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{
        "Info" : 
        {
                "CartInfo" : 
                [
                        -138386,
                        -298686,
                        552445,
                        1296844,
                        -1656728,
                        359323
                ],
                "JointInfo" : 
                [
                        54983,
                        -142995,
                        628404,
                        150138,
                        1003079,
                        -191
                ],
                "Mode" : "manual"
        }
}