{
 "margin_deg": 3.0,
 "step_deg": 3.0,
 "q6_band_deg": 10.0,
 "ranges_used": {
  "A": {
   "J1": [
    32.73,
    147.27
   ],
   "J2": [
    -52.92,
    9.77
   ],
   "J3": [
    -24.39,
    29.11
   ],
   "J4": [
    -52.54,
    52.54
   ],
   "J5": [
    -74.4,
    -39.98
   ],
   "J6": [
    -52.32,
    52.32
   ]
  },
  "B": {
   "J1": [
    41.54,
    138.46
   ],
   "J2": [
    -60.37,
    -3.44
   ],
   "J3": [
    -13.56,
    42.2
   ],
   "J4": [
    -47.91,
    47.91
   ],
   "J5": [
    -66.44,
    -42.01
   ],
   "J6": [
    -49.08,
    49.08
   ]
  }
 },
 "ranges_swept": {
  "A": {
   "J1": [
    -180.0,
    180.0
   ],
   "J2": [
    -55.92,
    12.77
   ],
   "J3": [
    -27.39,
    32.11
   ],
   "J4": [
    -55.54,
    55.54
   ],
   "J5": [
    -77.4,
    -37.0
   ],
   "J5_with_J6": "J6 as on the door path; J6 also +-10 deg along the path",
   "J6": [
    -55.32,
    55.32
   ]
  },
  "B": {
   "J1": [
    -180.0,
    180.0
   ],
   "J2": [
    -63.37,
    0.0
   ],
   "J3": [
    -16.56,
    45.2
   ],
   "J4": [
    -50.91,
    50.91
   ],
   "J5": [
    -69.4,
    -39.0
   ],
   "J5_with_J6": "J6 as on the door path; J6 also +-10 deg along the path",
   "J6": [
    -52.08,
    52.08
   ]
  }
 },
 "info": {
  "J5 margin at the deepest bend, arm A": {
   "J6 -62.3": {
    "path_deepest_J5": -74.4,
    "free_to_J5": -81.9,
    "margin_deg": 7.5
   },
   "J6 -52.3": {
    "path_deepest_J5": -74.4,
    "free_to_J5": -78.4,
    "margin_deg": 4.0
   },
   "J6 -42.3": {
    "path_deepest_J5": -74.4,
    "free_to_J5": -78.9,
    "margin_deg": 4.5
   },
   "J6 +42.3": {
    "path_deepest_J5": -74.4,
    "free_to_J5": -78.9,
    "margin_deg": 4.5
   },
   "J6 +52.3": {
    "path_deepest_J5": -74.4,
    "free_to_J5": -78.4,
    "margin_deg": 4.0
   },
   "J6 +62.3": {
    "path_deepest_J5": -74.4,
    "free_to_J5": -81.9,
    "margin_deg": 7.5
   }
  },
  "J5 limit with J6 at rest, arm A": {
   "free_to_deg": -84.5,
   "first_contact_deg": -85.0,
   "parts": [
    "A03.top x F09"
   ]
  },
  "J5 margin at the deepest bend, arm B": {
   "J6 -59.1": {
    "path_deepest_J5": -66.4,
    "free_to_J5": -81.4,
    "margin_deg": 15.0
   },
   "J6 -49.1": {
    "path_deepest_J5": -66.4,
    "free_to_J5": -81.4,
    "margin_deg": 15.0
   },
   "J6 -39.1": {
    "path_deepest_J5": -66.4,
    "free_to_J5": -81.4,
    "margin_deg": 15.0
   },
   "J6 +39.1": {
    "path_deepest_J5": -66.4,
    "free_to_J5": -81.4,
    "margin_deg": 15.0
   },
   "J6 +49.1": {
    "path_deepest_J5": -66.4,
    "free_to_J5": -81.4,
    "margin_deg": 15.0
   },
   "J6 +59.1": {
    "path_deepest_J5": -66.4,
    "free_to_J5": -81.4,
    "margin_deg": 15.0
   }
  },
  "J5 limit with J6 at rest, arm B": {
   "free_to_deg": -92.0,
   "first_contact_deg": -92.5,
   "parts": [
    "W02 x F09"
   ]
  }
 },
 "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
 }
}