From 57b499c0f1563041b4854ea8a325fa3ce7fb9688 Mon Sep 17 00:00:00 2001 From: Nicolas Rogeau Date: Wed, 14 Apr 2021 13:48:39 +0200 Subject: [PATCH] Create assembly.json --- .../Nicolas Rogeau/assembly.json | 120016 +++++++++++++++ 1 file changed, 120016 insertions(+) create mode 100644 lecture_06/assignment_05/Nicolas Rogeau/assembly.json diff --git a/lecture_06/assignment_05/Nicolas Rogeau/assembly.json b/lecture_06/assignment_05/Nicolas Rogeau/assembly.json new file mode 100644 index 0000000..cc6a967 --- /dev/null +++ b/lecture_06/assignment_05/Nicolas Rogeau/assembly.json @@ -0,0 +1,120016 @@ +{ + "dtype": "__main__/Assembly", + "value": { + "compas": "1.1.0", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "16": {}, + "17": {}, + "18": {}, + "19": {}, + "2": {}, + "20": {}, + "21": {}, + "22": {}, + "23": {}, + "24": {}, + "25": {}, + "26": {}, + "27": {}, + "28": {}, + "29": {}, + "3": {}, + "30": {}, + "31": {}, + "32": {}, + "33": {}, + "34": {}, + "35": {}, + "36": {}, + "37": {}, + "38": {}, + "39": {}, + "4": {}, + "40": {}, + "41": {}, + "42": {}, + "43": {}, + "44": {}, + "45": {}, + "46": {}, + "47": {}, + "48": {}, + "49": {}, + "5": {}, + "50": {}, + "51": {}, + "52": {}, + "53": {}, + "54": {}, + "55": {}, + "56": {}, + "57": {}, + "58": {}, + "59": {}, + "6": {}, + "60": {}, + "61": {}, + "62": {}, + "63": {}, + "64": {}, + "65": {}, + "7": {}, + "8": {}, + "9": {} + }, + "attributes": { + "approach_offset": 0.050000000000000003, + "element": { + "dtype": "compas.geometry/Box", + "value": { + "frame": { + "point": [ + 0.0, + 0.0, + 0.0 + ], + "xaxis": [ + 1.0, + 0.0, + 0.0 + ], + "yaxis": [ + 0.0, + 1.0, + 0.0 + ] + }, + "xsize": 0.031, + "ysize": 0.016, + "zsize": 0.012 + } + }, + "home_config": { + "dtype": "compas_fab.robots/Configuration", + "value": { + "joint_names": [], + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5700000000000001, + -1.5700000000000001, + 1.5700000000000001, + -1.5700000000000001, + -1.5700000000000001, + -3.1400000000000001 + ] + } + }, + "name": "Network", + "pick_t0cf_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.064326905625918904, + 0.66851245126104597, + 0.1517357251225426 + ], + "xaxis": [ + 0.00079632671073326345, + 0.0, + -0.99999968293183472 + ], + "yaxis": [ + 0.99999968293183472, + 0.0, + 0.00079632671073326345 + ] + } + }, + "pick_trajectory": { + "dtype": "compas_fab.robots/JointTrajectory", + "value": { + "attached_collision_meshes": [ + { + "collision_mesh": { + "frame": { + "point": [ + 0.0, + 0.0, + 0.0 + ], + "xaxis": [ + 1.0, + 0.0, + 0.0 + ], + "yaxis": [ + 0.0, + 1.0, + 0.0 + ] + }, + "id": "attached_tool_link_collision_0", + "mesh": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Mesh" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2 + ], + "1": [ + 1, + 3, + 2 + ], + "10": [ + 9, + 11, + 10 + ], + "100": [ + 52, + 70, + 35 + ], + "101": [ + 52, + 35, + 13 + ], + "102": [ + 1, + 52, + 13 + ], + "103": [ + 1, + 13, + 15 + ], + "104": [ + 83, + 1, + 15 + ], + "105": [ + 83, + 15, + 49 + ], + "106": [ + 82, + 83, + 49 + ], + "107": [ + 82, + 49, + 48 + ], + "108": [ + 79, + 82, + 48 + ], + "109": [ + 79, + 48, + 45 + ], + "11": [ + 10, + 12, + 1 + ], + "110": [ + 80, + 79, + 45 + ], + "111": [ + 80, + 45, + 47 + ], + "112": [ + 81, + 80, + 47 + ], + "113": [ + 81, + 47, + 46 + ], + "114": [ + 85, + 81, + 46 + ], + "115": [ + 85, + 46, + 51 + ], + "116": [ + 10, + 85, + 51 + ], + "117": [ + 10, + 51, + 37 + ], + "118": [ + 84, + 10, + 37 + ], + "119": [ + 84, + 37, + 50 + ], + "12": [ + 6, + 1, + 12 + ], + "120": [ + 75, + 84, + 50 + ], + "121": [ + 75, + 50, + 41 + ], + "122": [ + 71, + 75, + 41 + ], + "123": [ + 71, + 41, + 36 + ], + "124": [ + 78, + 71, + 36 + ], + "125": [ + 78, + 36, + 44 + ], + "126": [ + 76, + 78, + 44 + ], + "127": [ + 76, + 44, + 43 + ], + "128": [ + 77, + 76, + 43 + ], + "129": [ + 77, + 43, + 42 + ], + "13": [ + 13, + 14, + 15 + ], + "130": [ + 72, + 77, + 42 + ], + "131": [ + 72, + 42, + 38 + ], + "132": [ + 74, + 72, + 38 + ], + "133": [ + 74, + 38, + 40 + ], + "134": [ + 9, + 74, + 40 + ], + "135": [ + 9, + 40, + 19 + ], + "136": [ + 73, + 9, + 19 + ], + "137": [ + 73, + 19, + 39 + ], + "138": [ + 58, + 73, + 39 + ], + "139": [ + 58, + 39, + 23 + ], + "14": [ + 16, + 15, + 17 + ], + "140": [ + 59, + 58, + 23 + ], + "141": [ + 59, + 23, + 25 + ], + "142": [ + 60, + 59, + 25 + ], + "143": [ + 60, + 25, + 24 + ], + "144": [ + 61, + 60, + 24 + ], + "145": [ + 61, + 24, + 26 + ], + "146": [ + 54, + 61, + 26 + ], + "147": [ + 54, + 26, + 18 + ], + "148": [ + 62, + 54, + 18 + ], + "149": [ + 62, + 18, + 27 + ], + "15": [ + 18, + 19, + 16 + ], + "150": [ + 57, + 62, + 27 + ], + "151": [ + 57, + 27, + 22 + ], + "152": [ + 5, + 57, + 22 + ], + "153": [ + 5, + 22, + 16 + ], + "154": [ + 55, + 5, + 16 + ], + "155": [ + 55, + 16, + 20 + ], + "156": [ + 56, + 55, + 20 + ], + "157": [ + 56, + 20, + 21 + ], + "158": [ + 0, + 56, + 21 + ], + "159": [ + 0, + 21, + 17 + ], + "16": [ + 20, + 16, + 21 + ], + "160": [ + 64, + 0, + 17 + ], + "161": [ + 64, + 17, + 29 + ], + "162": [ + 7, + 86, + 8 + ], + "163": [ + 8, + 86, + 87 + ], + "164": [ + 87, + 11, + 8 + ], + "165": [ + 88, + 7, + 4 + ], + "166": [ + 4, + 2, + 88 + ], + "167": [ + 12, + 89, + 6 + ], + "168": [ + 6, + 89, + 90 + ], + "169": [ + 6, + 90, + 3 + ], + "17": [ + 18, + 16, + 22 + ], + "170": [ + 3, + 90, + 2 + ], + "171": [ + 91, + 12, + 11 + ], + "172": [ + 7, + 88, + 86 + ], + "173": [ + 2, + 90, + 88 + ], + "174": [ + 89, + 12, + 91 + ], + "175": [ + 87, + 91, + 11 + ], + "176": [ + 92, + 93, + 94 + ], + "177": [ + 92, + 94, + 95 + ], + "178": [ + 93, + 96, + 97 + ], + "179": [ + 93, + 97, + 94 + ], + "18": [ + 16, + 17, + 21 + ], + "180": [ + 96, + 98, + 99 + ], + "181": [ + 96, + 99, + 97 + ], + "182": [ + 98, + 92, + 95 + ], + "183": [ + 98, + 95, + 99 + ], + "184": [ + 94, + 99, + 95 + ], + "185": [ + 99, + 94, + 97 + ], + "186": [ + 88, + 93, + 86 + ], + "187": [ + 92, + 86, + 93 + ], + "188": [ + 91, + 87, + 92 + ], + "189": [ + 86, + 92, + 87 + ], + "19": [ + 23, + 24, + 25 + ], + "190": [ + 92, + 98, + 91 + ], + "191": [ + 91, + 98, + 89 + ], + "192": [ + 96, + 89, + 98 + ], + "193": [ + 88, + 90, + 96 + ], + "194": [ + 89, + 