{
  "modelId": "scannetpp.0e75f3c4d9",
  "data": {
    "parts": [
      {
        "pid": 0,
        "label": "unknown",
        "group": "others"
      },
      {
        "pid": 1,
        "label": "door frame.1.1",
        "group": "others"
      },
      {
        "pid": 2,
        "label": "door.1.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 3,
        "label": "door.1.1.2_2",
        "group": "doors/windows"
      },
      {
        "pid": 4,
        "label": "handle base.1.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 5,
        "label": "handle.1.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 6,
        "label": "cabinet.2.1",
        "group": "others"
      },
      {
        "pid": 7,
        "label": "door.2.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 8,
        "label": "knob.2.1.2_1.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 9,
        "label": "sink.3.1",
        "group": "others"
      },
      {
        "pid": 10,
        "label": "faucet.3.1.2_1",
        "group": "controls"
      },
      {
        "pid": 11,
        "label": "faucet control.3.1.2_1.3_1",
        "group": "controls"
      },
      {
        "pid": 12,
        "label": "faucet control.3.1.2_1.3_2",
        "group": "controls"
      },
      {
        "pid": 13,
        "label": "soap dispenser.4.1",
        "group": "others"
      },
      {
        "pid": 14,
        "label": "button.4.1.2_1",
        "group": "controls"
      },
      {
        "pid": 15,
        "label": "soap dispenser",
        "group": "others"
      },
      {
        "pid": 16,
        "label": "trash bin.5.1",
        "group": "others"
      },
      {
        "pid": 17,
        "label": "trash bin lid.5.1.2_1",
        "group": "lids"
      },
      {
        "pid": 18,
        "label": "cabinet.6.1",
        "group": "others"
      },
      {
        "pid": 19,
        "label": "door.6.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 20,
        "label": "door.6.1.2_2",
        "group": "doors/windows"
      },
      {
        "pid": 21,
        "label": "cabinet.7.1",
        "group": "others"
      },
      {
        "pid": 22,
        "label": "door.7.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 23,
        "label": "door.7.1.2_2",
        "group": "doors/windows"
      },
      {
        "pid": 24,
        "label": "handle.7.1.2_1.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 25,
        "label": "handle.7.1.2_2.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 26,
        "label": "hinge.7.1.2_4",
        "group": "others"
      },
      {
        "pid": 27,
        "label": "hinge.7.1.2_5",
        "group": "others"
      },
      {
        "pid": 28,
        "label": "hinge.7.1.2_6",
        "group": "others"
      },
      {
        "pid": 29,
        "label": "hinge.7.1.2_7",
        "group": "others"
      },
      {
        "pid": 30,
        "label": "hinge.7.1.2_8",
        "group": "others"
      },
      {
        "pid": 31,
        "label": "hinge.7.1.2_3",
        "group": "others"
      },
      {
        "pid": 32,
        "label": "door frame.9.1",
        "group": "others"
      },
      {
        "pid": 33,
        "label": "door.9.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 34,
        "label": "door.9.1.2_2",
        "group": "doors/windows"
      },
      {
        "pid": 35,
        "label": "handle base.9.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 36,
        "label": "handle.9.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 37,
        "label": "hinge.9.1.2_3",
        "group": "others"
      },
      {
        "pid": 38,
        "label": "hinge.9.1.2_4",
        "group": "others"
      },
      {
        "pid": 39,
        "label": "hinge.9.1.2_5",
        "group": "others"
      },
      {
        "pid": 40,
        "label": "hinge.9.1.2_6",
        "group": "others"
      },
      {
        "pid": 41,
        "label": "light switch base.11.1",
        "group": "others"
      },
      {
        "pid": 42,
        "label": "light switch.11.1.2_1",
        "group": "switches"
      },
      {
        "pid": 43,
        "label": "light switch.11.1.2_2",
        "group": "switches"
      },
      {
        "pid": 44,
        "label": "cabinet.12.1",
        "group": "others"
      },
      {
        "pid": 45,
        "label": "door.12.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 46,
        "label": "box.13.1",
        "group": "others"
      },
      {
        "pid": 47,
        "label": "box lid.13.1.2_1",
        "group": "others"
      },
      {
        "pid": 48,
        "label": "box lid.13.1.2_2",
        "group": "others"
      },
      {
        "pid": 49,
        "label": "box lid.13.1.2_3",
        "group": "others"
      },
      {
        "pid": 50,
        "label": "box lid.13.1.2_4",
        "group": "others"
      },
      {
        "pid": 51,
        "label": "light switch base.14.1",
        "group": "others"
      },
      {
        "pid": 52,
        "label": "light switch.14.1.2_1",
        "group": "switches"
      },
      {
        "pid": 53,
        "label": "light switch.14.1.2_2",
        "group": "switches"
      },
      {
        "pid": 54,
        "label": "light switch.14.1.2_3",
        "group": "switches"
      },
      {
        "pid": 55,
        "label": "window frame.15.1",
        "group": "others"
      },
      {
        "pid": 56,
        "label": "window.15.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 57,
