Defdict to be too slow especially with nested situation

[Suke0811]

SCALER_REMS is using a nested format like
Leg.0: J.0, J.1, J.2.....
this seems to be too slow. Need to work on faster DefDict???

[Suke0811]

#124 showed dataframe is not good enough for this work. To improve the performance, it's best to port it to C++.