{
 "drivers": {
  "SM_RobotCell_DoorLeft.location[0]": {
   "valid": true,
   "simple": true,
   "expression": "-0.435000 + 1.100000*smoothstep(0.0, 1.0, v)"
  },
  "SM_RobotCell_DoorRight.location[0]": {
   "valid": true,
   "simple": true,
   "expression": "0.735000 + -1.110000*smoothstep(0.0, 1.0, v)"
  },
  "SM_RobotCell_DoorSide.rotation_euler[2]": {
   "valid": true,
   "simple": true,
   "expression": "1.745329*smoothstep(0.0, 1.0, v)"
  },
  "SM_RobotCell_TurntablePlate.rotation_euler[2]": {
   "valid": true,
   "simple": true,
   "expression": "v*0.01745329"
  },
  "SM_RobotCell_EStop.location[1]": {
   "valid": true,
   "simple": true,
   "expression": "-1.590000 + 0.007*min(max(v,0.0),1.0)"
  }
 },
 "travel": {
  "door_left": {
   "steps": 57,
   "clashes": [],
   "clash_steps": 0
  },
  "door_right": {
   "steps": 57,
   "clashes": [],
   "clash_steps": 0
  },
  "door_right_with_left_open": {
   "steps": 29,
   "clashes": [],
   "clash_steps": 0
  },
  "side_door": {
   "steps": 51,
   "clashes": [],
   "clash_steps": 0
  },
  "turntable": {
   "steps": 37,
   "clashes": [],
   "clash_steps": 0
  },
  "estop": {
   "steps": 15,
   "clashes": [],
   "clash_steps": 0
  }
 },
 "robot_cycle": {
  "frames_tested": 230,
  "clash_frames": 0,
  "first": []
 },
 "robot_sweep": {
  "A1": {
   "limits": [
    -185,
    185
   ],
   "self_clash_angles": [],
   "first": []
  },
  "A2": {
   "limits": [
    -60,
    90
   ],
   "self_clash_angles": [],
   "first": []
  },
  "A3": {
   "limits": [
    -120,
    48
   ],
   "self_clash_angles": [],
   "first": []
  },
  "A4": {
   "limits": [
    -350,
    350
   ],
   "self_clash_angles": [],
   "first": []
  },
  "A5": {
   "limits": [
    -95,
    95
   ],
   "self_clash_angles": [
    -95.0
   ],
   "first": [
    [
     -95.0,
     [
      [
       "self A4/Tool",
       4
      ]
     ]
    ]
   ]
  },
  "A6": {
   "limits": [
    -350,
    350
   ],
   "self_clash_angles": [],
   "first": []
  }
 },
 "audit": {
  "SM_RobotCell_Body": {
   "quads": 4574,
   "tris": 220,
   "ngons": 0,
   "open_edges": 1234,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 9368,
   "verts": 5517
  },
  "SK_RobotCell_Robot": {
   "quads": 6750,
   "tris": 44,
   "ngons": 0,
   "open_edges": 352,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 13544,
   "verts": 7066
  },
  "SM_RobotCell_DoorLeft": {
   "quads": 997,
   "tris": 36,
   "ngons": 0,
   "open_edges": 52,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 2030,
   "verts": 1068
  },
  "SM_RobotCell_DoorRight": {
   "quads": 612,
   "tris": 36,
   "ngons": 0,
   "open_edges": 24,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 1260,
   "verts": 664
  },
  "SM_RobotCell_DoorSide": {
   "quads": 880,
   "tris": 28,
   "ngons": 0,
   "open_edges": 72,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 1788,
   "verts": 964
  },
  "SM_RobotCell_TurntablePlate": {
   "quads": 1264,
   "tris": 16,
   "ngons": 0,
   "open_edges": 224,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 2544,
   "verts": 1410
  },
  "SM_RobotCell_EStop": {
   "quads": 288,
   "tris": 0,
   "ngons": 0,
   "open_edges": 0,
   "nonmanifold_edges": 0,
   "zero_area": 0,
   "triangles": 576,
   "verts": 290
  }
 },
 "ok": true
}