        "label": "handle base.15.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 58,
        "label": "handle.15.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 59,
        "label": "window frame.16.1",
        "group": "others"
      },
      {
        "pid": 60,
        "label": "window.16.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 61,
        "label": "handle base.16.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 62,
        "label": "handle.16.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 63,
        "label": "window frame.17.1",
        "group": "others"
      },
      {
        "pid": 64,
        "label": "window.17.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 65,
        "label": "handle base.17.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 66,
        "label": "handle.17.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 67,
        "label": "window frame.18.1",
        "group": "others"
      },
      {
        "pid": 68,
        "label": "window.18.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 69,
        "label": "handle base.18.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 70,
        "label": "handle.18.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 71,
        "label": "window frame.19.1",
        "group": "others"
      },
      {
        "pid": 72,
        "label": "window.19.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 73,
        "label": "handle base.19.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 74,
        "label": "handle.19.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 75,
        "label": "window frame.20.1",
        "group": "others"
      },
      {
        "pid": 76,
        "label": "window.20.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 77,
        "label": "handle base.20.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 78,
        "label": "handle.20.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 79,
        "label": "window frame.21.1",
        "group": "others"
      },
      {
        "pid": 80,
        "label": "window.21.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 81,
        "label": "handle base.21.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 82,
        "label": "handle.21.1.2_1.3_1.4_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 83,
        "label": "cabinet.22.1",
        "group": "others"
      },
      {
        "pid": 84,
        "label": "drawer.22.1.2_1",
        "group": "cabinets"
      },
      {
        "pid": 85,
        "label": "drawer.22.1.2_2",
        "group": "cabinets"
      },
      {
        "pid": 86,
        "label": "drawer.22.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 87,
        "label": "drawer.22.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 88,
        "label": "drawer.22.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 89,
        "label": "handle.22.1.2_1.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 90,
        "label": "handle.22.1.2_2.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 91,
        "label": "handle.22.1.2_3.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 92,
        "label": "handle.22.1.2_4.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 93,
        "label": "handle.22.1.2_5.3_1",
        "group": "handles unlabeled"
      },
      {
        "pid": 94,
        "label": "door.22.1.2_6",
        "group": "doors/windows"
      },
      {
        "pid": 95,
        "label": "cabinet.23.1",
        "group": "others"
      },
      {
        "pid": 96,
        "label": "drawer.23.1.2_1",
        "group": "cabinets"
      },
      {
        "pid": 97,
        "label": "drawer.23.1.2_2",
        "group": "cabinets"
      },
      {
        "pid": 98,
        "label": "drawer.23.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 99,
        "label": "drawer.23.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 100,
        "label": "drawer.23.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 101,
        "label": "drawer.23.1.2_6",
        "group": "cabinets"
      },
      {
        "pid": 102,
        "label": "drawer.23.1.2_7",
        "group": "cabinets"
      },
      {
        "pid": 103,
        "label": "drawer.23.1.2_8",
        "group": "cabinets"
      },
      {
        "pid": 104,
        "label": "cabinet.24.1",
        "group": "others"
      },
      {
        "pid": 105,
        "label": "drawer.24.1.2_1",
        "group": "cabinets"
      },
      {
        "pid": 106,
        "label": "drawer.24.1.2_2",
        "group": "cabinets"
      },
      {
        "pid": 107,
        "label": "drawer.24.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 108,
        "label": "drawer.24.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 109,
        "label": "drawer.24.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 110,
        "label": "drawer.24.1.2_6",
        "group": "cabinets"
      },
      {
        "pid": 111,
        "label": "drawer.24.1.2_7",
        "group": "cabinets"
      },
      {
        "pid": 112,
        "label": "cabinet.25.1",
        "group": "others"
      },
      {
        "pid": 113,
        "label": "drawer.25.1.2_2",
        "group": "cabinets"
      },
      {
        "pid": 114,
        "label": "drawer.25.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 115,
        "label": "drawer.25.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 116,
