{
 "summary": {
  "file": "DockArm_Carousel.blend",
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  "poses_with_intersections": 0,
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   "pose": "lower 5.3 m, claws open, nose +x",
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    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.25 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0264,
    "Arm1_Claw2": 0.0264,
    "Arm1_Claw3": 0.0264,
    "Arm1_Claw4": 0.0264,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.40 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0394,
    "Arm1_Claw2": 0.0394,
    "Arm1_Claw3": 0.0394,
    "Arm1_Claw4": 0.0394,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.485,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.40 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0394,
    "Arm1_Claw2": 0.0394,
    "Arm1_Claw3": 0.0394,
    "Arm1_Claw4": 0.0394,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.55 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0493,
    "Arm1_Claw2": 0.0523,
    "Arm1_Claw3": 0.0523,
    "Arm1_Claw4": 0.0523,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.485,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.55 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0523,
    "Arm1_Claw2": 0.0523,
    "Arm1_Claw3": 0.0493,
    "Arm1_Claw4": 0.0523,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.70 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0541,
    "Arm1_Claw2": 0.0599,
    "Arm1_Claw3": 0.0652,
    "Arm1_Claw4": 0.0652,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.485,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.70 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0652,
    "Arm1_Claw2": 0.0652,
    "Arm1_Claw3": 0.0541,
    "Arm1_Claw4": 0.0599,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.85 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0606,
    "Arm1_Claw2": 0.0663,
    "Arm1_Claw3": 0.078,
    "Arm1_Claw4": 0.078,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.485,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.85 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.078,
    "Arm1_Claw2": 0.078,
    "Arm1_Claw3": 0.0606,
    "Arm1_Claw4": 0.0663,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.95 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0655,
    "Arm1_Claw2": 0.0714,
    "Arm1_Claw3": 0.0849,
    "Arm1_Claw4": 0.0864,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.485,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.95 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5598,
    "Arm1_Claw1": 0.0849,
    "Arm1_Claw2": 0.0864,
    "Arm1_Claw3": 0.0655,
    "Arm1_Claw4": 0.0714,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1743,
    "SM_DockArm_Turret": 6.709
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.7872,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.5063,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9374
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.7872,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3994,
    "Arm1_OreHose": 0.4966,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9301
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.7872,
    "Arm1_Claw1": 0.0681,
    "Arm1_Claw2": 0.0735,
    "Arm1_Claw3": 0.0874,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.5063,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9374
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.7872,
    "Arm1_Claw1": 0.0874,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0681,
    "Arm1_Claw4": 0.0735,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3994,
    "Arm1_OreHose": 0.4966,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9301
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.1962,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4929,
    "Arm1_UpperLink": 2.9325,
    "SM_DockArm_Turret": 4.4404
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.1962,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4857,
    "Arm1_UpperLink": 2.9325,
    "SM_DockArm_Turret": 4.4404
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.1962,
    "Arm1_Claw1": 0.0681,
    "Arm1_Claw2": 0.0735,
    "Arm1_Claw3": 0.0874,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4929,
    "Arm1_UpperLink": 2.9325,
    "SM_DockArm_Turret": 4.4404
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Antenna",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.1962,
    "Arm1_Claw1": 0.0874,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0681,
    "Arm1_Claw4": 0.0735,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4857,
    "Arm1_UpperLink": 2.9325,
    "SM_DockArm_Turret": 4.4404
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.6785,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4802,
    "Arm1_UpperLink": 3.3018,
    "SM_DockArm_Turret": 5.1781
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.6785,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.47,
    "Arm1_UpperLink": 3.3018,
    "SM_DockArm_Turret": 5.1781
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.6785,
    "Arm1_Claw1": 0.0681,
    "Arm1_Claw2": 0.0735,
    "Arm1_Claw3": 0.0874,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4802,
    "Arm1_UpperLink": 3.3018,
    "SM_DockArm_Turret": 5.1781
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.6785,
    "Arm1_Claw1": 0.0874,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0681,
    "Arm1_Claw4": 0.0735,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.47,
    "Arm1_UpperLink": 3.3018,
    "SM_DockArm_Turret": 5.1781
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.4758,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4648,
    "Arm1_UpperLink": 3.3493,
    "SM_DockArm_Turret": 5.7061
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.4758,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4546,
    "Arm1_UpperLink": 3.3484,
    "SM_DockArm_Turret": 5.7061
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.4758,
    "Arm1_Claw1": 0.0681,
    "Arm1_Claw2": 0.0735,
    "Arm1_Claw3": 0.0874,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4648,
    "Arm1_UpperLink": 3.3493,
    "SM_DockArm_Turret": 5.7061
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.4758,
    "Arm1_Claw1": 0.0874,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0681,
    "Arm1_Claw4": 0.0735,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4546,
    "Arm1_UpperLink": 3.3484,
    "SM_DockArm_Turret": 5.7061
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.84,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.4653,
    "Arm1_UpperLink": 3.3518,
    "SM_DockArm_Turret": 6.6727
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.84,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3996,
    "Arm1_OreHose": 0.4551,
    "Arm1_UpperLink": 3.351,
    "SM_DockArm_Turret": 6.6727
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.84,
    "Arm1_Claw1": 0.0681,
    "Arm1_Claw2": 0.0735,
    "Arm1_Claw3": 0.0874,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.4653,
    "Arm1_UpperLink": 3.3518,
    "SM_DockArm_Turret": 6.6727
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.84,
    "Arm1_Claw1": 0.0874,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0681,
    "Arm1_Claw4": 0.0735,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3996,
    "Arm1_OreHose": 0.4551,
    "Arm1_UpperLink": 3.351,
    "SM_DockArm_Turret": 6.6727
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 6.0022,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4671,
    "Arm1_UpperLink": 3.3589,
    "SM_DockArm_Turret": 7.6262
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
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    "Arm1_Boom": 6.0022,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4569,
    "Arm1_UpperLink": 3.3585,
    "SM_DockArm_Turret": 7.6262
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
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    "Arm1_Claw1": 0.0681,
    "Arm1_Claw2": 0.0735,
    "Arm1_Claw3": 0.0874,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4671,
    "Arm1_UpperLink": 3.3589,
    "SM_DockArm_Turret": 7.6262
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
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    "Arm1_Claw1": 0.0874,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0681,
    "Arm1_Claw4": 0.0735,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4569,
    "Arm1_UpperLink": 3.3585,
    "SM_DockArm_Turret": 7.6262
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 8.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 6.0582,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4701,
    "Arm1_UpperLink": 3.3656,
    "SM_DockArm_Turret": 8.5834
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 30830)",
    "Arm1_Claw2": "SM_Grouper (vertex 31520)",
    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
    "Arm1_Claw4": "SM_Grouper (vertex 30140)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 8.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 6.0582,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0286,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4599,
    "Arm1_UpperLink": 3.3656,
    "SM_DockArm_Turret": 8.5834
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 29450)",
    "Arm1_Claw2": "SM_Grouper (vertex 30140)",
    "Arm1_Claw3": "SM_Grouper (vertex 30830)",
    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
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    "Arm1_Claw4": "SM_Grouper_Hull",
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    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
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    "Arm1_Claw4": "SM_Grouper (vertex 31520)",
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    "Arm1_Claw3": "SM_Grouper_Hull",
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    "Arm1_OreHose": "SM_Grouper_Hull",
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    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
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   "pose": "lower 7.3 m (pool), claws shut, nose +x",
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    "Arm1_Claw3": "SM_Grouper (vertex 29450)",
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    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
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  }
 ]
}