top  x  Forearm | wrist lobe L": [
   0.0287,
   108
  ],
  "ToolA | finger motor top  x  Forearm | wrist lobe R": [
   0.1762,
   48
  ],
  "ToolA | finger motor top  x  Forearm | motor cyl": [
   0.1857,
   114
  ],
  "ToolA | finger motor top  x  Forearm | hose+handle": [
   0.2938,
   12
  ],
  "ToolA | finger motor top  x  Forearm | dial housing": [
   0.3628,
   10
  ],
  "ToolA | finger motor top  x  Forearm | belly": [
   0.4305,
   108
  ],
  "ToolA | finger motor bottom  x  Forearm | wrist block": [
   0.3283,
   12
  ],
  "ToolA | finger motor bottom  x  Forearm | wrist lower web": [
   0.1209,
   45
  ],
  "ToolA | finger motor bottom  x  Forearm | wrist lobe L": [
   0.1753,
   48
  ],
  "ToolA | finger motor bottom  x  Forearm | wrist lobe R": [
   0.0287,
   108
  ],
  "ToolA | finger motor bottom  x  Forearm | motor cyl": [
   0.437,
   108
  ],
  "ToolA | finger motor bottom  x  Forearm | hose+handle": [
   0.3055,
   47
  ],
  "ToolA | finger motor bottom  x  Forearm | dial housing": [
   0.6146,
   108
  ],
  "ToolA | finger motor bottom  x  Forearm | belly": [
   0.6392,
   108
  ],
  "ToolA | finger motor left  x  Forearm | wrist block": [
   0.2928,
   72
  ],
  "ToolA | finger motor left  x  Forearm | wrist lower web": [
   0.1129,
   44
  ],
  "ToolA | finger motor left  x  Forearm | wrist lobe L": [
   0.0115,
   44
  ],
  "ToolA | finger motor left  x  Forearm | wrist lobe R": [
   0.2374,
   108
  ],
  "ToolA | finger motor left  x  Forearm | motor cyl": [
   0.4131,
   48
  ],
  "ToolA | finger motor left  x  Forearm | hose+handle": [
   0.302,
   74
  ],
  "ToolA | finger motor left  x  Forearm | dial housing": [
   0.5775,
   48
  ],
  "ToolA | finger motor left  x  Forearm | belly": [
   0.5998,
   72
  ],
  "ToolA | finger motor right  x  Forearm | wrist block": [
   0.041,
   12
  ],
  "ToolA | finger motor right  x  Forearm | wrist lower web": [
   0.1769,
   72
  ],
  "ToolA | finger motor right  x  Forearm | wrist lobe L": [
   0.2374,
   108
  ],
  "ToolA | finger motor right  x  Forearm | wrist lobe R": [
   0.0115,
   44
  ],
  "ToolA | finger motor right  x  Forearm | motor cyl": [
   0.1464,
   12
  ],
  "ToolA | finger motor right  x  Forearm | hose+handle": [
   0.2932,
   108
  ],
  "ToolA | finger motor right  x  Forearm | dial housing": [
   0.3272,
   12
  ],
  "ToolA | finger motor right  x  Forearm | belly": [
   0.4054,
   108
  ],
  "LowerArm | knee caps  x  Turret | lower block": [
   0.4383,
   72
  ],
  "LowerArm | knee caps  x  Turret | front housing": [
   0.2084,
   1
  ],
  "LowerArm | knee caps  x  Turret | ear L": [
   0.0909,
   3
  ],
  "LowerArm | knee caps  x  Turret | ear R": [
   0.0909,
   3
  ],
  "LowerArm | knee caps  x  Turret | cap L": [
   0.1613,
   11
  ],
  "LowerArm | knee caps  x  Turret | cap R": [
   0.1613,
   11
  ],
  "LowerArm | knee caps  x  Turret | belt drive": [
   0.8764,
   1
  ],
  "LowerArm | knee caps  x  Turret | cable bundle": [
   0.6634,
   1
  ],
  "LowerArm | knee caps  x  Turret | side cables L": [
   0.3768,
   72
  ],
  "LowerArm | knee caps  x  Turret | side cables R": [
   0.3768,
   72
  ],
  "LowerArm | beam sides L  x  Turret | lower block": [
   0.6663,
   72
  ],
  "LowerArm | beam sides L  x  Turret | front housing": [
   0.2504,
   1
  ],
  "LowerArm | beam sides L  x  Turret | ear L": [
   0.2302,
   1
  ],
  "LowerArm | beam sides L  x  Turret | ear R": [
   0.5162,
   120
  ],
  "LowerArm | beam sides L  x  Turret | cap L": [
   0.3013,
   120
  ],
  "LowerArm | beam sides L  x  Turret | cap R": [
   0.6638,
   120
  ],
  "LowerArm | beam sides L  x  Turret | belt drive": [
   0.9088,
   120
  ],
  "LowerArm | beam sides L  x  Turret | cable bundle": [
   0.6843,
   120
  ],
  "LowerArm | beam sides L  x  Turret | side cables L": [
   0.5186,
   120
  ],
  "LowerArm | beam sides L  x  Turret | side cables R": [
   0.7401,
   120
  ],
  "LowerArm | beam sides R  x  Turret | lower block": [
   0.6663,
   72
  ],
  "LowerArm | beam sides R  x  Turret | front housing": [
   0.2504,
   1
  ],
  "LowerArm | beam sides R  x  Turret | ear L": [
   0.5162,
   120
  ],
  "LowerArm | beam sides R  x  Turret | ear R": [
   0.2302,
   1
  ],
  "LowerArm | beam sides R  x  Turret | cap L": [
   0.6638,
   120
  ],
  "LowerArm | beam sides R  x  Turret | cap R": [
   0.3013,
   120
  ],
  "LowerArm | beam sides R  x  Turret | belt drive": [
   0.9154,
   1
  ],
  "LowerArm | beam sides R  x  Turret | cable bundle": [
   0.7136,
   120
  ],
  "LowerArm | beam sides R  x  Turret | side cables L": [
   0.7401,