        "label": "drawer.25.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 117,
        "label": "drawer.25.1.2_6",
        "group": "cabinets"
      },
      {
        "pid": 118,
        "label": "drawer.25.1.2_7",
        "group": "cabinets"
      },
      {
        "pid": 119,
        "label": "drawer.25.1.2_8",
        "group": "cabinets"
      },
      {
        "pid": 120,
        "label": "drawer.25.1.2_9",
        "group": "cabinets"
      },
      {
        "pid": 121,
        "label": "cabinet.26.1",
        "group": "others"
      },
      {
        "pid": 122,
        "label": "drawer.26.1.2_1",
        "group": "cabinets"
      },
      {
        "pid": 123,
        "label": "drawer.26.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 124,
        "label": "drawer.26.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 125,
        "label": "drawer.26.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 126,
        "label": "drawer.26.1.2_6",
        "group": "cabinets"
      },
      {
        "pid": 127,
        "label": "drawer.26.1.2_7",
        "group": "cabinets"
      },
      {
        "pid": 128,
        "label": "cabinet.27.1",
        "group": "others"
      },
      {
        "pid": 129,
        "label": "drawer.27.1.2_1",
        "group": "cabinets"
      },
      {
        "pid": 130,
        "label": "drawer.27.1.2_2",
        "group": "cabinets"
      },
      {
        "pid": 131,
        "label": "drawer.27.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 132,
        "label": "drawer.27.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 133,
        "label": "drawer.27.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 134,
        "label": "drawer.27.1.2_6",
        "group": "cabinets"
      },
      {
        "pid": 135,
        "label": "heater.28.1",
        "group": "others"
      },
      {
        "pid": 136,
        "label": "heater control.28.1.2_1",
        "group": "controls"
      },
      {
        "pid": 137,
        "label": "heater",
        "group": "others"
      },
      {
        "pid": 138,
        "label": "faucet head.3.1.2_1.3_3",
        "group": "others"
      },
      {
        "pid": 139,
        "label": "lock.1.1.2_1.3_1.4_2",
        "group": "others"
      }
    ],
    "articulations": [
      {
        "pid": 2,
        "type": "rotation",
        "origin": [
          0.5428738655949067,
          4.613829133687507,
          1.160946637392044
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.30299399682116285,
          -0.9529924647605232,
          0
        ],
        "base": [
          1
        ],
        "rangeMin": -1.5707963267948966,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -90
          }
        }
      },
      {
        "pid": 3,
        "type": "rotation",
        "origin": [
          0.11236984406149488,
          6.0055744376657545,
          1.1622426733374596
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.30299399682116285,
          -0.9529924647605232,
          0
        ],
        "base": [
          1
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        },
        "needsReview": false
      },
      {
        "pid": 5,
        "type": "rotation",
        "origin": [
          0.29830900040773634,
          5.527916006229703,
          1.1584641933441162
        ],
        "axis": [
          0.9835028666338103,
          0.18089254081657902,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          4
        ],
        "rangeMin": 0,
        "rangeMax": 1.0995574287564276,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 7,
        "type": "rotation",
        "origin": [
          0.1677862113793923,
          6.470996286103267,
          1.67557030916214
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          6
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 10,
        "type": "rotation",
        "origin": [
          0.7980498661160613,
          6.850727028608166,
          1.2990663300911354
        ],
        "axis": [
          -0.1707631765694595,
          0.28970968667328967,
          -0.9417580554343944
        ],
        "ref": [
          0.9811067839720333,
          0.13820721766312852,
          -0.13538184305833162
        ],
        "base": [
          9
        ],
        "rangeMin": -0.08726646259971647,
        "rangeMax": 0.08726646259971647,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -5
          }
        }
      },
      {
        "pid": 11,
        "type": "rotation",
        "origin": [
          0.737947415429252,
          6.794229425526083,
          1.299393892288208
        ],
        "axis": [
          -0.341855663400588,
          0.9397524702819056,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          10
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      },
      {
        "pid": 12,
        "type": "rotation",
        "origin": [
          0.884386212228498,
          6.773132625796914,
          1.2963492350197776
        ],
        "axis": [
          0.9581433647200818,
          0.03269597931523475,
          0.28441565635438953
        ],
        "ref": [
          -0.09454693667839749,
          0.9738555466344918,
          0.20655810575711214
        ],
        "base": [
          10
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      },
      {
        "pid": 14,
        "type": "rotation",
        "origin": [
          0.45932564685761407,
          6.705272169560373,
          1.0648225202560426
        ],