96, + 90 + ], + "195": [ + 96, + 93, + 88 + ], + "2": [ + 2, + 4, + 0 + ], + "20": [ + 26, + 24, + 18 + ], + "21": [ + 18, + 24, + 19 + ], + "22": [ + 18, + 22, + 27 + ], + "23": [ + 28, + 29, + 17 + ], + "24": [ + 30, + 15, + 31 + ], + "25": [ + 32, + 28, + 30 + ], + "26": [ + 17, + 30, + 28 + ], + "27": [ + 15, + 30, + 17 + ], + "28": [ + 33, + 34, + 31 + ], + "29": [ + 15, + 14, + 31 + ], + "3": [ + 4, + 5, + 0 + ], + "30": [ + 33, + 31, + 14 + ], + "31": [ + 14, + 13, + 35 + ], + "32": [ + 16, + 19, + 15 + ], + "33": [ + 19, + 24, + 23 + ], + "34": [ + 36, + 37, + 19 + ], + "35": [ + 36, + 19, + 38 + ], + "36": [ + 39, + 19, + 23 + ], + "37": [ + 19, + 40, + 38 + ], + "38": [ + 36, + 41, + 37 + ], + "39": [ + 38, + 42, + 43 + ], + "4": [ + 1, + 6, + 3 + ], + "40": [ + 44, + 36, + 43 + ], + "41": [ + 36, + 38, + 43 + ], + "42": [ + 15, + 19, + 37 + ], + "43": [ + 45, + 46, + 47 + ], + "44": [ + 45, + 15, + 37 + ], + "45": [ + 15, + 45, + 48 + ], + "46": [ + 48, + 49, + 15 + ], + "47": [ + 45, + 37, + 46 + ], + "48": [ + 50, + 37, + 41 + ], + "49": [ + 37, + 51, + 46 + ], + "5": [ + 7, + 8, + 9 + ], + "50": [ + 52, + 1, + 53 + ], + "51": [ + 54, + 5, + 9 + ], + "52": [ + 55, + 56, + 5 + ], + "53": [ + 54, + 57, + 5 + ], + "54": [ + 5, + 56, + 0 + ], + "55": [ + 58, + 59, + 60 + ], + "56": [ + 61, + 54, + 60 + ], + "57": [ + 54, + 9, + 60 + ], + "58": [ + 54, + 62, + 57 + ], + "59": [ + 63, + 0, + 64 + ], + "6": [ + 4, + 7, + 5 + ], + "60": [ + 65, + 66, + 1 + ], + "61": [ + 67, + 65, + 63 + ], + "62": [ + 0, + 63, + 65 + ], + "63": [ + 1, + 0, + 65 + ], + "64": [ + 68, + 66, + 69 + ], + "65": [ + 1, + 66, + 53 + ], + "66": [ + 68, + 53, + 66 + ], + "67": [ + 53, + 70, + 52 + ], + "68": [ + 9, + 58, + 60 + ], + "69": [ + 71, + 9, + 10 + ], + "7": [ + 9, + 5, + 7 + ], + "70": [ + 71, + 72, + 9 + ], + "71": [ + 73, + 58, + 9 + ], + "72": [ + 9, + 72, + 74 + ], + "73": [ + 71, + 10, + 75 + ], + "74": [ + 72, + 76, + 77 + ], + "75": [ + 78, + 76, + 71 + ], + "76": [ + 71, + 76, + 72 + ], + "77": [ + 79, + 80, + 81 + ], + "78": [ + 79, + 10, + 1 + ], + "79": [ + 1, + 82, + 79 + ], + "8": [ + 10, + 11, + 12 + ], + "80": [ + 82, + 1, + 83 + ], + "81": [ + 79, + 81, + 10 + ], + "82": [ + 84, + 75, + 10 + ], + "83": [ + 10, + 81, + 85 + ], + "84": [ + 63, + 64, + 29 + ], + "85": [ + 63, + 29, + 28 + ], + "86": [ + 67, + 63, + 28 + ], + "87": [ + 67, + 28, + 32 + ], + "88": [ + 65, + 67, + 32 + ], + "89": [ + 65, + 32, + 30 + ], + "9": [ + 11, + 9, + 8 + ], + "90": [ + 66, + 65, + 30 + ], + "91": [ + 66, + 30, + 31 + ], + "92": [ + 69, + 66, + 31 + ], + "93": [ + 69, + 31, + 34 + ], + "94": [ + 68, + 69, + 34 + ], + "95": [ + 68, + 34, + 33 + ], + "96": [ + 53, + 68, + 33 + ], + "97": [ + 53, + 33, + 14 + ], + "98": [ + 70, + 53, + 14 + ], + "99": [ + 70, + 14, + 35 