{
  "generator_version": "split-v1",
  "manifest_sha256": "9b4ae2cc777cac8867863a85ce8b0513c039194f19b254a97645e315753bdd36",
  "rule": "task_transfer",
  "schema_version": "1.0",
  "seed": 20260718,
  "test": [
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "010415cf2b1b02c54e4eb9d20179a2fccc848372b4d15cbee2ed831abe76ff6b"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "02d93522ed50257f8c3921fea2dd2575980a9b7fd1b90584a11d711293056f8f"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "037fcc8d2edf1eaf9e9fa3e45be3767237ac2f5b800339726310a7fed14a3223"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "04fc50a7e97f1a31312e05becb2ec0d89679b251a25d844d51b5c1ccb7185b21"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0622860241370f7b5c61da869f3347a258b4cc9c87bf872b61efdd259f27c5b7"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "06546fdd35fcdc4fc5bfe520147f56db8db8f8502008761172633dba9dbe0a91"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0867eddebc0dcf8769480d0a7d55a8ec8f353253f6dc79934c8bef83aa350172"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "08de0b32069258ee297619c37664756aca814f22aac6430583d3a77b5836b5a7"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "08f78418ae25c2970c83884a0a1cbb50a2ce1c507cafbe5b953b05032a247186"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0a1ae768e6c52547ffded3b2e598697cd2acea390e5635c407b6b18e111d414b"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0a28a3a3e51aced2478aedb2ed88c02e76e8fc73cc5253d112e8b8aa26ea74c2"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0a910731161da9748a0d5b17be8e9e1870df3f1d533dfbc0e5de41881455f1ba"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "0badc84db4c01e860c4c662385bfe90713f8a88caf530628d03f9f78eb7b4e3c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0c0bdde290c4f3e483ea6a857761ad38761cee8c3b5fa3637503815e59b1850b"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0c27db04b8fa632d68ef8a954961cb747f731d8b30892b871f353a1d551faec6"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "0c2b0913e8b1533b4c80f3fa0b31a0c32c80fab146de66ccd932f108854de7a1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "0ce935c6aad8f00f2776526871819a1c54e8da33773e5a04c59d18067544c56f"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0e359734811e3ff898af0937694d1aaa9ef34aae514056c6fb4b816c4760897c"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0e3e64173bfaa872b4d21f627ab7e92bfec6e3309287e6f7fb93e0f872acf68a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0f40e7bf0106b8256036145952d95d2c2bfdb08d5fea4efc32c652275db9df5a"
    },
    {
      "composition": [
        "permutation",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "11b63ea22015137cbc3267b8b99cefb6eb43baa1c348be85d1dc01bd9d7c4480"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "128b1a0667d022736490322d7bd96468fbb7b01b0c63c0d69d5d05a667aa587d"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "12d4bcb48e2dc134e9ace5dd6f269e1c5d3050913078b49b7d1e9ffcd49bac1a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1427d44c4748c4aedf46c99c2d98da6b720be7cd4b6a6d4b7f23af6cf25818b2"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "15df51fa06a32b4d108f1f86bfd2eac96084037572c110a7f13b0dadf16920c5"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "17f2800bf83c5f1375f07ef77f196151b6f1a997b9aa53306cd362e44d492c4f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1994b4e5deebbed6cdb68ebb94cc94decd96838951eb1c0f534973c038b6eedf"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "1b454ad2e4cf3307410f9ef624f54c521374dc3a19634c4764da343e10208d72"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1c979c1b94780f82d56eae2d4d090ddb549d428ce92aa7c815b8e6c10ca72770"
    },
    {
      "composition": [
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "1dfcab0ca75ca94151542fdea2489ea179fcb21a4bb9b0d9ec60268aeed0cf4a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "1e5c18ee5db3cf3cb2e9dbbcc282394955e57bb3f5f90211110221147116542e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "215bf0b0a64ea752e44e5638d56881ef9e6d7aac565ceb5a65c3deac52a88f48"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "21973f72fe5802bd08745068f3b07958b575751c98b20acb0e4638a7fc57ff4b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2243d9dee4340be395ab2f514d43eebe455aadbd529c4c48af1bf6d07a1a751d"
    },
    {
      "composition": [
        "sign",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "22d6684b8cc2aae2fa3d8b78ed368eeb827a80168f9ebc22d7d6a62cbf71bb7f"
    },
    {
      "composition": [
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "23caf4ab8ebdaf14feca28955f3532c5b512a19ed85b25793eeffa0bbf1fac66"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "261c51a9976373f2a76b56cbda80a24570561b44993e2aaa2aa1d32082f8436d"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "26824191324093b888903942bd758ac4d867eaab593fcd43f41984302ab051bb"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "268756eac549b731299df30b14590383f29625f01d23cd0adcd8561adadb2c8b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2a7f2411e9b51238d3fcf86a6857585174990cfc4d80144e78bc0204d01d064e"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2bd9dc8eace16df812bd6d0c451d19707a25db9567551d9f5d88be9a7eb59263"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2c30be9f93ba76a5658c037d14245b86cfae29fc9786bd0688dbee623e11adcf"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2cf17f354fb5b4a6311e4f3e0fa1939bb2f10027f4f298a5eedf0e194b977089"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2e08c1a9258e87e69bbc6ee4bafaf4ff944f6c40f7d5100f78fb91e5e89c6678"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "2f2452496d50cc41e806d33fccb27e03e37a5c5941b1af4a37125feb2961b069"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3042e9f192be2b6037bbddfed00c66f7fa6732c1d6005354ff22e5ad11f63048"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "30db301ba79aec452255442ba805e3b191db9e66d00a4c21acd7c1e03fe750f0"
    },
    {
      "composition": [
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "31d640556af910096c66daae66acf439a27975168cdaccfc1174786582c87a26"
    },
    {
      "composition": [
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3282b0d3f33e8539e06e6e7bbd0cb72a1bf009c9a568156d216aec0de39c8f56"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "336d97cd7a5f1a69fe0aafd99f1f245a50179f0b42345fdfeb675f3ef1c24a3e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "343e44fd6a27526441346292b9a8d6f6f0845c8d3fdad6b4f5bab9f87c29a90a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "35ba8a38527b3da2867ffb927609a238bf665dedd08dd2a8d2edd7f897422837"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3627532d7c921530d18b0fe2caf126aa2dc3e479366d9eddb364ff02a5d196d5"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "377c6ef313cdf77e35beb50af5291e23a520426ec914d02edf9364c797b733a1"
    },
    {
      "composition": [
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "39719c32230c145d68dc58098fbffca80fbb763d5e9ba068b3ba0a2a5ec48ade"
    },
    {
      "composition": [
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3a0cbab7c369cdbed249df2217bcf68600eec48db695540e2da62ceb70784072"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3a6c332479ad8fcf347db838725b9ca65e14166ca698040d9ffca3d5d78554eb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3a7f2b9b50521a30056624567937c9e2c5da7a066ebad10ba373f39599a53156"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "3b94ae8f5f13e520aeec3bc5c9abcdf3f13971d87b0292c4fb74fc424c77fbc1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3cff9426f36c809acbfc2a231d333be07a48852cdca9f2a0e9c90ef97d7862f7"
    },
    {
      "composition": [
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3e2a5a39536232d356821e76d1cc24e7d8483fd962edb081a48ebb6e3fb5173c"
    },
    {
      "composition": [
        "sign",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "3f5b25a13ddca5ad31186b08fa8394d4eb07de6f1f4604da6dc19d2c6f6609bc"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "40b037f306a2b1f87088c64a88bd0aba4a006443e2d91da416aa6850a364495f"
    },
    {
      "composition": [
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4180a842aa1a3184e3d99806bd84053b959cc71f74b091299757380bca0621e6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "41f588639dbeff4185c09f8fa8515d04d835d38cdf7cc06b69cc105791ecfc02"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "41fe0a699b1424483bf425bbf84e92a8277c4e680a4907e6655774a8cc94731c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "440a244b54cbcbcc2ee13ca096ca8e00d742e2bc3612214354746bef2463d6d4"
    },
    {
      "composition": [
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "445dfee4129083e9331cc5e30adef8a4fa721a07b531fff348f94f63f3555a52"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "469aebbc5d42757c40c13201e2ba35747f02d10387e5eabaf0d1970ce3743ea6"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "46c71beb21b3a13fef12fde4a92a76edc7bb89d6c2cb1b6f8e5a1719a291993f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4810bdfa7bbef339fae9b221f4c45272476e92442cf5af95f7158bf1ab159089"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "483f019c5aafaea2d7ced4b28419f0e1e4f98d27d2321307d52293e67554e308"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "49b3b02c3627600e2f9976866bd0876546969f4d48567ca308c2fd520f18335b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "49e0819b820f2f8db80a83a5abf3c146afa6b0c947967ebb0dfe620154bf688e"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4a01cc9d26e9eafa8647367e4e6e9bede95c914f2091810555891078314f6970"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4a9b8ee7b4546e66fcff41b69b3ad964ce24168fe439d0080315054d91a7d9b2"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4b7ea314b1b76b5e4d6dda15e9d50cfea2e5743fea6d2ad0c07eaa0a9a5c3de5"
    },
    {
      "composition": [
        "sign",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4cccf45534cec08a37e6b01113dfc58d73ea9fadc45bd0a968762a1fe4d1afeb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4eaf8c6eab5249a52cde38597df38ec1b3f98ed5b9cd49f8285deab8961bf54d"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "50861e90739e932daf4d3470afa853b0f806de83d757e3db5f89629871130fcc"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "50f22a5effafe5bc8e5800adef52b3b91bcd6aca47c2ab0019800b6b990912a2"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "52a6930d99dd296ea5b1f45914987ecfde5f487f120424fe43e385caa7492058"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "53aba47dced0e2e423d276a12e38fbb7715eb2e3439ae46ef2a1a3b939375768"
    },
    {
      "composition": [
        "sign"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "53ea76e944e3707503a02d877f077bd51b1677016ebb2cbb949a463ba163e8e6"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "546d128050510d43a04c4eccbe0066b4048aefba5c01f34aa52fbc02dfb4f6e8"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "5516879aeb3006ad586139e49a0f8357645d28cd7068ff7103159663b7e6e175"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "55797ac9bddaf8ef93c39aa0d57f194427d628fae80c4ec40f9bfc4127d9ffcb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "5805a341ab5c72259fe4e6067d11ebb6ec3b49dc7ed8cce4209c2c87f6f79e09"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "5868ebd88a9b3c5c6c0c2654d270066cee4d1ec9798a7ccecc2e4085eb9d13bc"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "59aa1683d2e286eb85755f862683a0362b99f665e7e5e8aee378501c16b2392f"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "5a88abb945a1eb13b7cab2b3253d73597bcec106e21abca871c9551b99e7dba4"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "5bcc965e32a4c96f2f6f497a269a95a70aceffb79abdea18866c7252ebd960e4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "5bce4bc5dd8f3663290ff143badcfc1063cd6711adf63da57c175ee88c8e7adb"
    },
    {
      "composition": [