        "axis": [
          0.9013405761375871,
          0.4331110317320061,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          13
        ],
        "rangeMin": 0,
        "rangeMax": 0.6457718232379019,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 17,
        "type": "rotation",
        "origin": [
          1.7191307218951428,
          6.4803382352482695,
          0.5894395303726196
        ],
        "axis": [
          -0.861017184379228,
          -0.5085758627812242,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          16
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 19,
        "type": "rotation",
        "origin": [
          2.300070867234685,
          6.44996481621035,
          2.020377218723297
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": -1.5533430342749532,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -89
          }
        }
      },
      {
        "pid": 20,
        "type": "rotation",
        "origin": [
          2.2776994943204087,
          6.444902080157998,
          0.7343213856220245
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": -1.5882496193148399,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -91
          }
        }
      },
      {
        "pid": 22,
        "type": "rotation",
        "origin": [
          3.784269344631741,
          7.284372450258238,
          1.2194315418601036
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          21
        ],
        "rangeMin": -1.5882496193148399,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -91
          }
        }
      },
      {
        "pid": 23,
        "type": "rotation",
        "origin": [
          5.714720861945671,
          7.8781856745769225,
          1.2142251878976822
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          21
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 33,
        "type": "rotation",
        "origin": [
          6.234395766828586,
          6.342593538790165,
          1.225133562028408
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          32
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 34,
        "type": "rotation",
        "origin": [
          5.789160185733918,
          7.7655381625821915,
          1.1593626346663297
        ],
        "axis": [
          -0.0014403208969310404,
          0.007936750861740923,
          -0.9999674662015123
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          32
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 36,
        "type": "rotation",
        "origin": [
          5.889868277029528,
          7.210874685563519,
          1.1442419429522976
        ],
        "axis": [
          0.032395943889302344,
          -0.005675830069350607,
          0.999458997544444
        ],
        "ref": [
          -0.2933272964941098,
          0.9558953955380288,
          0.014936194985736395
        ],
        "base": [
          35
        ],
        "rangeMin": -1.0995574287564276,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -63
          }
        }
      },
      {
        "pid": 42,
        "type": "rotation",
        "origin": [
          1.413780494662321,
          7.060882978167042,
          1.3949713110923767
        ],
        "axis": [
          -0.9614353428607161,
          -0.2750310555160951,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          41
        ],
        "rangeMin": -0.17453292519943295,
        "rangeMax": 0.17453292519943295,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -10
          }
        }
      },
      {
        "pid": 43,
        "type": "rotation",
        "origin": [
          1.4739766577680804,
          7.07601106697668,
          1.394521415233612
        ],
        "axis": [
          -0.967454308695586,
          -0.25304576777007337,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          41
        ],
        "rangeMin": -0.17453292519943295,
        "rangeMax": 0.17453292519943295,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -10
          }
        }
      },
      {
        "pid": 45,
        "type": "rotation",
        "origin": [
          8.769641842851094,
          6.805653503749164,
          1.6926519784927365
        ],
        "axis": [
          -0.9547325120492735,
          -0.2974656794255162,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          44
        ],
        "rangeMin": 0,
        "rangeMax": 1.5533430342749532,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 47,
        "type": "rotation",
        "origin": [
          9.761922782725959,
          5.463008289109196,
          1.2891955160599224
        ],
        "axis": [
          -0.2883753934540898,
          0.957476414075957,
          -0.008862783899276507
        ],
        "ref": [
          0.9133704522376037,
          0.2722897488360588,
          -0.30267591522628856
        ],
        "base": [
          46
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      },
      {
        "pid": 48,
        "type": "rotation",
        "origin": [
          9.822628148904062,
          5.687931566265803,
          1.315281629562378
        ],
        "axis": [
          0.9664226500048025,
          0.25695770383021216,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          46
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      },
      {
        "pid": 49,
        "type": "rotation",
        "origin": [
          9.974416379204131,
          5.516375237224109,
