{
 "summary": {
  "file": "DockArm_Carousel.blend",
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    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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 0.25 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5591,
    "Arm1_Claw1": 0.0264,
    "Arm1_Claw2": 0.0264,
    "Arm1_Claw3": 0.0264,
    "Arm1_Claw4": 0.0264,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0394,
    "Arm1_Claw2": 0.0394,
    "Arm1_Claw3": 0.0394,
    "Arm1_Claw4": 0.0394,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4837,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0394,
    "Arm1_Claw2": 0.0394,
    "Arm1_Claw3": 0.0394,
    "Arm1_Claw4": 0.0394,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0495,
    "Arm1_Claw2": 0.0523,
    "Arm1_Claw3": 0.0523,
    "Arm1_Claw4": 0.0523,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4837,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0523,
    "Arm1_Claw2": 0.0523,
    "Arm1_Claw3": 0.0495,
    "Arm1_Claw4": 0.0523,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0549,
    "Arm1_Claw2": 0.0612,
    "Arm1_Claw3": 0.0652,
    "Arm1_Claw4": 0.0652,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4837,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0652,
    "Arm1_Claw2": 0.0652,
    "Arm1_Claw3": 0.0549,
    "Arm1_Claw4": 0.0612,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0615,
    "Arm1_Claw2": 0.0678,
    "Arm1_Claw3": 0.078,
    "Arm1_Claw4": 0.078,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4837,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.078,
    "Arm1_Claw2": 0.078,
    "Arm1_Claw3": 0.0615,
    "Arm1_Claw4": 0.0678,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0665,
    "Arm1_Claw2": 0.073,
    "Arm1_Claw3": 0.0855,
    "Arm1_Claw4": 0.0864,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4837,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "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 12090)",
    "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": 5.5591,
    "Arm1_Claw1": 0.0855,
    "Arm1_Claw2": 0.0864,
    "Arm1_Claw3": 0.0665,
    "Arm1_Claw4": 0.073,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.1728,
    "SM_DockArm_Turret": 6.7057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 1.7857,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.503,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9383
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 1.7857,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3994,
    "Arm1_OreHose": 0.4966,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9311
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 1.7857,
    "Arm1_Claw1": 0.0684,
    "Arm1_Claw2": 0.0757,
    "Arm1_Claw3": 0.0882,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.503,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9383
   },
   "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 12090)",
    "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": 1.7857,
    "Arm1_Claw1": 0.0882,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0684,
    "Arm1_Claw4": 0.0757,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3994,
    "Arm1_OreHose": 0.4966,
    "Arm1_UpperLink": 1.8404,
    "SM_DockArm_Turret": 3.9311
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4907,
    "Arm1_UpperLink": 2.9299,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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 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": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4857,
    "Arm1_UpperLink": 2.9299,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 0.0684,
    "Arm1_Claw2": 0.0757,
    "Arm1_Claw3": 0.0882,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4907,
    "Arm1_UpperLink": 2.9299,
    "SM_DockArm_Turret": 4.4365
   },
   "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 12090)",
    "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": 0.0882,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0684,
    "Arm1_Claw4": 0.0757,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4857,
    "Arm1_UpperLink": 2.9299,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4775,
    "Arm1_UpperLink": 3.3013,
    "SM_DockArm_Turret": 5.1756
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.47,
    "Arm1_UpperLink": 3.3013,
    "SM_DockArm_Turret": 5.1756
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 0.0684,
    "Arm1_Claw2": 0.0757,
    "Arm1_Claw3": 0.0882,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4775,
    "Arm1_UpperLink": 3.3013,
    "SM_DockArm_Turret": 5.1756
   },
   "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 12090)",
    "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": 0.0882,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0684,
    "Arm1_Claw4": 0.0757,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.47,
    "Arm1_UpperLink": 3.3013,
    "SM_DockArm_Turret": 5.1756
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 0.0288,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4618,
    "Arm1_UpperLink": 3.3493,
    "SM_DockArm_Turret": 5.7046
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 0.0288,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4546,
    "Arm1_UpperLink": 3.3484,
    "SM_DockArm_Turret": 5.7046
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 0.0684,
    "Arm1_Claw2": 0.0757,
    "Arm1_Claw3": 0.0882,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4618,
    "Arm1_UpperLink": 3.3493,
    "SM_DockArm_Turret": 5.7046
   },
   "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 12090)",
    "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": 0.0882,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0684,
    "Arm1_Claw4": 0.0757,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4546,
    "Arm1_UpperLink": 3.3484,
    "SM_DockArm_Turret": 5.7046
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hatch",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 5.8399,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.4624,
    "Arm1_UpperLink": 3.3518,
    "SM_DockArm_Turret": 6.6714
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 5.8399,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3996,
    "Arm1_OreHose": 0.4551,
    "Arm1_UpperLink": 3.351,
    "SM_DockArm_Turret": 6.6714
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": 5.8399,
    "Arm1_Claw1": 0.0684,
    "Arm1_Claw2": 0.0757,
    "Arm1_Claw3": 0.0882,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.4624,
    "Arm1_UpperLink": 3.3518,
    "SM_DockArm_Turret": 6.6714
   },
   "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 12090)",
    "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": 5.8399,
    "Arm1_Claw1": 0.0882,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0684,
    "Arm1_Claw4": 0.0757,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3996,
    "Arm1_OreHose": 0.4551,
    "Arm1_UpperLink": 3.351,
    "SM_DockArm_Turret": 6.6714
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 6.0009,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4641,
    "Arm1_UpperLink": 3.3589,
    "SM_DockArm_Turret": 7.6244
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 6.0009,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4569,
    "Arm1_UpperLink": 3.3585,
    "SM_DockArm_Turret": 7.6244
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "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": {},
   "least_gap_m": {
    "Arm1_Boom": 6.0009,
    "Arm1_Claw1": 0.0684,
    "Arm1_Claw2": 0.0757,
    "Arm1_Claw3": 0.0882,
    "Arm1_Claw4": 0.0907,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4641,
    "Arm1_UpperLink": 3.3589,
    "SM_DockArm_Turret": 7.6244
   },
   "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 12090)",
    "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": {},
   "least_gap_m": {
    "Arm1_Boom": 6.0009,
    "Arm1_Claw1": 0.0882,
    "Arm1_Claw2": 0.0907,
    "Arm1_Claw3": 0.0684,
    "Arm1_Claw4": 0.0757,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4569,
    "Arm1_UpperLink": 3.3585,
    "SM_DockArm_Turret": 7.6244
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "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": 6.0573,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4672,
    "Arm1_UpperLink": 3.3656,
    "SM_DockArm_Turret": 8.5819
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 12450)",
    "Arm1_Claw2": "SM_Grouper (vertex 12810)",
    "Arm1_Claw3": "SM_Grouper (vertex 11730)",
    "Arm1_Claw4": "SM_Grouper (vertex 12090)",
    "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": 6.0573,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4599,
    "Arm1_UpperLink": 3.3656,
    "SM_DockArm_Turret": 8.5819
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Hull",
    "Arm1_Claw1": "SM_Grouper (vertex 11730)",
    "Arm1_Claw2": "SM_Grouper (vertex 12090)",
    "Arm1_Claw3": "SM_Grouper (vertex 12450)",
    "Arm1_Claw4": "SM_Grouper (vertex 12810)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
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   "pose": "lower 7.3 m (pool), claws shut, nose +x",
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  }
 ]
}