        "sign",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "5c0291436201ef59755c89cc40a11e57d9079e2e1d5384d22e92f284393e40cd"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6050ba0f77d36374d30436b4af8941db3edca5d7c875aaca6913fab8ed0525da"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "60575588e393d088c6dd9b68e488bb6b545bb0e0884683f220ef1e8b1cedcd06"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "60b2ece10ba7f1f001d000b93aaf201da3265636a6974355edc07260d04e00a0"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6126f7d7877fa651b62b609c1b0efb03b25cb89f21684187343a6f8bf272f009"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "621768de71e82df87ae1f7d04a8070ade04eb66ac6d3df0a676cdc8c1324e04a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "6340131fc04f4733f52d2b18506e35a512844bb0496b0cd30442fb4df432310b"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "63b107dc0114d202402dc37e80808131959b58d718cd623e1e729b46d135cda4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6430fc49229da08ceb5614651b22d2c8d75f9832e195e77c5693cda6833d903e"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "66ccb70d0fabc182ab86bf017e548983e541aaa0f6357e10fd2ead7ab9c2af86"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "67b3283ac24f4afec0da0c7fc9033f5fb7847c700f93630ee764b19fb9721602"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "681d8a1df929368d9fd8a632aa8711360b040e763e66ebb41362122294bda471"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "6845b72c93811d0cc22040a44db1f02295368861450faf25fd1b27d5b68dd552"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "68cbf92464eeec5e75b52d7a2a743999fcee5f420f7f54cd766a48842b815202"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6a5d6b297c606ca1a910e33a69ad06afed383d1cdcdae843cc9b3794833f582d"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6a6435a172f4074d67585704c57edd67e32e2a5453db2cabf2c039710127bd8d"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6a7c36647662b9444fa061af1db7a22916e349f49f3d69dbd0a6ca529f3828b1"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6a7dfdb45cc8d2ca097e57b4be2cb1bd344e093ada77860ceb0e67535fb37124"
    },
    {
      "composition": [
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6ac7f299e255bcc5ee56bdc58883def1b9e1cc8d5448ddd2e028b853dc7bc884"
    },
    {
      "composition": [
        "permutation",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6b33433d774436bb619b33f9544be13adb6098cb639a83b89992ce8c56380459"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "6d465dbc5ab517121d63bec187a9037d2a8c8f705a6b7c9e4d3179a2b3e43ce8"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6dc8fae9e07d2f997f4d352e76f8b2c8f05b2a7fff03204857d3838e5fe2e629"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6e1f0e2054b358a52f12aaa2c79f3490c4dcdbeaba4c4c42be2eb0403a6f8256"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6ed371d82ee47a11423a3a68e7215b0ad42c5b953a5b6a637d025ab1e8530021"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6f761dba75b971dedb6c3fb61cb7b012ba78e6858ea5d433ea47f267cce6c736"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "70e62a15487a9e351cc02b16b3c3103e62993f2e555446b169f9908a10048d25"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "736921989fa20e3aa306b0d60f0633f99fd530ec6c1f44ddadd42571d9df87ac"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "737aeaed7beb8b995220ee5946ed539096306bc9559c3f2352bf4866e6449471"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "745b4ed001fc60f4cb946d364d08a291fac2f9f2e3b26bbe0b43994991d5dfb3"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7499e8be77271756287f7e45bf1fd3df659ae6491149776b37c368f1c5393c5d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "74ebb2e2c9c61576f21f709f40b7bf51b0fb0b3c628f309b7c47f8a6b4904304"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7531ac3a809e3839f4a3bf5183ba4346a98f0d0d3d3f878a32ccf347a32a7923"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "7606b3a8618279da249417fee2d5dcb44c7fa9d6386b2d62278205346bd0ae30"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "770d3274fa58bfdc52a2048cc93f00b661fc7b20d39572a01c8a04bee54ce46e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "77ffe7b7b287c34401781904ac96240fe632943c013093d72d5fe1d091c97256"
    },
    {
      "composition": [
        "sign"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "7a94d2ee9fc5ec3e4ed91cf1f810c4753cd60e3b92eba567f49fa45c2fdd323a"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7c92c359a3cd441450c83b04e2247fba4f516c932eb4bd125f173fcd193cfeb3"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7dc443aecf48849824c2f1aad2fb2631835961507099ffa416b7ffb7be9af8a5"
    },
    {
      "composition": [
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7ddc5541261322cd4183bbdce52733a61166739748b6c3d03175b5d179fe55c4"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "800e0d63352cd9e89937a8fb0dac41fd636f65bc6e23731db3ae8b7cee04d26e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "83c17d55a377b926bdfb59570901a2e0621b045e20738c36b67dc4d4a532c079"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8558de7a51ec88131ef5feaf35ffe9710af70d5443d3572a12ac7b8cc0c830d7"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8559038123b088af88528296bc5cf86ec15c3c7e2680f45c94cf81e58b53b8ba"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "874e991f04b43233891dbe0d780cf597abb91c58050bdaac43a9afcc49a24fea"
    },
    {
      "composition": [
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "88525986f2f304a0426a43e7e15cc03af0d8235148a5bbf96578d9f6a016d3b8"
    },
    {
      "composition": [
        "sign",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "89b5f980cb9d39f909d1aa3d497026cce659c927a6c768ce6311884a0697ae40"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "8a80c36285ec3146399ee7d902b0c20bb160454c88a7dba40a7ef3b8c88dd1ab"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "8f23cafea5e6820a70f5e31dcc0f2b4438519a8a8b5ba88c5e9da44087923601"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "913dcad3266830110653423dba619795079bdeb55ad4770c1ab680f1d7486643"
    },
    {
      "composition": [
        "permutation",
        "sign"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9201b3d3b253953aa23a808208118cdfdb00a6ab1965faad4085fdbc4fab1d4a"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "93c8daf11b90f3e194a0021e23d384d33f68c3230b7ee14ae947a70decf430c7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "94f2a31e5115620da5f8e3afa4942f6d87de6e09d98878b7182a1ec7025b64f8"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "967d7fe5264b2f8c6aacd4247bc9cc9adc130474b90eea02d0730ab781092edb"
    },
    {
      "composition": [
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "97d5a66e88fb586a0c7e2623a3346b2e831c07283bb1af90baa566e8228c6b2d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "983c7b527d5898fd3c1c970e1b1a77965cdcc00ff248aad9bbfc4034601c3261"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "9895adf43302fb136231f32f815a40112ff6c9e7fd427285a608849f9845f863"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "99103f81555a15748d497c04de6b4e820e0f4bba149499f7323b902450f7e3e2"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "9b5a1b10b28d08b7be19370af3ed74b5b22891ea9b1b6394d628d981b91f5128"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "9bd4c0dca44fa6dcaa1cac5bd49636cfd12d62652996e4821f714495bffce9f6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9cc9907cdca8f0248573f47490be2080b8a89057b55e73209a0eabfaab34e6e4"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "9e6c34e63304f0d00eae35181683ebb5da9d268b900d4bfdb1c0cfef195ce62a"
    },
    {
      "composition": [
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a01eb3597b3ce1700535524f6e3e5de0b127cded28d29e0908a54f33ce23b7f1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "a214e209b057b326e31d8fc6d1c6c77ba85465bfece025ee65ac8045b44f077b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a360193a8394c547a3979e15a6831638f43acfc990182d215b4c617d3871aac8"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a83df2d9f8ccce20cc7151924a84ce552ef54c9f117a2221ba60b79e9262ada9"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "aac9f0da1d823cf4c8afb0f5e69eeebacc69c25b9a15c79122e4b47525a20cd2"
    },
    {
      "composition": [
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "ac56e1640f7fff2145817d3b472ca703e5c199343d445cb89f76f54bfb7e4b16"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "af7176a8ecb4596e40e0d8d8184403a5e4e09b623a92d2b3911eb36c54ad8d0c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b00833187a558af6f12cc56859cc81c87728f2a76f920f9496cff7341cbed9f1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b2cf3376af877a4a8caf898904de11feb197010a100ea1c18c8ebfe9f6f7acf3"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b403abeefa4aaa9d2ea05e83cda1b6769823de917973a3f50b292cb2a974a75e"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b407497e66fb536ff6150b52ccf8cd2ed56fc1396f77dd7eb702632b9be0779b"
    },
    {
      "composition": [
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "b537ccd01580a88f5f01cdff39b1c81b1acefbfba173ffb7fda052fe6205c303"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b6e558b29bfd58feb38bb109c14729504b0b5743bcb58ef5e76424eadd32cd2d"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "baea6bcc805af2d58344ae47a33545337d68cb6d82d1ce9097e632569d7d1cfb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bb3cff88b295c92d0c099405d3c86c52089696dea525ef2252c8a836a696338e"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "bbed9b0ab0fb2432462b0d99d5be4f97f46a56787c32e846de3bcfca1f0551a8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bc362a3d1c62f57e8725a0f2c56c867e2860555584aa52c56f5fa50699d08331"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "bd36dcdbafa36a3fff55e35d5d55532bc3a7c157c3350cae01ce858ce5b03d07"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "be6645091a72d0290355fda3a2ea1f10b87595915640921275b4abdc6e62ea89"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "bf4c56d5851e66944a7991c1f8fad388207edc8ff190163fb9b39d62cb847de1"
    },
    {
      "composition": [
        "permutation",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "c01d873392fbb40426deea276918d61b4897fe852e0f7da90508185cf5b27f51"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c04b2c42af0ccca65856b626b9dac58569ad961fec9db92d953915fd19cf1319"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c09e9be072d85d04fae99b828c94944d9458e8171bdd7e32761d2ce565027579"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c29f413adcc9a4943f6d7310cd9b5e5517a0dedb06edf783a852c367248a7697"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "c493dfb6de2a5668daab7ba35574753702400e85030daa88eac9c7182b9158bc"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c5d33261216704f2290a4e6eb7e11c219fef3c58cf096ad02fe2d6bf2881952c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c5eb3982da64b3fedf71620c6b8b9ec92b0ef6a99b99f7ff51d0a4fd17163199"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c9adc58bc9167998b7e8d13f12976aaaa3eb2ec8c19368cbad0464380e9d8609"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c9cede71f8699a9bb7d07d519607dc43342c967ebc04673835f2eec6f271b315"
    },
    {
      "composition": [
        "permutation",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "ca04c49284b82279d5d89ed6af888ad4b97bfd2126c210957b1bc37524e8c4b5"
    },
    {
      "composition": [
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "cbd6e1986c5303e4d734f283e1436a232e9109ebe38e86460ce74526254e0dd9"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "cbe91faf841e4d9ad71f9a398c7a9df88817615aa9b10894bcca2d4803ec176d"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "cc25235fc7a05bb3dcdd1cc6f9ace07098cf2757889f82e184d9db45221617f0"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "cc26067ef1b5fa290aac0eb69ebff7c674cfba2ce919c69cb053236f9c2eaade"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "cc4cf96d788f0f06bf0fa6779d65ef2be9e6504311979b9d56c9eaf7178a41af"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ce62fcf729b47fd28e5e54c3ef8b0b72a4f6578fd48c0e8e346d52f601818c20"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "cea1364cbe3f6cb1f776371d9c22afb4fdc4a019900d4eba4fe00fde0fd7f2b0"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d06478fd1502c273b696bcee70303d170eb203ea24120b5035f9ac8549effb9b"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d18ea6893fd794b01d1e1f180ac17771349ce0043831445eb845f98cd1206ae8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d25efd2a7e0a7252bda672c7adce42925ce0e5be30162f4d9edc30f1ea00aad1"
    },
    {
      "composition": [