          1.3236272877516844
        ],
        "axis": [
          -0.2736959807009795,
          0.9613820052771774,
          -0.02889896325757121
        ],
        "ref": [
          0.1418680235609338,
          0.010634369663136767,
          -0.9898284568917901
        ],
        "base": [
          46
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -180
          }
        }
      },
      {
        "pid": 50,
        "type": "rotation",
        "origin": [
          9.940183198989779,
          5.291603569945245,
          1.372652803110657
        ],
        "axis": [
          0.9561424210054641,
          0.291606347703942,
          -0.027521059801131842
        ],
        "ref": [
          0.2833282874461234,
          -0.9446245918953884,
          -0.16555803187800217
        ],
        "base": [
          46
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      },
      {
        "pid": 52,
        "type": "rotation",
        "origin": [
          0.7007806814238524,
          4.510186697164483,
          1.2748198509216309
        ],
        "axis": [
          -0.3228893446480553,
          0.9464367232481787,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          51
        ],
        "rangeMin": -0.15707963267948966,
        "rangeMax": 0.17453292519943295,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -9
          }
        }
      },
      {
        "pid": 53,
        "type": "rotation",
        "origin": [
          0.7000497173933704,
          4.51076884685917,
          1.2075360417366028
        ],
        "axis": [
          0.2758777553578679,
          -0.9611927299447829,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          51
        ],
        "rangeMin": -0.17453292519943295,
        "rangeMax": 0.19198621771937624,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -10
          }
        }
      },
      {
        "pid": 54,
        "type": "rotation",
        "origin": [
          0.7021339320692945,
          4.509331672176921,
          1.1323959827423096
        ],
        "axis": [
          0.28288798072854837,
          -0.9591529546215893,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          51
        ],
        "rangeMin": -0.15707963267948966,
        "rangeMax": 0.15707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -9
          }
        }
      },
      {
        "pid": 56,
        "type": "rotation",
        "origin": [
          10.811236994446508,
          2.6968936308851243,
          1.573940932750702
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          55
        ],
        "rangeMin": -1.5707963267948966,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -90
          }
        }
      },
      {
        "pid": 58,
        "type": "rotation",
        "origin": [
          10.078549253202668,
          2.5430560033364986,
          1.5894901414102969
        ],
        "axis": [
          -0.05137107623788984,
          -0.976426429011322,
          -0.20964837527240412
        ],
        "ref": [
          0.2800810340932124,
          0.18741481405348148,
          -0.9415042760468885
        ],
        "base": [
          57
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 60,
        "type": "rotation",
        "origin": [
          10.003662970695961,
          2.447902654592594,
          1.572773814201355
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.959873814270636,
          0.2804322746716945,
          0
        ],
        "base": [
          59
        ],
        "rangeMin": -1.5533430342749532,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -89
          }
        }
      },
      {
        "pid": 62,
        "type": "rotation",
        "origin": [
          8.901443569131624,
          2.190086567644206,
          1.5869142379760741
        ],
        "axis": [
          -0.4621623813191914,
          0.8867953164588627,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          61
        ],
        "rangeMin": -1.5707963267948966,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -90
          }
        }
      },
      {
        "pid": 64,
        "type": "rotation",
        "origin": [
          7.775420089443125,
          1.7689726577459481,
          1.5742894411087036
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9563666493281102,
          0.2921691839549882,
          0
        ],
        "base": [
          63
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 66,
        "type": "rotation",
        "origin": [
          8.823320924052803,
          2.165430359755941,
          1.5857333250045778
        ],
        "axis": [
          -0.09827416462886575,
          0.9951593784748745,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          65
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 68,
        "type": "rotation",
        "origin": [
          7.678572005159564,
          1.729952804478961,
          1.5589460730552673
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9615812267554905,
          0.27452057181822664,
          0
        ],
        "base": [
          67
        ],
        "rangeMin": -1.5707963267948966,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -90
          }
        }
      },
      {
        "pid": 70,
        "type": "rotation",
        "origin": [
          6.608077444573454,
          1.4853831974261222,
          1.5909050121307373
        ],
        "axis": [
          -0.47252446836792894,
