{
 "summary": {
  "file": "DockArm_Carousel.blend",
  "poses": 86,
  "poses_with_intersections": 0,
  "least_gap_overall_m": 0.005,
  "gaps_measured": "both ways",
  "least_gap_where": {
   "pose": "lower 0.0 m, claws shut, nose +x",
   "arm_part": "Arm1_Claw1",
   "grouper_part": "SM_Grouper (vertex 13492)"
  },
  "antenna": "raised as drawn (0 deg)",
  "least_gap_per_part_m": {
   "Arm1_Claw1": 0.005,
   "Arm1_Claw2": 0.005,
   "Arm1_Claw3": 0.005,
   "Arm1_Claw4": 0.005,
   "Arm1_Head": 0.0288,
   "Arm1_OreHose": 0.0729,
   "Arm1_Boom": 0.3069,
   "Arm1_UpperLink": 0.3666,
   "Arm1_LowerLink": 0.3986,
   "SM_DockArm_Turret": 3.3399
  }
 },
 "poses": [
  {
   "pose": "lower 0.0 m, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "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": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "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": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.6794,
    "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": 0.0824,
    "Arm1_UpperLink": 1.5816,
    "SM_DockArm_Turret": 4.0866
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.6794,
    "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": 0.5006,
    "Arm1_UpperLink": 1.5856,
    "SM_DockArm_Turret": 4.0795
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.6794,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0824,
    "Arm1_UpperLink": 1.5816,
    "SM_DockArm_Turret": 4.0866
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 1.5 m, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.6794,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5006,
    "Arm1_UpperLink": 1.5856,
    "SM_DockArm_Turret": 4.0795
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.0599,
    "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": 0.0822,
    "Arm1_UpperLink": 2.6336,
    "SM_DockArm_Turret": 4.9732
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.0599,
    "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": 0.4924,
    "Arm1_UpperLink": 2.6486,
    "SM_DockArm_Turret": 4.9732
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.0599,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0822,
    "Arm1_UpperLink": 2.6336,
    "SM_DockArm_Turret": 4.9732
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 3.0 m, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 3.0599,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4924,
    "Arm1_UpperLink": 2.6486,
    "SM_DockArm_Turret": 4.9732
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.5057,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3988,
    "Arm1_OreHose": 0.0812,
    "Arm1_UpperLink": 2.992,
    "SM_DockArm_Turret": 6.0633
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.5141,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3988,
    "Arm1_OreHose": 0.4843,
    "Arm1_UpperLink": 3.0073,
    "SM_DockArm_Turret": 6.0633
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "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, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.5057,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3988,
    "Arm1_OreHose": 0.0812,
    "Arm1_UpperLink": 2.992,
    "SM_DockArm_Turret": 6.0633
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 4.5 m, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.5141,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3988,
    "Arm1_OreHose": 0.4843,
    "Arm1_UpperLink": 3.0073,
    "SM_DockArm_Turret": 6.0633
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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 shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "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": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "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": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.10 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0135,
    "Arm1_Claw2": 0.0135,
    "Arm1_Claw3": 0.0135,
    "Arm1_Claw4": 0.0135,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.10 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.0135,
    "Arm1_Claw2": 0.0135,
    "Arm1_Claw3": 0.0135,
    "Arm1_Claw4": 0.0135,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.25 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "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": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.25 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "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": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.40 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0336,
    "Arm1_Claw2": 0.0393,
    "Arm1_Claw3": 0.0394,
    "Arm1_Claw4": 0.0394,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.40 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.0394,
    "Arm1_Claw2": 0.0394,
    "Arm1_Claw3": 0.0336,
    "Arm1_Claw4": 0.0393,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.55 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0401,
    "Arm1_Claw2": 0.046,
    "Arm1_Claw3": 0.0523,
    "Arm1_Claw4": 0.0523,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.55 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.0523,
    "Arm1_Claw2": 0.0523,
    "Arm1_Claw3": 0.0401,
    "Arm1_Claw4": 0.046,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.70 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0478,
    "Arm1_Claw2": 0.0538,
    "Arm1_Claw3": 0.0652,
    "Arm1_Claw4": 0.0652,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.70 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.0652,
    "Arm1_Claw2": 0.0652,
    "Arm1_Claw3": 0.0478,
    "Arm1_Claw4": 0.0538,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.85 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0543,
    "Arm1_Claw2": 0.0605,
    "Arm1_Claw3": 0.0723,
    "Arm1_Claw4": 0.0777,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.85 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.0723,
    "Arm1_Claw2": 0.0777,
    "Arm1_Claw3": 0.0543,
    "Arm1_Claw4": 0.0605,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.95 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3069,
    "Arm1_Claw1": 0.0591,
    "Arm1_Claw2": 0.0655,
    "Arm1_Claw3": 0.0773,
    "Arm1_Claw4": 0.0828,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3399
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 0.0 m, claws 0.95 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 0.3432,
    "Arm1_Claw1": 0.0773,
    "Arm1_Claw2": 0.0828,
    "Arm1_Claw3": 0.0591,
    "Arm1_Claw4": 0.0655,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.5094,