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d4daf57e226d8e9d776259882b53776448412cdaec0b1be4a2a640a2705224ca"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "d62e3534825485704f31d583eedefd178a5b67d736af6121f1e34227a75fe8e4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "d7391def3a67408d36ce61678b65343b8f63dbad88dc1dc41a2cddfc5513b5f8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "d7d022ad91bded337e2fc61d0ff23bdf3c8fc87909fb9ab187ba0527126f3827"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "d839668399463953f2e534698353180bae5e7135da3249c1e6e58a8e4963445c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d9867255910880d1d77cd586adc58ca3a96e2ff99563711d62056797114c9769"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "dc3544b708a8a7c246cdae587696997b3d78d9d826d92dc37f7938faa924fb23"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "dc9e4d7dba54ac0431fa01155846c2cd40d39427f0e3dfb3315f47bd0b57a02a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "ddf7410e3df7fe50d09e7884d66e7b4e26843657ab7c052b52f0062c0d670b01"
    },
    {
      "composition": [
        "permutation",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "df35504a3767d41afa75a7a58acd196d49c5c3e6a89a30b090a0b9dd9b6589db"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e197f9a6fe48aa245ae8049234f556dce2ccd14bf25658ac7fd8312bd1ffd379"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e4235719c4418556e2459a75e4c4f3289df5ceec581be1f0c801734676487a7b"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e53ec7065dd16ca1566baee8289ff409c5efe48edbf12bb05312dfc5381d03a7"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e8810bce0d0b78380627982ab3f3d0f4169d53cff7bb25c0f1de945cac4ff636"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e8b3896dd420307420b7c614e528066063682c3427936a984d379e83b0eeda79"
    },
    {
      "composition": [
        "sign",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e8d6fde142455dd2660626bb3d807e00ff851298a321738a409b892f852dd65f"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e9f4c0c06df3abddefd9a5490e1bbf6f3271381f3e88bc9f006ff1e45b17c8e1"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "ea89fa8ee630951f4dfe00e9b2468276c74d6d153f37971a13c9f05c518530b0"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "eaa0066bfbdc3c05c5f821093f4647aed0dcb15fa303fb6663bb9fc3b24623a5"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "eb7636a29fb7928589fa8c233e1ff76e594d08faac2b219ce83a89cbce5621f7"
    },
    {
      "composition": [
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "eee54141b3752ac13007c0d38a6f754aaad6a41923cba30fb589a4ff3e3c9c28"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ef8115b8d47ee72109ab39ed4125eae01e951c22538a4592acf3b40e0480e237"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f07bf3d48b972e47d63ef4dd0eed33b1b1cbca9c537b6fa84400c01a33c283b2"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f10a0a3e61a7d1b800ecba85644d0f02d7367fbd271df9744d8e659d2f40e0c8"
    },
    {
      "composition": [
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f24c673b396a28245e9e80b208123e238ef967a80f7d05b725ac7d6b46eeead4"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f285b757516b49ec6599e9b9c8444902ac606e1d96394913cf3a04d74e734edc"
    },
    {
      "composition": [
        "permutation",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f52f910642158697ac55cc66526d25da6db6ce6d1eb2d1841b906ca7655018d3"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f7223c21ac3ec85c492e6dc95528dafc605a8c969d955bf5f8fab1d3bbf5a294"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f7e0c2955c82c4e45c2068b19b5c7d52c99db55034f1b219b55f5b60d3441c50"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f938daad15b96648dd749aeac38865f248f8f0015c8d9185ddd4773478e9bfb5"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f95c2dd0d59772ebf96d39122eef9e319195033e80ebd3b1183d95b8a517546d"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f99b3753883645ee9f88243eb24101692b1c1544740137cc281c8247cc6fa15d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "fb3def020d7a434b73ed32f642df6d9cd9f2fb23851528251d2462f491763aac"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "fe5d56ee70c21395b68ba450b4f3dabbed15e1ee2ede8176665f0e0cc6585464"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "fe7595f5bac6f8ebcef5e461fc20240cc3bc968b56795df1069b3d0df4c2b16c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ff041b96cf65baa1ff82b03120467630b5b5661e5259410cfeb19bf93fff5375"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "ff6fd05c1541484321047c25b50cb27204282a6ccaf781b151f319c0e69d180e"
    }
  ],
  "train": [
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "00341b59445abb956fefeb8fd27672ac4a5043efd0fcf67a7be659a1a34a0a8a"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "00df635b7fd86958ee5b5c3dc8f17c51818949fda25332089ff64e5f9a91dac2"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "01e7846e7fc9005928886e9f3d8bccd3a932dd49afb7aef9edd7c0a64047b68c"
    },
    {
      "composition": [
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "020bd6a44ef1f4e37448afab2049ff8d197f769001c8f951d3650945e646502d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "025e6e80cac56d3fa483daf50f1e1c43e261ff8ab3dddbee9754a8779e48bda1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0311ca8f1358bc22f878bf82c726c3565232226a162059d2cfaa2353c00de58e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0340e2e04215c8b203e20507823072ef5fb4a1ec4aec90e43e1e412b1d0aa9e5"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "034b5f725d639725b54d441e60cfcbad824613f3cf0be8691a48b76491437bd7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "039eb53429bc09bc33dd430d097d82a27bcb1773b4c8a022f620542f64df6a1b"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "03f6370c4cda9e2007abd3e35b2db9c05da3eeb258baba60ff1ea7d2e65b60ef"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "04004195f312d14990e5dd6c8390dc7da5434e8ebbd2a8f13de51828277dd8f9"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0414033255dec8fff2ba45e8dbfd34e215e6f1b3256a76089950c1f7a09668d7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "04fe9d41c8a79cac26bfaea62f3d671e654c8c485a2b4025b0c1f4b2e587209e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "053f2ec404e52a6d904dca799cf71c9ad7c0af42abe45e1c66f6ff6aa20d6a40"
    },
    {
      "composition": [
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "054f83cb86047553bd0a31eeafcbd307f4cf9b8ab974b126543afd85d529c1c8"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "06c9ae3f679c27f8523d8a3b2dee33f74de7ef58db1a62ef9140a4a9ddbb4ddc"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "073c16365f81afb12d6d6a937065e5a523634c0f4285a9cf12733376655d03c1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "08e3055dccef585ed69537a86d4ff871593b054021d4491e6129b29df665f6bd"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0902fa83ba6ebc40f55575ac386723645839facb151fed5859b0b178e55f7158"
    },
    {
      "composition": [
        "permutation",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "09202368349c3b00cf6e5c8df107f51684a48266ba5168344ff68d5cc874dfce"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "09a988af47b9039e8f29975cb0d7b9f0ffd21d7a2c87d5a3086280ee54df32e1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "09c59369a858db07c91e9000f8a4cb776bfbd8d57634d5ecaabd39a0879b71be"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "0ad40aa10ac8efdcce0e58b12a568b79382c9ab730ef9547011ff5853cedb269"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0adf7decb78b1c6684a2102cfe95c4de8d0601b56dfbebd9b5681dd20900e066"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0afe800ab9df9721073a1288567b08880e50968bcbdcecbf31e742f7bf13fa8f"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0b1449f07e8aaf44d1d550f67b928b496c47883a165408ba17d1fb016f050fc1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0bab66346d08b61fa51a2c1dfa76d55cbab076ff144872d52b5634c516a167ef"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0bf9c0a1b6b8034fd27d5a49c54b7b3ef640da3fd4e00d6dcf27d73e7c7b2c46"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0c0dcad2461c439cc46ac04199d293a950cf7c2cf95c598c9fddd3acd4a64195"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0d511a4b7308d5a789ebe04d12fa0af1c637fad2bb73d8f4ca2f6e4267628d37"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "0d815d7f81abddc978cbc2560616fd008b69729086e401279e1e8d0fb4059d31"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "0d9f7f1f6d2a151e4219343f4a4817426dba09fab4ecc1008a76fe336fa5744e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0ec4700192665cb4a21c5ee6b4c93d20c01d7c23c306fdc091a9828988d766eb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "0ec6f3bb9321370f75fa2446ee5221f2e364bd4e0f7c436109418075b4c4b4a0"
    },
    {
      "composition": [
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "0f2b7aba88b3dad0d5c601a0be37117c1c17a74d6448213d352d3f649ad0c651"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "0f44758e16595fbfa62ed5cbc08c747e0186588b7cebec4ec1f8682781b9b26f"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1058927e00a901c971a065bc763cf712ba0eaede6344ce9f0c53e2d07cbf4738"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "11232c4e480d2c0e34346b51a11daa7f9fda720024f94e74fb526c543c85d184"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "116f7d7c5b5a163c06056791eea303f7e52bbddd5bd702935496e345ba5290aa"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "12b4b66ee2065041ca32a7ddd3a61b641c1e4e6a9cea0f6852e6c8cd58dc3cda"
    },
    {
      "composition": [
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "12cd429c55a13b92a14b70bf400d14f73521c487544faf2c4100dc61be87736b"
    },
    {
      "composition": [
        "permutation",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "13af4683e6f7e974ed5b669e1db119ee1dc3c6af389203984c1a47eb57dcfea0"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1465ff95b7d7f1f38ec31f1c14364786a5a87d0413fc0fa0f45dd0d7b6370100"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "14a57632532adb1890b7db8456d5ba8e46db84fd0c8f587966f695836ed6f9f6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "14a96415b9e671452626160ff618e070f82ee0f475ace439ee48399b6d2df042"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "152ff82ba8f856ec3fd4e4c67a018300a46c48954fa179c529357625df417347"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "16189ab8077fd4f4a99ab0edefd5fa1ab7aa9ac15238e869dd023586efe1a481"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1659e3e26aac2c469528e3bff5d1662ef84882625a8ee85ae5be1607fbd420d2"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "177706f39d661e9e4fa96f17c146ba12634e9f8717c69b5de2d234e8c0e37184"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1928afa8fc6f789d4a5666d16a105d90ee6bd1145ffd07a0cec724151b4e0a7b"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "192accd86aa55b058e419ed2e032c426b56e8eadc70b45eed8a3258d92d259c5"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "19651ca03e6498e896d6e932dbad46a1df1a36ac8ea415df5c17e34df2f6c31a"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "197a4d5d52212f1cb2483d8610d7854723d4deeab9ed928e10552e624d3c070e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "19f64186e855e012469b610dc459d9a73bfe272b61d274ef61918230e5730954"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "1a68f16a1c14aff2a765ecc5760b217f08793fb49da30f5152fa301cb798e4a6"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1a99153d8246f55fa5db48e9927897b310f61c697aa60938a49c7e1cae192d5e"
    },
    {
      "composition": [
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "1a9df959e93b05aed84d8a3fbda903a10cb7da9f5f109f1078bafedbd68d2428"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1aa4a6c21562c06bec6b221515a9306af60adc9813ada079b913ede18b5105de"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1bb45a4f7f6bdcdb79c59575473d7c285e528cf6684fd5c745d4c59279fc7581"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1c21e71b693e46d51f8d607e34c843119f0470f9d408dbd3c3eaca34381020d5"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "1c4ea11a0b5240bd7d6cb75c265d510552c1edd583d26d0af2e733d70be96329"
    },
    {
      "composition": [