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "10": {}, + "100": {}, + "101": {}, + "102": {}, + "103": {}, + "104": {}, + "105": {}, + "106": {}, + "107": {}, + "108": {}, + "109": {}, + "11": {}, + "110": {}, + "111": {}, + "112": {}, + "113": {}, + "114": {}, + "115": {}, + "116": {}, + "117": {}, + "118": {}, + "119": {}, + "12": {}, + "120": {}, + "121": {}, + "122": {}, + "123": {}, + "124": {}, + "125": {}, + "126": {}, + "127": {}, + "128": {}, + "129": {}, + "13": {}, + "130": {}, + "131": {}, + "132": {}, + "133": {}, + "134": {}, + "135": {}, + "136": {}, + "137": {}, + "138": {}, + "139": {}, + "14": {}, + "140": {}, + "141": {}, + "142": {}, + "143": {}, + "144": {}, + "145": {}, + "146": {}, + "147": {}, + "148": {}, + "149": {}, + "15": {}, + "150": {}, + "151": {}, + "152": {}, + "153": {}, + "154": {}, + "155": {}, + "156": {}, + "157": {}, + "158": {}, + "159": {}, + "16": {}, + "160": {}, + "161": {}, + "162": {}, + "163": {}, + "164": {}, + "165": {}, + "166": {}, + "167": {}, + "168": {}, + "169": {}, + "17": {}, + "170": {}, + "171": {}, + "172": {}, + "173": {}, + "174": {}, + "175": {}, + "176": {}, + "177": {}, + "178": {}, + "179": {}, + "18": {}, + "180": {}, + "181": {}, + "182": {}, + "183": {}, + "184": {}, + "185": {}, + "186": {}, + "187": {}, + "188": {}, + "189": {}, + "19": {}, + "190": {}, + "191": {}, + "192": {}, + "193": {}, + "194": {}, + "195": {}, + "2": {}, + "20": {}, + "21": {}, + "22": {}, + "23": {}, + "24": {}, + "25": {}, + "26": {}, + "27": {}, + "28": {}, + "29": {}, + "3": {}, + "30": {}, + "31": {}, + "32": {}, + "33": {}, + "34": {}, + "35": {}, + "36": {}, + "37": {}, + "38": {}, + "39": {}, + "4": {}, + "40": {}, + "41": {}, + "42": {}, + "43": {}, + "44": {}, + "45": {}, + "46": {}, + "47": {}, + "48": {}, + "49": {}, + "5": {}, + "50": {}, + "51": {}, + "52": {}, + "53": {}, + "54": {}, + "55": {}, + "56": {}, + "57": {}, + "58": {}, + "59": {}, + "6": {}, + "60": {}, + "61": {}, + "62": {}, + "63": {}, + "64": {}, + "65": {}, + "66": {}, + "67": {}, + "68": {}, + "69": {}, + "7": {}, + "70": {}, + "71": {}, + "72": {}, + "73": {}, + "74": {}, + "75": {}, + "76": {}, + "77": {}, + "78": {}, + "79": {}, + "8": {}, + "80": {}, + "81": {}, + "82": {}, + "83": {}, + "84": {}, + "85": {}, + "86": {}, + "87": {}, + "88": {}, + "89": {}, + "9": {}, + "90": {}, + "91": {}, + "92": {}, + "93": {}, + "94": {}, + "95": {}, + "96": {}, + "97": {}, + "98": {}, + "99": {} + }, + "max_face": 195, + "max_vertex": 99, + "vertex": { + "0": { + "x": 0.014816462062299252, + "y": -0.0047768764197826385, + "z": -0.029393302276730537 + }, + "1": { + "x": 0.014816462062299252, + "y": 0.029754780232906342, + "z": 0.0011990766506642103 + }, + "10": { + "x": 0.014816462062299252, + "y": 0.011672346852719784, + "z": 0.027396004647016525 + }, + "11": { + "x": 0.014816462062299252, + "y": -0.010380548425018787, + "z": 0.011409667320549488 + }, + "12": { + "x": 0.014816462062299252, + "y": 0.010380548425018787, + "z": 0.011409667320549488 + }, + "13": { + "x": 0.0, + "y": 0.029561810195446014, + "z": -0.0035894536413252354 + }, + "14": { + "x": 0.0, + "y": 0.026903789490461349, + "z": -0.012766006402671337 + }, + "15": { + "x": 0.0, + "y": 0.029754780232906342, + "z": 0.0011990766506642103 + }, + "16": { + "x": 0.0, + "y": -0.017889462411403656, + "z": -0.023806551471352577 + }, + "17": { + "x": 