This is a plot that is something you definitely will not see all that much. This is a graph that has different variables laid out and then lines drawn from each variable being involved in that particular action, much like ths generic star plot I have found here. This one has categories such as Accuracy, Collision, Trajectory completion, Time, Mass, Actuator saturation, Link Deflection. This gives you variables for things like a job and in this case you would be able to see that time here is going to be a strong variable factor.
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