          0.8813175516200765,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          69
        ],
        "rangeMin": -1.5882496193148399,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -91
          }
        }
      },
      {
        "pid": 72,
        "type": "rotation",
        "origin": [
          5.47543925359111,
          1.066458175526788,
          1.5704445242881775
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9559357388285392,
          0.29357599225811176,
          0
        ],
        "base": [
          71
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 74,
        "type": "rotation",
        "origin": [
          6.530140177142986,
          1.456050066762542,
          1.5823517476774436
        ],
        "axis": [
          -0.06771244129075105,
          0.9868550278662361,
          0.1467384723566955
        ],
        "ref": [
          0.9963237839423058,
          0.05914735396060687,
          0.06197183287869053
        ],
        "base": [
          73
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 76,
        "type": "rotation",
        "origin": [
          4.298471421067293,
          0.7086728912391611,
          1.5616315007209778
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          -0.9556084779787258,
          -0.2946395031478013,
          0
        ],
        "base": [
          75
        ],
        "rangeMin": 0,
        "rangeMax": 1.53588974175501,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 78,
        "type": "rotation",
        "origin": [
          5.345925325920548,
          1.0993005962968216,
          1.585365234375
        ],
        "axis": [
          -0.19562932951239495,
          0.9806779111586693,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          77
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        },
        "needsReview": false
      },
      {
        "pid": 80,
        "type": "rotation",
        "origin": [
          2.0075501460059084,
          0.005441169445429439,
          1.6204655766487122
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9494866707745252,
          0.31380736451126906,
          0
        ],
        "base": [
          79
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 82,
        "type": "rotation",
        "origin": [
          3.0452564094670245,
          0.4092557250328656,
          1.581767252922058
        ],
        "axis": [
          0.9705691387262811,
          -0.24082264626094627,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          81
        ],
        "rangeMin": -1.5707963267948966,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -90
          }
        }
      },
      {
        "pid": 84,
        "type": "translation",
        "origin": [
          2.977275377088321,
          1.423850701101904,
          0.9332877993583679
        ],
        "axis": [
          -0.2806908661764218,
          0.9597982275692793,
          0
        ],
        "base": [
          83
        ],
        "rangeMin": 0,
        "rangeMax": 0.30559122449904985,
        "motionStates": {}
      },
      {
        "pid": 85,
        "type": "translation",
        "origin": [
          2.980635698667972,
          1.4262011592646968,
          0.7471172511577606
        ],
        "axis": [
          -0.30210354895397307,
          0.9532751154359449,
          0
        ],
        "base": [
          83
        ],
        "rangeMin": 0,
        "rangeMax": 0.3221115719141022,
        "motionStates": {}
      },
      {
        "pid": 86,
        "type": "translation",
        "origin": [
          2.988482078887556,
          1.4235483567866232,
          0.58441062271595
        ],
        "axis": [
          -0.3103937905735587,
          0.9506080658049235,
          0
        ],
        "base": [
          83
        ],
        "rangeMin": 0,
        "rangeMax": 0.32849561798392124,
        "motionStates": {}
      },
      {
        "pid": 87,
        "type": "translation",
        "origin": [
          2.9864910851422195,
          1.427244028768008,
          0.4041773284674923
        ],
        "axis": [
          -0.28412890964329607,
          0.9577177187350424,
          -0.04524968426252284
        ],
        "base": [
          83
        ],
        "rangeMin": 0,
        "rangeMax": 0.2839508975019112,
        "motionStates": {}
      },
      {
        "pid": 88,
        "type": "translation",
        "origin": [
          2.982020401345823,
          1.426942248984917,
          0.2592781335115433
        ],
        "axis": [
          -0.2870407042975503,
          0.9579183859162357,
          0
        ],
        "base": [
          83
        ],
        "rangeMin": 0,
        "rangeMax": 0.31049490876537134,
        "motionStates": {}
      },
      {
        "pid": 94,
        "type": "rotation",
        "origin": [
          2.0541621754967405,
          1.1383436416506068,
          0.5554791055619717
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9571076566644878,
          0.28973252070524136,
          0
        ],
        "base": [
          83
        ],
        "rangeMin": 0,
        "rangeMax": 1.5707963267948966,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 96,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.3162005981207453,
        "motionStates": {}
      },
      {
        "pid": 97,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.31620059812074497,
        "motionStates": {}
      },
      {