    "Arm1_UpperLink": 0.3666,
    "SM_DockArm_Turret": 3.3459
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper (vertex 30105)",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 27185)",
    "Arm1_UpperLink": "SM_Grouper_Hatch",
    "SM_DockArm_Turret": "SM_Grouper_Hull"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.10 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0135,
    "Arm1_Claw2": 0.0135,
    "Arm1_Claw3": 0.0135,
    "Arm1_Claw4": 0.0135,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.10 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.0135,
    "Arm1_Claw2": 0.0135,
    "Arm1_Claw3": 0.0135,
    "Arm1_Claw4": 0.0135,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.25 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "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": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.25 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "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": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.40 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0336,
    "Arm1_Claw2": 0.0393,
    "Arm1_Claw3": 0.0394,
    "Arm1_Claw4": 0.0394,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.40 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.0394,
    "Arm1_Claw2": 0.0394,
    "Arm1_Claw3": 0.0336,
    "Arm1_Claw4": 0.0393,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.55 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0401,
    "Arm1_Claw2": 0.046,
    "Arm1_Claw3": 0.0523,
    "Arm1_Claw4": 0.0523,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.55 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.0523,
    "Arm1_Claw2": 0.0523,
    "Arm1_Claw3": 0.0401,
    "Arm1_Claw4": 0.046,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.70 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0478,
    "Arm1_Claw2": 0.0538,
    "Arm1_Claw3": 0.0652,
    "Arm1_Claw4": 0.0652,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.70 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.0652,
    "Arm1_Claw2": 0.0652,
    "Arm1_Claw3": 0.0478,
    "Arm1_Claw4": 0.0538,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.85 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0543,
    "Arm1_Claw2": 0.0605,
    "Arm1_Claw3": 0.0723,
    "Arm1_Claw4": 0.0777,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.85 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.0723,
    "Arm1_Claw2": 0.0777,
    "Arm1_Claw3": 0.0543,
    "Arm1_Claw4": 0.0605,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.95 open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2686,
    "Arm1_Claw1": 0.0591,
    "Arm1_Claw2": 0.0655,
    "Arm1_Claw3": 0.0773,
    "Arm1_Claw4": 0.0828,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0799,
    "Arm1_UpperLink": 3.0111,
    "SM_DockArm_Turret": 6.6856
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, claws 0.95 open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.2758,
    "Arm1_Claw1": 0.0773,
    "Arm1_Claw2": 0.0828,
    "Arm1_Claw3": 0.0591,
    "Arm1_Claw4": 0.0655,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4777,
    "Arm1_UpperLink": 3.0247,
    "SM_DockArm_Turret": 6.7056
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 1.5 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 1.6872,
    "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": 0.0824,
    "Arm1_UpperLink": 1.5942,
    "SM_DockArm_Turret": 3.9383
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "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": 1.6878,
    "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": 1.595,
    "SM_DockArm_Turret": 3.9311
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "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": 1.6872,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.0824,
    "Arm1_UpperLink": 1.5942,
    "SM_DockArm_Turret": 3.9383
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "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": 1.6878,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3994,
    "Arm1_OreHose": 0.4966,
    "Arm1_UpperLink": 1.595,
    "SM_DockArm_Turret": 3.9311
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "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": 2.9222,
    "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": 0.0815,
    "Arm1_UpperLink": 2.6991,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "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": 2.9271,
    "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": 2.707,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "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": 2.9222,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0815,
    "Arm1_UpperLink": 2.6991,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "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": 2.9271,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4857,
    "Arm1_UpperLink": 2.707,
    "SM_DockArm_Turret": 4.4365
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "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": 4.3537,
    "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": 0.0782,
    "Arm1_UpperLink": 3.022,
    "SM_DockArm_Turret": 5.054
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.3524,
    "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": 3.0301,
    "SM_DockArm_Turret": 5.0703
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.3537,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.0782,
    "Arm1_UpperLink": 3.022,
    "SM_DockArm_Turret": 5.054
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 4.5 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 4.3524,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.47,
    "Arm1_UpperLink": 3.0301,
    "SM_DockArm_Turret": 5.0703
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.1318,
    "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": 0.0729,
    "Arm1_UpperLink": 3.0311,
    "SM_DockArm_Turret": 5.4727
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.1315,
    "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": 3.0266,
    "SM_DockArm_Turret": 5.4843
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.1318,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.0729,
    "Arm1_UpperLink": 3.0311,
    "SM_DockArm_Turret": 5.4727
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 5.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.1315,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3993,
    "Arm1_OreHose": 0.4546,
    "Arm1_UpperLink": 3.0266,
    "SM_DockArm_Turret": 5.4843
