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In a large pot, bring 4 inches of water to a boil. Place a metal cooking grate (usually found in any home supply store) in the bottom of the pot above the water line, so that the crab is held above the water level and can steam cook. Place the legs knuckle-side down, where the heat is higher, to ensure even cooking. Cover the pot and allow to steam until the internal temperature is at least 110 to 140 degrees F, 7 to 10 minutes.