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "1d091bfed247e5f6a54b7a771bb8b93413fa1f70ed32bb3d3ec7dab10b3d5d2d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "1d7963aa6c45c862bc86e65f09c07c53921b16765174c578ed4eb258b0c174c3"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "1e573de398b48856a269cd034dbda61cf10b0864fe4ac68c76cef5cc5e4ae393"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1f2f7e34888e49fc419b3bb77d86d46f07911933b095d570d47d254612a96b3e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "1f57e3f6e3a0f7465ab6a2a8d8fb58f4a5e71236559cde4e2aea2ec18aea855c"
    },
    {
      "composition": [
        "sign",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "1f999671f76da42172c30392a24f44e822d8c5eef5fa6d7ef29f31826e48f448"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "212c509348d00bd66a1ce316982f6b6a38250a5b26acbd9d3d919c47785b7648"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2177230ca64e42228b804116d44b61d66802f57604d9f509a890c52639e2d7e3"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "219fa0f907ae2e16592f64fbf16ae25d4e9e7577833892490c102dd76b7cd326"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "2259053d1283a8e79927518e12a8f0274deda6f2dc976c17ba962120b4a05d01"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "22b36bb9c86ed0300e0b1edc2cb6f6b7852eb54730ff9615026dfc21e1fe934f"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "22c6739769ebb77915daeee9cff9532dc87bb82e3a3c5e1f01c303d80bea6e01"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "24c2390f8d57d97bff543ae640b7455f7ba6226e588cc0cfc300ad495fef4bb8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "24cd132f7ca51fcaf6f41295d3e0a9a4279501960d7c521f679c514c5ae49be4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "24ece045972d2877d7e76c1eee60453d0f6ced27a6b4f01bcd851efabf781c70"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "2542e8570d97aa15a3edbaaa60c3f15046c3de5bf3e8cd9cfdceebcedb69c3de"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "257380b03e29722b7e32597bfd11761eb477ea1b7857cb5ba2dcd2a021fd0084"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2596beee77ba4fb10d3db00699d57ebb9c5f9ac1968cdb83734f0274373475ce"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "265614e6375d4565f0e2da1a8bb3a9d8bf7714281d97fcdd9ceed524aa86ec42"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "26591904cf8bd844fc39f283440865e02b403719eb29255a5ece8d8c1ce0c671"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "271bc6b52c974ea390d6128aa5a625ead73962abd05c923d65e60281721050a3"
    },
    {
      "composition": [
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "297b273bc46d676efc215bd01bf7e9c07392fb061507f0fd9cb481256afc4c84"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "29f4a0b932cf1d8374728416f5641abe1bec03726f70ea04a5c2f16841c7219f"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "2a1b200deeadb458d34fd58ad6c8f68e0bcc3e8bd3d78208e26476cdb32ff726"
    },
    {
      "composition": [
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2a4dfd0072cccb10b3ebe1f04feada96e1c4c696c2fb67cd5005f5c4aaea52d5"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2b30a2e60f4616e61e09be00984073dcba62a46f8c9c07bb9065ce610b37e45a"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2b3bcc7f504731208261a5eeeb75e2c0feb08262b269cff98aeb585f233e4b7d"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "2bce8f9d12638ae27fd687a9348fb562f044d455ef2ffd82e3963532b4120320"
    },
    {
      "composition": [
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "2c0a7e75560aea9ad1aee8a7bd06bbe7eb77ae2fe6f08b8b7f97df13007df1ee"
    },
    {
      "composition": [
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2c1719a678f9cb93d055cd3cd543f42e218f652d7aeb05e2679bd15a75b8bcab"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "2c3851f286c5c9aac52977051d191a612c68034df35ad97bc4c225f7230bc96e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "2c57e269c41bc72b01dff3a6bbc6d151908e35f73c66a106fc5a23756c7a7ebc"
    },
    {
      "composition": [
        "sign"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "2c5f192f8d53b18acc41eab843fc122259e25c8f2b65f6a60078b7fed12610bc"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "2c77312425008b252a4cfbb944a2217b2c036de6aa72bb80070b10afb386dba8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "2d90f98ae1e6cbaf9a0f9525c5be49fdc228268c3a89908b57a9b341207a89a3"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "2dc474cdc0b83cd7a53511404b40056eff806c21d9de39164674fd1d64bb37b2"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2e2c0f631274eb9db4fb4306d6522f1261a8a3a499714ccbeffee281bac72500"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2eb9b93c65e876ae58e6a7c146fb4cdab6d9ea7d95601cf4048dc384fe13264f"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2f802d7cc1ea595d1d115cb31873513d78ec50111ea2ed4bc3b3f4662cec8a1a"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "2ffe8ce984b8b12e4a4dc4d70a8421f61e3d38e694c8a3290478212da14ace0b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "306f026e2e79dac2fb2b169923fd8dcbbd880c41f6798e246a31f438f650353a"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3095fc326c98cdd7a1751acf40926ad5d3c0b10cad4a86e1f5bd124add93060e"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "32949a4b5e420d31ff3616b0ad63d6357869974d85ccaaabc72acf966100f84c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "330c71179f86a7e51b1cadc0ba90e876763dbe8f83f36e9377068b482db2ddda"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "333ce3d4970631e7fb5e955b54cd5263afede1f68ae5168e6cbb259354acba57"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "334d55a0e9de84087be973418d1f26814723746fe514fbdcfcf59cdf9c92e920"
    },
    {
      "composition": [
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "336ae808c582b37bcc97b98ef7278f5ad8bdb209e2eb161f2e2261b1abf9ecb8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3388d279db310f03213457e3f28ce13006b35d42dc4702a605864e3bece1d8e3"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "338ebb191eef7b565d8578e13960d9cf19ed76a413a1979b567c5cc1e9bc1358"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "33aa293d0471d4b8e3859bf45ca4f9a309f0ad1705ad01071ff37e1b67533637"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "345b12e6b3cfd17057bb2066342a38ef5b87d422f255b413ddfa06cb87efa292"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "348d5cfebcb44c9d1b7fc4dc2cdfc944d048f825ba8756080d8eb2b5207f5740"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "34abc4dd34b7e6bb18cf037cdcbefe92e35027ee0415ec0846d1da0c68c0c6c8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "34d0b18cfc31804f447114d06765f1c01010069b3ae6bc8d385e749227e543f5"
    },
    {
      "composition": [
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "34f69753fe6f0b264dcc28cefbf9ae714b5a1ce9d1826a943970cd8307cde097"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "355903f3767032b8adcddb2464044cc85696c9e30746ac71b0669fbec9daad39"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "363bbb1a398d3d2f2c5a4cadbecb8b054b3e723accdf8d9611f415c7813f5db8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3715d0baf5e8e1c65d09a93e6c34c844c00bcd031d717a7d72f567f5610cac7f"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "378a9a5cff5f0acf1b8847f17be766c7538852686e9fd22159223febc69926ae"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "37be22662e38df1ad8937a4aabc9fbc9d7e5db88c56aeff464fb05c8c6da9a9d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "37cb304074a58dad17b4cd1f72e0dae7b05a3966300d374a5775d3a8e506eb98"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "37d7f23a685f3cee6953defb274e04b0766376bc4ae87691580d34947cc5492b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3810d243347dd21942e1b42e4b04c614ded9e72bce98605eb4b58ecae0c57c2d"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "388780b9a48f99a92c41373b24389d8aa63b991fae41ec8c7694f766ee0fc6c4"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3896ea57122e650944025581c9246a48dfb29fcd5e4acf2f8c031464288764cc"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "38e49be24831641da22741b34be7645f98e0f656779d05170c3a1055c0ceece4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "3939240fbe28a8120b9b8c052a0022ed54aa3f89fdb83523d8cee34c740705f3"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "39bd6dc9ac47bc33697a2b8ff4079e61f3b1f4d4de18abdd08b3589944264df6"
    },
    {
      "composition": [
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "39f3f0e2bac8100c73025031618f4f256dde2b35bf25b21c96f7ad1f498af26d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3a4645119358ef4a851b084ccf3e97cdea503325ebda09b9f2f47e863e41f026"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3a53ad4c4a51aa7387f4ff658e3239ee38ac27ed098e24988c3c54e51e8632bd"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "3a9711fd3a3acf940df38f0efa3460e2f8a6bb8347887eebef1acf339fa8c056"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3afd36add52b3370dd4fd8c8884a9ef9bb3ebcccc4825b6948efc150336c474f"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3b917f9556da62f73a459b45c535c6b59e32ef9d66c032c0c0a8c0795563605c"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3c6da82def3d0ed0b45d5830bd84a798769e16658748be9611fd4690fa207b76"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3cb2376ee0361bcff910b72b48d3d29955680774f98827d5cde9b8410f71b085"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3d88ac909a0079ac987e643f242b7f6c3bd5c67bb2099101f71b2c6deb909d8c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "3e1a5e1775bdfa95aae9c7c804f3b86a160e2a9057a5b0977e2957cb49d74483"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "3e735b8366a08e4059ec8542056bc6631f10949145646323b7082f534e6b6635"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3eac4f51e417c2dbc9316d2693d3a76b9afa27b9baf22c483003fb0d329fcb82"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3efa492a04077e88fb14fae78263c090d9880e42f2b33824de2ad5a11fa409fc"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "3f5c60b207611fd7451dba7fdccbc52cae32169279f8bb48a7b8ac6e49a5d843"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "3fedf14000c80dbe33b9d70f23f960acde1861f28faa9cc16e7528c20a4e8926"
    },
    {
      "composition": [
        "permutation",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "41064124a4bcd1e6143f627820d771481cfbf62eb1237b7155bcb2436126fe7a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "410fde7fcd228f40ca1d4914e2da366f4650830961bf291a5d504398201d3ebc"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4175ddbfbf0fab341fe0fa94526e278c12bd3c5592bf95556cd671270b51d623"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "429efb63e4895a88763a7030337c7b4f8399f28a92ecba3de0ba578a7eee79b6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "42b3c669be58d0abe44e583ea1ac89d18c41e3c49258eca7b6b2ce64256aff71"
    },
    {
      "composition": [
        "permutation",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "42eef03b8b2ecb42bb57e67649e21e11cd969445ac0753144ede5d15cada3bd3"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "437dd425b80bc8e0ccd08e6c1902bf3777147677cbd553aa411da35d17d1438b"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "4387ffe1a748a4963ee00f28df53f3929bf8a94fe77e4194bdd732a3b43f729e"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "4463addff7ec8d4176b828f16d5f88c56e52285d017ddfc3c7c00e5dd29f8911"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "447829b9581114fcf2bd96c716e5b2a49ef11d54e429f605f366cae556eb23bd"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "447ac76801b7adb89cf9dcee45fc66a2753160699ffaaf51ee9fed3d32d45aaa"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "44cb8c040e51494da9b48249dec7fe21fc5ecfa9e3313b3735f3d8727a7d87a2"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "44cc0a0eacc30c60c8927a3fbe5dcd031ffc825e61d26d1ef85bdbd126aaf7f0"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "44e075e754376575c0ad2801709f8af4fb58d80305ad8b2c8e6854e268926ee8"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "455b90f0f28908b03ba1ed32f9eb5b8d4c67da7a61cf4c72a5a306da937ebe5a"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "4588de9bc1212f54a8ea7ecec7c3d281a70922de9a8c32d73b020f54f3a40870"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "465dd493df93f842dff6921d4b67452fa030cfd7225cf9bf93ebae0461b0471b"
    },
    {
      "composition": [