        "pid": 98,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.31620059812074475,
        "motionStates": {}
      },
      {
        "pid": 99,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.3162005981207448,
        "motionStates": {}
      },
      {
        "pid": 100,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.31620059812074486,
        "motionStates": {}
      },
      {
        "pid": 101,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.31620059812074486,
        "motionStates": {}
      },
      {
        "pid": 102,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.31620059812074547,
        "motionStates": {}
      },
      {
        "pid": 103,
        "type": "translation",
        "origin": [
          4.746621227922913,
          2.083995649775131,
          0.8074338220113526
        ],
        "axis": [
          -0.29959338903870747,
          0.9532839346700378,
          -0.03864636003963134
        ],
        "base": [
          95
        ],
        "rangeMin": 0,
        "rangeMax": 0.3162005981207451,
        "motionStates": {}
      },
      {
        "pid": 105,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.31651721948808526,
        "motionStates": {}
      },
      {
        "pid": 106,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.3165172194880853,
        "motionStates": {}
      },
      {
        "pid": 107,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.31651721948808526,
        "motionStates": {}
      },
      {
        "pid": 108,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.3165172194880852,
        "motionStates": {}
      },
      {
        "pid": 109,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.3165172194880852,
        "motionStates": {}
      },
      {
        "pid": 110,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.31651721948808526,
        "motionStates": {}
      },
      {
        "pid": 111,
        "type": "translation",
        "origin": [
          6.251309014115243,
          2.5406480938984295,
          0.8005643793696766
        ],
        "axis": [
          -0.29512175826398557,
          0.9542585966502212,
          -0.04789236388323447
        ],
        "base": [
          104
        ],
        "rangeMin": 0,
        "rangeMax": 0.31651721948808526,
        "motionStates": {}
      },
      {
        "pid": 113,
        "type": "translation",
        "origin": [
          7.7753261884633,
          3.013090322029684,
          0.8158226006188938
        ],
        "axis": [
          -0.2852590606440132,
          0.9293030740951387,
          -0.23456995715099715
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.2378890041327099,
        "motionStates": {}
      },
      {
        "pid": 114,
        "type": "translation",
        "origin": [
          7.7753261884633,
          3.013090322029684,
          0.8158226006188938
        ],
        "axis": [
          -0.2852590606440132,
          0.9293030740951387,
          -0.23456995715099715
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.23788900413270947,
        "motionStates": {}
      },
      {
        "pid": 115,
        "type": "translation",
        "origin": [
          7.7753261884633,
          3.013090322029684,
          0.8158226006188938
        ],
        "axis": [
          -0.2852590606440132,
          0.9293030740951387,
          -0.23456995715099715
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.23788900413271036,
        "motionStates": {}
      },
      {
        "pid": 116,
        "type": "translation",
        "origin": [
          7.7753261884633,
          3.013090322029684,
          0.8158226006188938
        ],
        "axis": [
          -0.2852590606440132,
          0.9293030740951387,
          -0.23456995715099715
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.2378890041327104,
        "motionStates": {}
      },
      {
        "pid": 117,
        "type": "translation",
        "origin": [
          7.7753261884633,
          3.013090322029684,
          0.8158226006188938
        ],
        "axis": [
          -0.2852590606440132,
          0.9293030740951387,
          -0.23456995715099715
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.2378890041327095,
        "motionStates": {}
      },
      {
        "pid": 118,
        "type": "translation",
        "origin": [
          7.7753261884633,
          3.013090322029684,
          0.8158226006188938
        ],
        "axis": [
          -0.2852590606440132,
          0.9293030740951387,
          -0.23456995715099715
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.2378890041327099,
        "motionStates": {}
      },
      {
        "pid": 119,
        "type": "translation",
        "origin": [
          7.779463828950149,
          3.0053861760358602,
          0.31809212267398834
        ],
        "axis": [
          -0.31424316513704253,
          0.9493425267861191,
          0
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.33545496968110866,
        "motionStates": {}
      },
      {
        "pid": 120,
        "type": "translation",
        "origin": [
          7.7776692390206685,
          3.010374941417997,
          0.1853732354938984
        ],
        "axis": [
          -0.2974877621365783,
          0.9547256314664285,
          0
        ],
        "base": [
          112
        ],
        "rangeMin": 0,
        "rangeMax": 0.3404555611139424,
        "motionStates": {}
      },
      {