   120
  ],
  "LowerArm | beam sides R  x  Turret | side cables R": [
   0.5186,
   120
  ],
  "LowerArm | beam core  x  Turret | lower block": [
   0.6655,
   72
  ],
  "LowerArm | beam core  x  Turret | front housing": [
   0.2498,
   120
  ],
  "LowerArm | beam core  x  Turret | ear L": [
   0.3178,
   120
  ],
  "LowerArm | beam core  x  Turret | ear R": [
   0.3178,
   120
  ],
  "LowerArm | beam core  x  Turret | cap L": [
   0.4607,
   120
  ],
  "LowerArm | beam core  x  Turret | cap R": [
   0.4607,
   120
  ],
  "LowerArm | beam core  x  Turret | belt drive": [
   0.9084,
   120
  ],
  "LowerArm | beam core  x  Turret | cable bundle": [
   0.684,
   120
  ],
  "LowerArm | beam core  x  Turret | side cables L": [
   0.5915,
   120
  ],
  "LowerArm | beam core  x  Turret | side cables R": [
   0.5915,
   120
  ],
  "LowerArm | yoke L  x  Turret | lower block": [
   1.1648,
   72
  ],
  "LowerArm | yoke L  x  Turret | front housing": [
   0.6499,
   120
  ],
  "LowerArm | yoke L  x  Turret | ear L": [
   0.7214,
   120
  ],
  "LowerArm | yoke L  x  Turret | ear R": [
   0.9486,
   120
  ],
  "LowerArm | yoke L  x  Turret | cap L": [
   0.792,
   1
  ],
  "LowerArm | yoke L  x  Turret | cap R": [
   1.0877,
   1
  ],
  "LowerArm | yoke L  x  Turret | belt drive": [
   1.129,
   120
  ],
  "LowerArm | yoke L  x  Turret | cable bundle": [
   0.7825,
   1
  ],
  "LowerArm | yoke L  x  Turret | side cables L": [
   0.9469,
   120
  ],
  "LowerArm | yoke L  x  Turret | side cables R": [
   1.1669,
   1
  ],
  "LowerArm | yoke R  x  Turret | lower block": [
   1.1648,
   72
  ],
  "LowerArm | yoke R  x  Turret | front housing": [
   0.6499,
   120
  ],
  "LowerArm | yoke R  x  Turret | ear L": [
   0.9486,
   120
  ],
  "LowerArm | yoke R  x  Turret | ear R": [
   0.7214,
   120
  ],
  "LowerArm | yoke R  x  Turret | cap L": [
   1.0877,
   1
  ],
  "LowerArm | yoke R  x  Turret | cap R": [
   0.792,
   1
  ],
  "LowerArm | yoke R  x  Turret | belt drive": [
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 "clear_min": [
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   120
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 ],
 "self_min": [
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 ],
 "clear_sorted": [
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  [
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  [
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   48
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  [
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   1
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  [
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 ],
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  [
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  [
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   10
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   120
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  [
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   1
  ],
  [
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   120
  ],
  [
   "LowerArm | knee caps  x  Turret | ear L",
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   3
  ],
  [
   "LowerArm | knee caps  x  Turret | ear R",
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   3
  ],
  [
   "ToolA | fingers (closed envelope)  x  Forearm | wrist lobe L",
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   85
  ],
  [
   "ToolA | fingers (closed envelope)  x  Forearm | wrist lobe R",
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   93
  ],
  [
   "ToolA | finger roots  x  Forearm | wrist lobe L",
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   78
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  [
   "ToolA | finger roots  x  Forearm | wrist lobe R",
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   117
  ],
  [
   "ToolA | hub  x  Forearm | wrist block",
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   12
  ],
  [
   "ToolA | finger motor left  x  Forearm | wrist lower web",
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   44
  ],
  [
   "ToolA | finger motor bottom  x  Forearm | wrist lower web",
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   45
  ],
  [
   "ToolA | hub  x  Forearm | wrist lower web",
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   48
  ],
  [
   "ToolA | finger motor right  x  Forearm | motor cyl",
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   12
  ],
  [
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   72
  ]
 ],
 "seconds": 13.8
}