        "sign",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "46be2ed71a9ff204bd4415668c88977627deb95f62542f3c97357255cf8b54ed"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "47a543084c2c569df2940f75ec1c7aa8dccb3acfcbb71b722f71101cf2a3a95e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "47b1be479e7815d31b011708de8b24731787f3cd2d5aa3483fbb9fe9697290e2"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "47ee8f4100e19786c96ca3768332e89ac2e0dbb70dfab551a3e5e2b6a39e0219"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "480e1323af99b4eff8861433589601318854f0a8f18530c1a443dfd15a069396"
    },
    {
      "composition": [
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "489450f01c70e7ac4ebeaeb0b568ae21072d59d9176c22955ee2da9d4f6381f7"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4984d1951b49220fc7f20e21641da014c0890b1d9abc7b382d789fdb3007516b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "49ad990919720a5fa426d206e196ef8fe0cce9af8ccc8fc5381da98a1dc941d7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4ab5e5472236de284ead0b4f491f6b6379b06d5b30c1153f9abf15a67f35b2e5"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "4ad75ac63feba84cbe05afb7e51ef41fc4346f34a370bc1e156616ec161c461d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4b95ebaca008e6b2ae26fc37202e9d187541aaeb86efe6d53f720db92da67da8"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4b9765eb6b4ce397b3ec93489ce72bcb8b7e73b9e8709b999435b90bc8945c93"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4bc9dc13f2592a1f2c4f7fca84da564495520be0cfbc3492da2f94737221708b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4c46c8445e35eda382682dc99a8736c064483484bb46b6f1c306ff3ac829fa51"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "4c527979240a395e3d27da9817c2620980bcf1f58c6e257eedecaf5b81e026d0"
    },
    {
      "composition": [
        "permutation"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "4cb3a155e7ff7f6457a29411b156b1bd9300c62db17d8e7bf97f52d79a985002"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "4cd2fb7edfe3374932ecab01fe8978bf8435fcb53419820dc42020bf696ea7d1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4d124e1de4a67928722cc59adaf7aaac5d31dab2322ec233db9a1e915173727d"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "4d395cfb4d96343f67bece380598db74e55680f5e6da38b07f04b7b6d0b1dabd"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "4e9588290dc8522068ad528a3950b7d020e2dbebc140689cb5db524f3de34c7e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "4f29201cd6461bb400acd27c654b727669dcae84129d699bb81bc0f05349d5d6"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "502e6c466f86e37cb53c841b8d2a57b59ac360b57ef2debc23941f3de5a481d5"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "513d8670657f92fabe06861e03964c20ace4649b9d028f7a5b2562ce4c7a7cb4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "515681b1325ba8bedf32875b46919e0e53aada4bdd61c494ada9dff53d87c039"
    },
    {
      "composition": [
        "sign",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "518492837ac070b0ac37da428167977480915cd3d2c380b02a4ea422daeda875"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "5196efa9fc3de947c43b45977a7ca7e265efa9303bfffd6cab7ba364311c25ee"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "5294854a88592a908dcf4f46f5311000ebddf687dbcd9c142e86105dc93a55e7"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "53b73384142801085f97469715b8afa35b9e2e249cfce5f472b48f790b42331c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "53c1ff07d1a818ccd1561f118e67837c8b6206ba29665ecd607328044ccd6de8"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "53dde41763893059c9d3dada1877414c6018baa0d3d90ce556a1eae3b924da3b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "549f17cf2e83ed6e586f2a3f9dd3b9adcf90fb0f1a6e6029956a67f9b5849fc0"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "54eaa270e63315e4518e48371a804f1a5f96fd6ce66f2a707d2213c0d0ede65d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "551ef3ee9c2ed7d539fdddd9431eba59680043249a90c35097ab0fac377dec9b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "551f05618dbaf85d8a1bdf5520aa79742c77ae11f69a7091e36b41f9690e5389"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "55686e1ff3b9a8a5f6a3891df1c089f87ff2e18bd6f56aa83de588874b04ea27"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "559cebd21f158618a3ae676d71c269970b9716c075e8a836345e09a1583ea953"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "565a8d17d0b56b6e9827b8b0428a570456ff2acc3d7a69d33f6c170d56328c18"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "5705b23d90bd7e292946417d7b1a6d2a61456682d7249a90e93c12ef088eaf21"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "57e73715a53f2476e1fe03a407b15cc7113cfce3bc007933d6fb88fa8d2654ca"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "583d7e9318d0f5e257e03a23c44a0e20d57821f846343f738a7133b19509f430"
    },
    {
      "composition": [
        "sign",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "58ecd9c1af9df284b1843ab7839feab1fa49ef85a316d04b40ac24d7c06142e2"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "59d2529feb655d7d6f871a55fdc49f9ab0514242af50696c5b8313ad79f6d9ec"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "5aca25609ba13267fb461a2d19ab528b1b284470137118f6709d11d3f83c690e"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "5c48c4b5702585c9c42dd7d81330442c20443055cc862b4c08d13ac14a325c4d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "5c59211f3d4514bb56925d906b7c9e37719c3ce44846fabbb928b509058c3314"
    },
    {
      "composition": [
        "permutation",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "5cae381d525580c93c814a21b89190cee3fb42a03ad054fbdb22f1d786bbb4eb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "5e3436de970a98bca4d69730b174788e5dfe58320388570d5ab0ec1c537bf343"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "5ef5e8a18425377e88dc9a46e781a857f33e0c180af52997fef325db9dac1dc2"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "605640ed8066e0ae9230fbac8cb2be670184cc2fe06ba6cadd9459c8d3c1acc5"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6138dc10b756bd0b9b8ccff3b2fe2147085bdccd1d023fb8af72cf3c5098078d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "617b6f8378d9933c3929cd5ab11ce1c91540225d41e89ec05e6254859a8105d4"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "623262fd92aa519dc5435b945d7988e1cac684bf417ae84eac2029f33dbd1e4c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6491d903630f6bbb41e38249cc8add5757d7dcb0eb8854b23b73b660cf6fe638"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "649a49bfa21424ea26b9537732acb684af86c9748f0e86c0f2c9da1e40c814e7"
    },
    {
      "composition": [
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "64bc4bcd010a411bb10d4038b8112874f7515ef40b400426109c4d885a255765"
    },
    {
      "composition": [
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "64d286c51ee8c99ffef73fbd7a8e1dc9805f1749a67c13c6ada397bcce667717"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "652833fdbed9e2c8102741b677212d6b2905e760404f43ca0a086135b796c106"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "65645a32338290c14722337dbf425fe44959598e239fda6e122808ccb9781139"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "65ad95518d0c6f5cc054dd53d1d444d6a5188510214eecf9cbaac7c8384cd5b4"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "65bf02b6c2cec153695a775c07fbc11cd599220f4e169fa8c0b1a597d60ef991"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "662f4ec71238eaea2eeba134b231ab7ef678a3379d470da8a09a893642c96769"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6642659fc199cf966e1d86e555c7be58c88a00abc1f41c7b3c808e030c68429c"
    },
    {
      "composition": [
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6690abae7c92e121525e2cd331ad79630d9f655d61287e02f5e68b9d1014964a"
    },
    {
      "composition": [
        "sign",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "66ec4d5ca7989ff297d283e883ba256c11b77bf8a6ee40ad8bf246f561d4eb35"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "67230d051972de360e53dee125e1d7e70183f55e2e386e03416c8e75d2013b0d"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6ace593fc76bfb7b92375ab491ab5df4877d177c834251235354fce85d08edb0"
    },
    {
      "composition": [
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6aff8b8d82c332dd4645445a731669cd9ae6868458e250c9a4eb6994c50eb112"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6b127792655c769964bf571bf5e4d680cd41bbf48ca52664439324a2634b0cbe"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6bb57499e5f80428e1fb260afa2a6f57c9ddb064cde9906db84d4a67d8d5be0e"
    },
    {
      "composition": [
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "6cd712a0bd1283c10b1a741f8b58aeea86a90abd11b23813252230fb9239e5fe"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6dfab583a6c5dd9ee525a0a6a0324450c50b16f8a59d7adb9f4c35b0adac8625"
    },
    {
      "composition": [
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "6e7cf75970f522e025e62f0ce7688962f8eeffd1c1c052fdd0e0ee8475be2cbc"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "6ef6b17cb3fc20e6a3eb0370b1ac2554c12975f38cda03d6f50dd7fcb84a0d70"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "6fea084a1bd867fb2c7899391d91006414b2e528d9ae82e8da1581531ad5da73"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "70b69f62c056a555bd05dad73beca6a0096d2e67efbd1dbfb782cc60c34ecaa2"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "712fbeb55d5eac9fc42a10f841d2c72aee595d3b52288cf1c6f6ac80d71754c4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7180694d4537520490a1c77f9f0b86bdb5252984c5c2fcc23f3f655c56bda3c3"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "71c80ce7037c23710d45ab8292e66f6adf23fdcfbdaf5a16404f20ba49a00c46"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "71d926d5cb624cab56bfc74d2e8fd8b42c06a6e753c04460ccba07b2e63e87e1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "71e5c3aec5b2e144883dcb4832ef6d9a628354f64c62a6e3dbda8be88782bc30"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "721f186e05d428c86c597cb35d6c4efad7789caf120a04dc30b093fd32416448"
    },
    {
      "composition": [
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "728435b5d4bf92dd9b6fb538b878f06a5fa51b037da61b31eba279a6be04c55a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "72ce9c359c986285ef479e9ddbc8687bb4db33908c3f424641db693482627aab"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "72e083dbec107132388bdc6cf57e28799eb2de97d7715f345da972061229b23a"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "730a00804bb5d7b3dc927968f6166801810f3b716faf1250980f4752e781532c"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "731e07428cb4d9b7e18dd3abfe0d70851f2d482b25d3a17dc7e21ef4604a2ed1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "73644f0959cedc1c9e3f1d3a16a30752d3918a0b7fbac60f1137a7d9b523b99c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "73e12c09d568d81feb4f98f9e34fe8237cc93e97ebb65d9e2b2d17329f79ac21"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "745b23211f2bb535c19c1b6bf89b6f4c0ae2123bfbaea2423eb78d2da95b9e2a"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "74739e503beb6588aee3cbbb105cafd73da19f1840de0966539ba604e12abfd7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "752a1221688c18681408092555326474b0fb9e0bfc997f648b814828689e9289"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "75a5bfdf863cd153c646285e664d6948f1c913dc5125deb5e7dee96b451b3242"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7623fe78c45699b7433134aaa5f1bb3b61e72ff244f19d4b7810626c6936bb2d"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "7660513cd5597a4c01726d7eadaa091ca315dee3aa6688690569bbc841727182"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "76d6b66adf5283604255aec33e8f2fab44502b5b9f3a7fc1ac4a46eb9b595bfc"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7777c110834a8a14dd8a2e466f6c234f65ede4c90636d635429680700756252d"
    },
    {
      "composition": [
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7855b6ac40ec92bbdbebddd3be5893f1c2e55e5e237b6bec331b6d898f255611"
    },
    {
      "composition": [
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "786f0b72bf858aef7931d3113f6f3ea9e52d76b87b18390d408a4e8f9faa7377"
    },
    {
      "composition": [