        "pid": 122,
        "type": "translation",
        "origin": [
          8.350797586341274,
          3.184987665427567,
          0.8021852412418237
        ],
        "axis": [
          -0.3557373423611758,
          0.9279203622915235,
          -0.11142147232277694
        ],
        "base": [
          121
        ],
        "rangeMin": 0,
        "rangeMax": 0.19084616356701012,
        "motionStates": {}
      },
      {
        "pid": 123,
        "type": "translation",
        "origin": [
          8.351053268147716,
          3.182916414666175,
          0.7251713585786231
        ],
        "axis": [
          -0.36018246567361417,
          0.9323321158362166,
          -0.03202213611924807
        ],
        "base": [
          121
        ],
        "rangeMin": 0,
        "rangeMax": 0.16377590780794593,
        "motionStates": {}
      },
      {
        "pid": 124,
        "type": "translation",
        "origin": [
          8.349450652365471,
          3.1834944768533817,
          0.6343629360198975
        ],
        "axis": [
          -0.3525874835241031,
          0.9357788555327271,
          0
        ],
        "base": [
          121
        ],
        "rangeMin": 0,
        "rangeMax": 0.14994508515544336,
        "motionStates": {}
      },
      {
        "pid": 125,
        "type": "translation",
        "origin": [
          8.344405635364748,
          3.1807108615385333,
          0.5286263674497604
        ],
        "axis": [
          -0.35529045738976844,
          0.9347559525821534,
          0
        ],
        "base": [
          121
        ],
        "rangeMin": 0,
        "rangeMax": 0.1507618556558592,
        "motionStates": {}
      },
      {
        "pid": 126,
        "type": "translation",
        "origin": [
          8.34781332651964,
          3.181499432145894,
          0.40914909541606903
        ],
        "axis": [
          -0.3596605724251373,
          0.9330832077809689,
          0
        ],
        "base": [
          121
        ],
        "rangeMin": 0,
        "rangeMax": 0.15208162551469018,
        "motionStates": {}
      },
      {
        "pid": 127,
        "type": "translation",
        "origin": [
          8.345375923741784,
          3.1827256058948263,
          0.27438588440418243
        ],
        "axis": [
          -0.360396471106971,
          0.9327992193466086,
          0
        ],
        "base": [
          121
        ],
        "rangeMin": 0,
        "rangeMax": 0.15230377235844017,
        "motionStates": {}
      },
      {
        "pid": 129,
        "type": "translation",
        "origin": [
          9.24697934789349,
          3.4587477495900205,
          0.807512264725081
        ],
        "axis": [
          0.07449924471931052,
          -0.04086640720786003,
          -0.9963833596052142
        ],
        "base": [
          128
        ],
        "rangeMin": 0,
        "rangeMax": 0.3714831493511656,
        "motionStates": {}
      },
      {
        "pid": 130,
        "type": "translation",
        "origin": [
          9.246164469670514,
          3.458580827756422,
          0.7320382595062256
        ],
        "axis": [
          -0.28825100863177167,
          0.9575548840785923,
          0
        ],
        "base": [
          128
        ],
        "rangeMin": 0,
        "rangeMax": 0.12516285731413967,
        "motionStates": {}
      },
      {
        "pid": 131,
        "type": "translation",
        "origin": [
          9.24399739109397,
          3.4578140119551035,
          0.6238129796729688
        ],
        "axis": [
          -0.29728473026997054,
          0.9547424868924357,
          -0.009411316101285122
        ],
        "base": [
          128
        ],
        "rangeMin": 0,
        "rangeMax": 0.13161684649406535,
        "motionStates": {}
      },
      {
        "pid": 132,
        "type": "translation",
        "origin": [
          9.238638973306344,
          3.456281777882258,
          0.502753809094429
        ],
        "axis": [
          -0.3107647272952966,
          0.9504868669629687,
          0
        ],
        "base": [
          128
        ],
        "rangeMin": 0,
        "rangeMax": 0.13191851548166467,
        "motionStates": {}
      },
      {
        "pid": 133,
        "type": "translation",
        "origin": [
          9.187732632436479,
          3.442517203600569,
          0.36667516827583313
        ],
        "axis": [
          -0.2981964917521616,
          0.9545045061741213,
          0
        ],
        "base": [
          128
        ],
        "rangeMin": 0,
        "rangeMax": 0.12814983767889343,
        "motionStates": {}
      },
      {
        "pid": 134,
        "type": "translation",
        "origin": [
          9.072140187732305,
          3.4062789565026224,
          0.20573816448450089
        ],
        "axis": [
          -0.29975684108937367,
          0.9540156373037709,
          0
        ],
        "base": [
          128
        ],
        "rangeMin": 0,
        "rangeMax": 0.12861808596716529,
        "motionStates": {}
      },
      {
        "pid": 136,
        "type": "rotation",
        "origin": [
          4.215240697371394,
          1.049658382369289,
          0.7466742098331451
        ],
        "axis": [
          -0.8518360436334772,
          0.5238085096357875,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          135
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      }
    ]
  }
}