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5244,
    "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": 0.0732,
    "Arm1_UpperLink": 3.0311,
    "SM_DockArm_Turret": 6.4057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5187,
    "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": 3.0271,
    "SM_DockArm_Turret": 6.4157
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5244,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.0732,
    "Arm1_UpperLink": 3.0311,
    "SM_DockArm_Turret": 6.4057
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 6.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.5187,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3996,
    "Arm1_OreHose": 0.4551,
    "Arm1_UpperLink": 3.0271,
    "SM_DockArm_Turret": 6.4157
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7899,
    "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": 0.0739,
    "Arm1_UpperLink": 3.0309,
    "SM_DockArm_Turret": 7.3558
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7796,
    "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": 3.0284,
    "SM_DockArm_Turret": 7.3647
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7899,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.0739,
    "Arm1_UpperLink": 3.0309,
    "SM_DockArm_Turret": 7.3558
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 7.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7796,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.399,
    "Arm1_OreHose": 0.4569,
    "Arm1_UpperLink": 3.0284,
    "SM_DockArm_Turret": 7.3647
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 8.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7908,
    "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": 0.075,
    "Arm1_UpperLink": 3.03,
    "SM_DockArm_Turret": 8.316
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 8.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.783,
    "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": 3.03,
    "SM_DockArm_Turret": 8.3239
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 8.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7908,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.075,
    "Arm1_UpperLink": 3.03,
    "SM_DockArm_Turret": 8.316
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 8.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.783,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3986,
    "Arm1_OreHose": 0.4599,
    "Arm1_UpperLink": 3.03,
    "SM_DockArm_Turret": 8.3239
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 9.3 m, reach_in 2.34, claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7916,
    "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": 0.0768,
    "Arm1_UpperLink": 3.027,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 9.3 m, reach_in 2.34, claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7878,
    "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": 0.4648,
    "Arm1_UpperLink": 3.0311,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 9.3 m, reach_in 2.34, claws open, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7916,
    "Arm1_Claw1": 0.0616,
    "Arm1_Claw2": 0.0681,
    "Arm1_Claw3": 0.08,
    "Arm1_Claw4": 0.0855,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3996,
    "Arm1_OreHose": 0.0768,
    "Arm1_UpperLink": 3.027,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "Arm1_Claw3": "SM_Grouper_Hull",
    "Arm1_Claw4": "SM_Grouper_Hull",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32779)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 9.3 m, reach_in 2.34, claws open, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7878,
    "Arm1_Claw1": 0.08,
    "Arm1_Claw2": 0.0855,
    "Arm1_Claw3": 0.0616,
    "Arm1_Claw4": 0.0681,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3995,
    "Arm1_OreHose": 0.4648,
    "Arm1_UpperLink": 3.0311,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper_Hull",
    "Arm1_Claw2": "SM_Grouper_Hull",
    "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_Antenna",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 7.3 m (pool), claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.3019,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3987,
    "Arm1_OreHose": 0.0804,
    "Arm1_UpperLink": 3.0049,
    "SM_DockArm_Turret": 8.3068
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 7.3 m (pool), claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.3043,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3987,
    "Arm1_OreHose": 0.4808,
    "Arm1_UpperLink": 3.0206,
    "SM_DockArm_Turret": 8.323
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": "SM_Grouper_Antenna"
   }
  },
  {
   "pose": "lower 8.8 m (pool), claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.3417,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3988,
    "Arm1_OreHose": 0.0818,
    "Arm1_UpperLink": 2.9083,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 8.8 m (pool), claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.3531,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3989,
    "Arm1_OreHose": 0.4873,
    "Arm1_UpperLink": 2.9083,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Hull",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 9.3 m (pool), claws shut, nose +x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7836,
    "Arm1_Claw1": 0.005,
    "Arm1_Claw2": 0.005,
    "Arm1_Claw3": 0.005,
    "Arm1_Claw4": 0.005,
    "Arm1_Head": 0.0288,
    "Arm1_LowerLink": 0.3992,
    "Arm1_OreHose": 0.0807,
    "Arm1_UpperLink": 2.9995,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 13492)",
    "Arm1_Claw2": "SM_Grouper (vertex 14036)",
    "Arm1_Claw3": "SM_Grouper (vertex 12404)",
    "Arm1_Claw4": "SM_Grouper (vertex 12948)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper (vertex 32797)",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": null
   }
  },
  {
   "pose": "lower 9.3 m (pool), claws shut, nose -x",
   "intersections": {},
   "least_gap_m": {
    "Arm1_Boom": 5.7946,
    "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": 0.4823,
    "Arm1_UpperLink": 3.0167,
    "SM_DockArm_Turret": 9.0
   },
   "nearest_sub_part": {
    "Arm1_Boom": "SM_Grouper_Antenna",
    "Arm1_Claw1": "SM_Grouper (vertex 12404)",
    "Arm1_Claw2": "SM_Grouper (vertex 12948)",
    "Arm1_Claw3": "SM_Grouper (vertex 13492)",
    "Arm1_Claw4": "SM_Grouper (vertex 14036)",
    "Arm1_Head": "SM_Grouper_Hatch",
    "Arm1_LowerLink": "SM_Grouper_Hatch",
    "Arm1_OreHose": "SM_Grouper_Hull",
    "Arm1_UpperLink": "SM_Grouper_Antenna",
    "SM_DockArm_Turret": null
   }
  }
 ]
}