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "78bf0c0aed4bca7ccf554d0dd2571912ef0c572632b0477a7bc1786bc3840e81"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7ac65adab4fd2ddd69d8190ac064db25e33874b81154ec165fa442206ebcf464"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7b1c34a59406f1eed66440e0d2ab27486b53e9fa2137ce66a1776df097b3d783"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7b6ff912d4be8911c4333e807971c9a6378020ee863a85e7f5c857c0bf2d2f76"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7bbceb729dbe4a7e28a4936b7da0378ff63cd5e9e84bbcfd12a3acf8445ae430"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7bd67b7ed18eb5727b206e1381ef28defe496e7f71515a99ac18bf7f9f79dc5a"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "7cefd44b82046368c939e848eb7af561db5b5ff7368dbc2592a7431b245c12b1"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7cf36ff7f09b136cc2e433e7df9042829c3fffd1c39ff6303d8d787df38e478c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7d1941291798915830c9ff07c9939c5e776a6a18b2b2542d7ce9da17ea91e51b"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7d9dcc5d8d683dd375f4596c605b94fc5ee1869f1b219f063cc768a41dc9f4e6"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7dc997a207ff894164be1709915c8c89027494a8a4e07c42ecdd8b24e1b7bed7"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "7e70524d3de51d8357338f4436936a168a2630b8e6d732afd52555eba4eda5f5"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "7ead9cd2d070cfb93b42570ca93300a9461a0849e954401fbcc1501c19961827"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "7ed4b506248994f06b2c00e2a2685468fc80bd720668ee7dcc0ab3c8e93b9cb4"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "7f12992688a9adbebc99c81aa94f390202322fdc7f43b8d9c78f086c2fbdc7c9"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "80332cb3e4e02edc42a1e19d481dd9350b2f1c5603ec8315929af577c6bd4451"
    },
    {
      "composition": [
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "80447ea6ec51f763bdefd6cf0e43955248cf4d19fd16b08343d999a0851def5a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8165b37b1f8395268a726a4621c99247ecec520df7a900ce4c3b32c7b62c7ac7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "81d401cf9a572a28c3f5338df53edf1f6c6d7f1955279d51ac6e4b83d4c4b98a"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "82299cd4a60c6db248ba9e69f5d11a86a4903c0743f51138fa53f1f00c4fe491"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "82e91507f56d544df2a3a0b480151254e11d1af3343f8615954099354c797489"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "83e007470ab2214a3c6d631c8bc734fa3f0e8b2b09d3e68224a58b39d6d0ec1f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "83f9e8dbd6a4eea2c2a3da3d88a2bfe57914a6d773f5a2d469dba278ea449ad1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "841cdecc230b5a04b4dfad2330bb740aa916731517c7fb66527b5648f5c717ba"
    },
    {
      "composition": [
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "84509af336e3a559771ead644e74de08f4fa0e36c7f69159326a466bc02671aa"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "84de7ddce7bac2fc3931d161d341c85800fe86fa25907876536c89338705b402"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "84f62c8e4bca6ed8f56deed4fb94062e508d00af68caf318710eae43660b48e6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "867cf8469f77a54adf9dd92e2f1e9b461f1b2ef6fb6d76813d2c6dc180b32f41"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "88a0c7b8a9e068b11ff53761a50d8c3cf2927acd685fb413b8dc049fda937c4c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "88b7e23d85c425b30360d5d2426cc4833b3b38912fa6a97b55e4b30df174e566"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "88d22943fbefada8a8ed4e59985877b2e1c979d50c698b6a8a906625b1e0add6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "88e236d1677e31d2e32553a5237c32f50f0289a95361b4ff90420313b4e094d0"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "89646941abc73ac396174425f1d4125d25aeec902823fbef9449f068b09eb5c1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "8a8cba2f33beb057ee471735e0514306181658d84e8c9755bf6dc7c4488519e7"
    },
    {
      "composition": [
        "permutation",
        "sign"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "8b00938660cc9ed78148522f75cee209047662785809a179fbde085b67b07f54"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8b8e91b66c818d42daea195d16ee422d006ed7965b7ade23d473452e730fd5d8"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8ba2181d558e998ba5dfb8d97553fcc9cf4cfedced3bc1cabcd4fd097021b623"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "8bcfa4f151b06d12f0669e4354d393fb8db01be8dd88665c98b5a159201b4ccb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "8c411e2f1db7df1d75a6ac84fdac835c9fe5200de2b5a5c6b431d6e749ab5620"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8ce54b687e076038cf08b2bc657f74a0f8b2e9d43735a50c6f91ab1a5b230a30"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "8cf9763edc187ec979a533287068cc5fb02456b36b3ff58a2df34c5d06f8d83e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "8e0f56f0cbeacb1c2f9459aefd82b7cbfa11fef354eed59088613beed4a9dbfe"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "8e1a457d6513fb7c0eda820892cfda5a2ccbb8145ce74dc6dae89e204d5dd684"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "8e2eb41ea64a3aaed0f5fc1ef6b8a03558457a92c0542155a0881c4e68f6b124"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "8f68f833e4f356835b952d7570db84d9cf6e21342ce6f42b97d16ffb3e59bc22"
    },
    {
      "composition": [
        "permutation",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9017505c14105b3af896be3cf8b9aec686dc432b0033035805923dfbff72eccb"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "925305df78d3fc889dc04a2da54017c84d5a8854f43b5173991a60aa8c76a3d4"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "932686130f5d01d7dd4d9b84ce9af067629529ea18d75dc0d5ce66fa2121dd98"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9368931b469fe8976a1028c871f934136ebbc547b5d6b22653335850c9d525eb"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "956e7dfc4d861d0178627f4f4deb5ed921bcbae2f07403f3371093c0b5b7599e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "95a6af2c11bfad2bd56235f11fe5c6944fb088e8b6a5c803a710c5c354d8b855"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "96386969aa65826fc990f0b590a5610d8b7a7bbab55ea203d634c60b288a80e9"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "96a69a6021c7ff0e42f0f998d26deff2975fd16ffb94b7b070ca9e5a7fadd09b"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "9719596ac6e965429ea22089f18743e170fb24fa7194db036bd4e4317afcd7d4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "989a6a464d786dd3f75beed7d72f2628e161bc0d7c7e8c5547c23949a206bded"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "990474203f283b22b9709d0059068d234d84630382165ea64979559032788ba3"
    },
    {
      "composition": [
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "99b0685951dceaa74d9d16f54683bd0abc294da3d3f63698a91a76f6456d59f9"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9a6d379094ec0f6edc916f514a1e6d9bb7968784a2cdba916bab6f10d1a6dce4"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9abe5c35d5328cda795ab6ae608fa88b5617139d1e43c3549bca665aa55e05f1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "9af24dd784dcaaaca566ea471772985a50e17738a879e235b414100710287d99"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9b1f0c81b1a0ccc0da5a2214a7db72ff0d3e25f2ec9838eddbc1338c151c4803"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9b4ea1c8c9658f11ce31c6cf3824a32364b53e0c0e1de1ebcb8c55cbcda396eb"
    },
    {
      "composition": [
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9b67e830847cc5a4796bf6eb2d5bd8c241748b89cf17590ed6de6fdb4ae6118d"
    },
    {
      "composition": [
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9b72f7f88afe321ed58cf2ed28c083219e6dfee9e317ef32f82267d2b07e5cb1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9c24091e44c7d27ec05b3685a696171fd4aa96b4e62bd517e086539a1763bfab"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "9c6c2ec7c5f55b14999f4cc3260d0493a2f04ab8beec2c0c688955f59ba30d21"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "9ccf24d415ac72fc7ab2211c402ef86c7be74fd5a3cc13067504d4e896e49d65"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9d4febcc6a35d4358e6fd71114998088a89473f97987f6c068d67bf1f892cb08"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9e55e058a2d2d09e1dfee4affca2d257c2bd31980fd83f23a15093f71ced4dfd"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9e801aaefa8a4a3a86a99dafdb1f34bba783e31382ce9554ed0c8bc313d857fb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "9eb9363d358a087694fe4b5550a8b7675e9a4c56177b30b1f67af39744f3396c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "9f235fd2ccd95951d6cb0ba36fe51104bf80cf537c0d177ebcece7aca20d2a27"
    },
    {
      "composition": [
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9f2a318b4cee18ed5d18251496126f8f0fddd0d053d979cd368b1a3f048ccf19"
    },
    {
      "composition": [
        "permutation",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "9f556afca104ed5d8c857f9b05c4b7d9758980532b9279d42c87fbbb97e22f3f"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "9ff4b7cef2dd902af0a9ef921f5cacedf27d268e48a425c3e229daa33b692134"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "a02ec27663d55f9b193c1c7ca205ce2153d70d48f0b4d5a868385bed2f338e18"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "a042e0cf76960221da9cd77b747892e3e3d334df93b4535f360880f463fc4bb3"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a1e63d178e93f209327885137b101de5216a335ca19294218235ab161ed26346"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "a45eaae1ada87c547ca2a27f4dff07502f1d7db7fad1273ad66768a1a3e622c7"
    },
    {
      "composition": [
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "a480c2dba5176e47ea0e578c28460a6da125f032b15181975fa746c3bb50c095"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a498ef9d1dd4ebc150ada351ec30296f92e3436d8def3b98b678dc35647c0ac8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "a49f83c11c0a85c3ff6a668a72af0ecc0e0ed8ca0d57e6ca3b1bc1d609ac7e56"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "a599fae20c7403c72f3b7e2e40357917813a6c125ecff42f7ec18003954eadb6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "a630bb055bb227b73b79bb24cc26fba1578d544054faa6437fcfe50e1139e182"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "a65a483bc53b2229f53958aeef94f5b798918b00cab81d503bdc84ebf1584bbc"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "a65d6b9092571f932127ff189fd877dd27c4751bdb28881d79894cf865b7f24c"
    },
    {
      "composition": [
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "a84ac231c3105773552712835ad4d4faceffcd677f741cc9a2d92478a029662a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "a85ba450e0c3d00233cdc3b2524ac9466cd078416eae1a0b111ac2db0c8507cf"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "a8904945d59f8a6f47af24f4d07663a9f900a3e74aa869186e7a41f47eb51e4d"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a89444fc64909308bad5afdfd8b153064c0337017452a0f0947d3836ada5369f"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a916774591409e1140c310ad81c2c99392507d5ae85d2c684d3ad6dc0d4d4eba"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "a99117a14c1526be4ffe9edc456d99eb04950a8f1bdb167dea22d164da0272af"
    },
    {
      "composition": [
        "permutation",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "a9c975c73bb8686ec4f35499c8659de4370ed9b948388ffe1debbbd3ac284f82"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "aa2b22677db7761249a1a5f48686354261a21faa66dbf27e5086c2adcc0e1242"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "aaadc9183a599cfc78357160b0521b632ecf132dce5b962f3664b4b8b9a95141"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "aab76dd9f8da5c746e94b267b59fcf5e09173bc07506951500fdfe7a6db26be1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "abf79bfc6516967351ab38b611baa459e0a19a74d4828d3d02f3ebe572b486d8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "ac8a220de2db6e554e60060182d5fec27286006f1cec7f108bdcb80ad3d78468"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ad5a7ca9380931ae78142f0fac3ad2c4f7b2e550fb7972ef7f1fca0bd38a7b55"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "adc3ec442c8ec7527c3b82bc0263650d454cace547a69e3bf8b897daee6e504e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "aef853011c0300f71cbff23cc627a752fa7b2caa504f40742a29543af20ba5b7"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "af0d46404fc830a81796a4670589e3125597c632c81396c6988db36689845fce"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "af8404883865746e7701023f12bbdc330befe026e2ede151256904124676a781"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b0086d10a4812dccf803e863d6a95304f96025577999651b66482313fbe79800"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b0326b7539d3f1846e5de7029ce1e2bc1a82db04ee2f3deced7227c1b8093f50"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b0f94d847565eb5ab28150c0fc722bbe950f60d53b73e8d1d4aa581251a3cd24"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "b1559a8dc100c2120a1632acaa7dec69619fe8f3491c7fcb0aade4d46957ea26"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b1626667d7f8b736d763c409c91b4fd8a867e448d613420190094facd1228cf2"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b17f11c4886423a595867ff73a08ad291bb81413b777ed05f2b2536a89e561a7"
    },
    {
      "composition": [
        "sign",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b29a2f8edc9cd41f0bed8842f2f90e81f6c3c4bbd596a69ec6cfb6abad202c45"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b35ef427320ca76014a0737b8228c73aae51525932b0c0ab18ecaa08a672280d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b395cde234a3af673733e153615bdbc7186d0e4437b89ab5fc1df549867a300a"
    },
    {
      "composition": [
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b3b8dc6e3d9568477aa8f9455104d0a25b2ff07bc8b95fc020ebcbcd8b12c21d"
    },
    {
      "composition": [
        "permutation",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "b456c09fb2e61d4391150b3cc5ed8ca90a18614bb627477cd0f1713b1ba03c76"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "b56557303ba0faeb456e819c3130323df88e9c505e67dfd496a34b81d0b5db23"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b5be65efc1d9c269e2616d0a3a43e396a9cc62349430f8b49134a512765ca2cb"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b62e29082aae64178013a6ab52bbd20644daeff2528dd66fe3f109a7fe609437"
    },
    {
      "composition": [
        "permutation",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "b62e6ab60ca2531c7028dce3d84bcd76b09b13c7f30b731e63aea819f2b01914"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b6820bec88569d817a398c10d29de0045fd0f0964e15a2f7f645b8c41553a1fd"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b73b623a077a84f536687390ba2638ec3a1c5dc56630f10a3ca8ff307f6dabe1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b745fcecc238cc1ea116eb913d555d078002c8c833ac79024587f09bb367e6d3"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "b800af42981c7385da879c5f2db88ad70c8ce34e69cc5ecc96e801c3b80b4c15"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "b8abb8cab46e4d38848faf4179c11bfa1ee77e650fc1e646ca8f004651a594eb"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "b8b480347559a2eb5a6802e51d282100c629be54514ac50b98f729c0918d2be7"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "bab4add23980c598b2908242c028f395def73c022d0ee55fe307239222041d89"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bb33003fb198b1c30f95057781a4a3e5447563e0427dc9fea7ceb3304e9edfb0"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bb3d4f2d10967723947f7ba4ec98d634a797a20e9fd69e58d4d0392e87b6a57d"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bc5c33b1af5c5af73d13347896cca162941d4954363af4fffc95b2e4d526f0a8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bd1d346058a1aa02e1f4cef32b888d59111974c4c2446b595574551ef05a681e"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "bdb4b80e1c051fc4b65c27f4b0b943065e9daa786db61ca649babbce843ec0f7"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "bdeff94cc5159e7bdc7ddc57f9104359b5eb90cfc3b7cd0fbfd3032ef3fa39cf"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "be21b2dacf039aefb1a24dd16893d50d9fd923e626ea909a65fd502256629585"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "be69dd94298b5892e1fd6d693d8cb014804868c5e358731374ac2526556e79e3"
    },
    {
      "composition": [
        "permutation",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "be7410adc364d31c9b3453d9cb5bf079789eea18a9097e9e7ec711a3394d0596"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bed3789e8d3bdb5081c2aea7e703ee46989ce8536f7a740b2e2e61b3686fb003"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "beeb66641f60f0233d5294207dc031f8aa0ac42a6abd870cc32be859fe444fa9"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "bf459875957aec82b0bad72f0e3ce18543aef80314a50f28a685d70199f58b2b"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "bfb899a9f64935b18eca958daebf092e0b8b4e48eea8004bbe650a915d616dd4"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "bfdb0e31c36f500ea22c5ddef9b30def593e5da86582fe91a6adf969519c995d"
    },
    {
      "composition": [
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "bfec196a88dad22c9fd9db438a2306af97e1bd6ca3a39fbc5937a5ad959d3463"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "c0ef1ad782edf0de7d4b60756810032a194105faa109d686a6cfe402b0e80092"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c12af62fa02812d2959a82d95f5b2d297dd30d7bfde7ca8a4b1afede0b24bf8f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c1a35d68f3f80f4d8b2adac38c6d84f6e38afa3874129a75c380f51596118690"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c1c54536e9dc661cbc7d850d03fa2e94c10c2144dde7633a13cb856c64cacb66"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c264cedc1bf9fcb8b1e13cde1b43d2e92f410310baef3d2cae3c4bc1d5870416"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c2b38139625fe32e04c15a5e2fac04d5105711a305c6140527ccc362cf49ab76"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c2db4994276c61d722dec9b06ac1c5360039ac204f09f9128148d37ff338d395"
    },
    {
      "composition": [
        "permutation",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c2e61f7b1dcc45992e11a6cb1ab39a2ab4d77daa58007abbe733a16ee1c2884a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c394e460af570f6ebba69df45bd6bec272979615bc585ac9bc109063df6f8fbf"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c3a9ff70d07cb0d4cddcec4168c159e5932849ec4d652fb5b3d38fc5bb16d3c6"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c3d0cc5b6f391ce25a0ecd1c3f33b2e77c45339dab26f5b73853be3029890c45"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c413799343616c81f59d2fd4d9f680cb81af23c116f0442ca6503429495cff9a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c4aeb2358fe3ae7e59a346cf7a4655f2d536284d7abefcaf725b14497361a6be"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c52b5fecf9e5c2d989a10541ccc107e6a9d7ddc6c635db28c26d754260baff19"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c5ce174c3216b3d09ed1c1e8104409c0a57ad1796a8e4f5aef78e1b8e0cd0571"
    },
    {
      "composition": [
        "permutation",
        "sign"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c640175fb02db89b04343707e25a88f2a2c3fa5ccc5b5d9957046caee91f46e0"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c76b7a356eaf4145440f05329540574546dfcb590ce482428b9f5ace697c1e03"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c793a415dc0f492c2611fbabb69c968bf805dbb6bba817b6dc151a24e6176a4e"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "c7d5faa6af68af26e38d3b5917aa3870ac83b07a24fac14aa00a3d26a4f7f939"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "c7deda961256472f178d8bc2929fb348b6c7dcb5da6d12b5071d426646fce37b"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "c8c3d942e7e03aa1992e8fb22cb6d6de34fbf656ec70b089db4643e5dd0afc58"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "c8eaf9aa202683cfb46b41809303e64649fc8f796fce5e389a6e84f3c8662194"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "c903d17d917ec33988fb3118fe427cc92c00fcabfeda90331196eea13805ade8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "c99b79aeb3b7b2a2c8d87487a74a5d31d1d5e7e6d13eff762409864a1417b96a"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ca2134756d94ec0cdc635d9e3f175d52c746eee34293ace6387df9bc55d1fb80"
    },
    {
      "composition": [
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "ca3bf59717994585f435ef876e103f38e538f1b61128d8f7116ba9c9fc276824"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ca46fe94b5a014851988d28f1d318f6fb2ee88d856fcd104e7201d02f28c2636"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "cae5599f216dc20aea035e9c6bb3dec6467dbcea1e86cf97871822e4f6ed7fc6"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "cc375f62bff4c960c0872c7ec1d88d37827070c0f41dca4d2f17359e85044e64"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "cd2ca8bfaf25d7db552a547a2f22ec02d9a14e288585aed85e227dd6cfc3a09b"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "cec7e3dac36ffefc8bfdbe1fc19ab49cbb8d875abaca77afdaeccdba29e6edff"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "cfbab6d286948f56d8959d9faf77a37e71e2320ef93516ee5f8ba863b19b312d"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d02779dfccf5b5e02dbf7feb9334e2b0d5de89af01ab756f304c28306224263c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d25fabe92d1ea5949f5a89676d5a11fc608c4397fa9500c550b642af742bfb80"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d27c70d36931f529d7a9ca572cf4d98ed0a612407b450df8aaab396ed71d8df4"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d2d1b2ae5abb721bd9495ac8e5a1e5d667fb68b4f2083fa39c5c705bff32086e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "d2f43ecc2fb881340a50fa3767a640794108d1c8fe52a5746017553fe6d764f6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "d310468a526e87cf08002aa70cc71e1bc65b2ebe19ea2cacec039791f2ca5cd5"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "d398fe7f9608d490ea77eab1b62ef3590c00abbeabff1f00fa9b35446ae836cb"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "d3bdc08a79a3a6340899039c8ef62274926f441e0ac5b0db400330a44dc6bf8b"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d40e696152e9c7a4936ef81c69892b9ec8bf35e23d926d53dc9122b7a20f9517"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d4170217b3a4533e73bde18c7c4664695eb46cbab4036730ec31dfbf55cf742a"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d4ee5d82a3f6247aa7cbb4139a97fcd075763061db42a94c6b191d7e99dfe8a8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d4ffd856255973b3a66b4917d96ca4a79898ad773924a94bd54ed58ae3c020b4"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d5d528310914371b7e7441c23b45231318e8b797533fc4a954c88f8590523ef5"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "d61a0fe7ee54f233a7c0df93eeb9436db848ed442eec5de047fe41a3f1ec94ec"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d6ac3ad1c62a6e2893d0b8902a13a2b04fcfb2b170e6b150680daf8963f962ba"
    },
    {
      "composition": [
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "d81d99fc9890141a6715e1d2d09b2d1e7165a60ef8723d986fdc95082886b96c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "d838b525d71a9636b145e52fbad01f669439785e7f8ca7aa786ff4e4a183a3f2"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "d95924fdb0bfeb4594efb81529c19a557afe447b51844192e0bfd170b1a4f1b3"
    },
    {
      "composition": [
        "sign",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "d9b18b880d89d987996f0334124d3f393fa3fbba8c6dead268d9e140b282def0"
    },
    {
      "composition": [
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "da60a54781a149dc772a7266b852d4e6ec5354eadf4bdad89e634f1e0aba7e34"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "dac81b949d3a2dd7e9e15a4f672422fd9b60e8a25b393b3fc3c9bc3c00927f82"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "dafcc915d1d3384173402630be7ee57d38a7933472c0e3c3b4b074f20282a645"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "dbf80e157684990ac72e5d05da5b53deead82ff5ad159584741086f933324c81"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "de647a682ac9865dc4ac4b748fd6612a5324e1a4e1e827df1e8d9eeceb423689"
    },
    {
      "composition": [
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "deeb04fcead2c80bfe6070daa11b9ed399cf66436d77bdd655be10b38d8b878a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e07bf9e0f19279ff8e70e3728e64d0d5dc4e767fa6e36622083bb5acd550c3b0"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e09480d8f84d40143dbcb0ac3d501d8e337636e02b087dfe1aa9adee3d28b9a5"
    },
    {
      "composition": [
        "sign",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e0e401b3f8aefbc334a7de2051d88b86ce33e8e994cbfd6a542bfce9be2303ec"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e102da85e0be909e9e2c74e8e15054d20ac7b2c8b6147ea5ac1659f70731cfc8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e1929057b31de37d1ac8a7696cd933879039dcf8e6faa3eaa5b4fe0f3e8561ff"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e22292dd6b904f49b5b18b3e6630b03abaa9a94637652059d19f2f137dcaec13"
    },
    {
      "composition": [
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e26f41a6406293dcb20b8e9c71d9158ca1c0ebc061b83b2510506cdee269324b"
    },
    {
      "composition": [
        "permutation",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e2783ad33765022114c7396ab172445d396e90484d3d91757a21ef3fdcae877e"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "e28566d693450422ee8d49570efd25578d02ce27411d0362980222fa39960cde"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e334df71b4ded5d72d2ac029b586ea8c24d776297912a072d814426bd00eedb8"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e4e4758ccef8d9e93cb91539e540786f274f8bcb20c10e2af1feb2a437310d7c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e4e8778826167b16b4331c7d5ddfd944dd28b563be4f84d833831038fc0bf393"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "e52194a59f7588945c405f5299d6933043fb33da1aa000bf53b993c13c5758a8"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e58476bc69d22739887246be0b74db7a329603c020d9a9f8646ea8043212d343"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e5aa90976eaca452aa06b28889bf3d27154d3e7e442635848022424bd4cba7d6"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "e6cbfa8c9bf5a99e659794238c5cc2d598ecbb8ed691cac2d8d8564df36554c7"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e7494a54cad360805e474e7321842610afd30be8697567b7da933915d42a5a3b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e7609550deeb96677fcc7c7df094768914948b4512f1fdb33fa0c18d785aa6d5"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e84148778e79211700e9a6f4b4df8cd93e7ef900b1245a5ba03c41416e7434dd"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "e84e81f1227ed2ff2a7a9e259ca3a583fad7ab4f54813b538e6bea6a51489c72"
    },
    {
      "composition": [
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "e8d733c3e9e60fdad8a667216fff7d526fc30131d9d28790095e88dff3939619"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "e9f2c6689a945bc3a3e1a5a60d13c27aa63a63d7c477b09e14fae4982c2d2b1c"
    },
    {
      "composition": [
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "eab0abae3cb286189784aa00f55ccbd971d5fa57304dcd4c4b4b22c20a0fcd42"
    },
    {
      "composition": [
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "ead1bf8337c23f13e179e6a214334f8d0fc6adccf9e48219c18ffa065fc1678f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "eb8a62a119a0d98b18dc6e28ce60232dffec060e0fcc2c9168b8b4e03d436cc3"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ebb794c82d48ca4d0ff77e0164667c28179e8f0d8d1d632cfd2050c180b28220"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ec2c1a16f7c545cdd2bfae914374d3e395c3b088442948289b4a0f57f36a9384"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ec35cf8c1e3c5e1545303eeed970ebb77cff57b25359ab62291c6148759165c7"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ec38c0e4d6743ef738ace6a2ab827e79ea75acf991ffba06b97f7049140dc20b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ec91baeb609b279e8bfe6a5adcf3baf57a7dd843f71f16236b16ddad0aec46fd"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ed28ce1efb765602e057ea646c5555cef5674767fed1d782946ce0b3c9f4c50b"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "eea31d75032c4e65f7a7884ea7f48c5ac88cfba911f073cb22ae64609b0d81cd"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "eec55609fb49158c6abad72baf234b24f15ab2755fad134efc7a118aca233caa"
    },
    {
      "composition": [
        "sign",
        "target"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "eef0684acef1cd642ba8bc82e4c18c103f4ab4151abc25db621cd895d3cdc987"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "eefbf4e20a9b79bf44085e713a7883aca17f6fd9d9e13638071416c16b407f92"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "ef845f0ef0cf9461b361aa0601347c59f1f1891f7268dfeb269fad167902c148"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "efc888483d9589958f3b720e009a351d8f61200e82eeb5d737b6152a31de69f1"
    },
    {
      "composition": [
        "scale",
        "target",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f001f694e373915974370fbeb5cc814fbba92e7eaf70902d72445c51ec5770da"
    },
    {
      "composition": [
        "sign",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f0063e0905e74b1e0f372321da78755333cbc088e010fa7b480328ffec64f363"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f0090e29a840a16875e208d594a4d755892f7cd6e18e909e25c6bca00a339a4a"
    },
    {
      "composition": [
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f0fe1629f3d968ebf97492e8d3f1fe9afab0a624b5e016b5d96294b201a4d372"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f1008e904785b29dfc10a85a7ba3a751d4754eaab19f2bf20b4144d6bb7fba1c"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f115e52b19e607dad76d8ec05f12becff543a9315231af0099e2023b29850a1f"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f11afff4bc4b7f0a50bcbb4ede96dc61514852935292952582ad1d9b9a74d3e2"
    },
    {
      "composition": [
        "sign",
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f1a50596b37bf45c067b959124588423f7262ea1d931ca9af1931f4655e9cfd1"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f1a60e639c6fc12e48627d3d8da2bac216cbf7da1eee18f7f9730dba1b41370e"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f21cc3772978ba82bceb82414a2e6d9a48bc6d932ecedc16a0395901f43f309c"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f24e90fcf2fb9ac0b69c48635090f02f76f6a78620539d5cb3805c9300486a21"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f295f6dddf39f0311568d87bd0677bb72aef2006cd4afc3bce54814c5e6f9f4f"
    },
    {
      "composition": [
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f36dba2f9b0ad371b90f312ab1719caf2fdb5a398e19e440d0fcfe3bb3436f34"
    },
    {
      "composition": [
        "target",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f3875ff732abf6dec2f35ff702f6af3cf1570c06e564719dda4e6605b47eb7f8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f3b12fab29e3200e1ee23f41c5567594f9047ee865ebf7263e424ab3cf51028f"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f44517c81158ecd9c9fb071c21738d9512f3b6b7eb6232e3d73486805cfcade1"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f4458622139ca1260268866534ecb41c4f7eafd7660f3b81aeb3453194626cc2"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f463af6d3418ab6c997e933f91bb3d9a880deaf5e029c32426a0d6abb014197e"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f4f4bbb9fe0332a9f5d43488fa2c15bb538a50bc6c7dae350d96e1bc67c4be29"
    },
    {
      "composition": [
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f5326ac72cf5a8a61edd0ca24e7fda6bdd610bc94573c53c4d4036f4491aa963"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f56d7345b2b5b1f623533ca1759415d8f508c0f2b2a4a05dc559339db0954b3a"
    },
    {
      "composition": [
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f58c4bdfe47367d0dcf5f6ae7b27f7f758386f446c5972c26ca7a7709007e675"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 1,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f62c50b4c60ab8e0faeb78f361d2187968bb4f9fc1ee116e0336a87f27c29799"
    },
    {
      "composition": [
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f64086c1477f47150b3cb24022190904cd20370849bde797c8f3b91422201e1a"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f6703b15f79046fd9e91d6c36cc8c6693b21ad9876d3448bb0e360d788ae0625"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 1,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f6dd54e2e0875ffc4ef91611a53048e936ee5a6548a29fb0f173bbb5c9e6142d"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f6e07469084fc1b5368a8cf2a3fc911fa5a26619f0822f645a826bda96a52f66"
    },
    {
      "composition": [
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f6f49698c71c563bcb9c3eca3098698e12b0e34fda9892f28ef32126f3c4c60f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "frame",
        "lag"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "f71c3ec4d22dd0b080dd34277525541e9fde70ccd32b628ef677ec65193ef364"
    },
    {
      "composition": [
        "permutation",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f7a9d80670b2e04811c8bbe3e50034cac59fef2d57b9f1b268cfe2d5470f95c8"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "f81c6ca38b8940873fce3cae9cc4d716ade07a81db4d248eb3a6edf66130e067"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "frame",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 0,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f8559b0b7f492d6c25876f12c4e0d44759fafbc1cf36a42a0f791afc68454d20"
    },
    {
      "composition": [
        "sign",
        "scale",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "delta"
      },
      "sha256": "f86df3b4c8580bc5e269bfee560c1d6336a67fe48f762e1631dded5a1e36c5cd"
    },
    {
      "composition": [],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 0,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f8e0614f8bdebd69b5e6ffc21c14d40bbe3eb91ef070daaa54a847422241a523"
    },
    {
      "composition": [
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "f9cc095dc053ab58cec51385555915edddbf3c77b6f748d877c9391291d6455f"
    },
    {
      "composition": [
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          0,
          1
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "fc4d4fe7b2685dda28bc140339c9ece0073e0a3581042a16cb60f024ddebf679"
    },
    {
      "composition": [
        "sign",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          0,
          1
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          1
        ],
        "target": "delta"
      },
      "sha256": "fc586cd9c51448a246e13098137274e60ac11157ddb7ba3831147087fd3bbbde"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          -1,
          1
        ],
        "target": "absolute"
      },
      "sha256": "fd4a2b09e431657f63007532dc6bd7407724867808b974e5c97c6fef2cdf3f38"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "fd8de79aabb8ffd3d48e71ddb422c7ca8de8be3ecb481db473a1479a6f1891e1"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "fe6c4aa724cf35fd56366a53e3f0b095fb9ca30cb740163eb404484d2ad031aa"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "lag"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": false,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          -1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "fe7a5d3b76072b0c5f32d1417bf65d019c59581f74434c3ccfd8a968104fe359"
    },
    {
      "composition": [
        "permutation",
        "scale",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "base",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          0.5,
          0.5
        ],
        "sign": [
          1,
          1
        ],
        "target": "delta"
      },
      "sha256": "fe9cf59943e04a7b503b528bc36bc70fae173c57162fbb21f7b82925675a5a26"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 4,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.0,
          1.0
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "fea720c665c5173f0b933c30837299a0710394c7f9e18af03d3e4ffdec003acc"
    },
    {
      "composition": [
        "permutation",
        "sign",
        "scale",
        "target",
        "frame",
        "lag",
        "gripper"
      ],
      "contract": {
        "frame": "tool",
        "gripper_inverted": true,
        "lag": 2,
        "permutation": [
          1,
          0
        ],
        "scale": [
          1.5,
          1.5
        ],
        "sign": [
          1,
          -1
        ],
        "target": "absolute"
      },
      "sha256": "ffd8f917afe4b6efcd53ecbbf1c74ec0be9fd3ed949b71bb5ead42b0a670166f"
    }
  ]
}