0.0, + "y": -0.0047768764197826385, + "z": -0.029393302276730537 + }, + "18": { + "x": 0.0, + "y": -0.026903789490461349, + "z": -0.012766006402671337 + }, + "19": { + "x": 0.0, + "y": -0.025789311155676842, + "z": 0.014889465644955635 + }, + "2": { + "x": 0.014816462062299252, + "y": 0.010380548425018787, + "z": -0.011409667320549488 + }, + "20": { + "x": 0.0, + "y": -0.01383895892649889, + "z": -0.026367934420704842 + }, + "21": { + "x": 0.0, + "y": -0.0094300340861082077, + "z": -0.028246402740478516 + }, + "22": { + "x": 0.0, + "y": -0.021476637572050095, + "z": -0.020628591999411583 + }, + "23": { + "x": 0.0, + "y": -0.029177118092775345, + "z": 0.0059565515257418156 + }, + "24": { + "x": 0.0, + "y": -0.029561810195446014, + "z": -0.0035894536413252354 + }, + "25": { + "x": 0.0, + "y": -0.029754780232906342, + "z": 0.0011990766506642103 + }, + "26": { + "x": 0.0, + "y": -0.028603203594684601, + "z": -0.008285018615424633 + }, + "27": { + "x": 0.0, + "y": -0.024507580325007439, + "z": -0.016916360706090927 + }, + "28": { + "x": 0.0, + "y": 0.0047768764197826385, + "z": -0.029393302276730537 + }, + "29": { + "x": 0.0, + "y": -2.045294925157771e-19, + "z": -0.02977893128991127 + }, + "3": { + "x": 0.014816462062299252, + "y": 0.010380548425018787, + "z": -0.008969305083155632 + }, + "30": { + "x": 0.0, + "y": 0.01383895892649889, + "z": -0.026367934420704842 + }, + "31": { + "x": 0.0, + "y": 0.017889462411403656, + "z": -0.023806551471352577 + }, + "32": { + "x": 0.0, + "y": 0.0094300340861082077, + "z": -0.028246402740478516 + }, + "33": { + "x": 0.0, + "y": 0.024507580325007439, + "z": -0.016916360706090927 + }, + "34": { + "x": 0.0, + "y": 0.021476637572050095, + "z": -0.020628591999411583 + }, + "35": { + "x": 0.0, + "y": 0.028603203594684601, + "z": -0.008285018615424633 + }, + "36": { + "x": 0.0, + "y": -0.0023962082341313362, + "z": 0.029682368040084839 + }, + "37": { + "x": 0.0, + "y": 0.011672346852719784, + "z": 0.027396004647016525 + }, + "38": { + "x": 0.0, + "y": -0.019747084006667137, + "z": 0.022289849817752838 + }, + "39": { + "x": 0.0, + "y": -0.027843784540891647, + "z": 0.010559754446148872 + }, + "4": { + "x": 0.014816462062299252, + "y": 0.0057308273389935493, + "z": -0.011409667320549488 + }, + "40": { + "x": 0.0, + "y": -0.023066908121109009, + "z": 0.018833547830581665 + }, + "41": { + "x": 0.0, + "y": 0.0023962082341313362, + "z": 0.029682368040084839 + }, + "42": { + "x": 0.0, + "y": -0.015915822237730026, + "z": 0.025168856605887413 + }, + "43": { + "x": 0.0, + "y": -0.011672346852719784, + "z": 0.027396004647016525 + }, + "44": { + "x": 0.0, + "y": -0.0071265646256506443, + "z": 0.028913609683513641 + }, + "45": { + "x": 0.0, + "y": 0.025789311155676842, + "z": 0.014889465644955635 + }, + "46": { + "x": 0.0, + "y": 0.019747084006667137, + "z": 0.022289849817752838 + }, + "47": { + "x": 0.0, + "y": 0.023066908121109009, + "z": 0.018833547830581665 + }, + "48": { + "x": 0.0, + "y": 0.027843784540891647, + "z": 0.010559754446148872 + }, + "49": { + "x": 0.0, + "y": 0.029177118092775345, + "z": 0.0059565515257418156 + }, + "5": { + "x": 0.014816462062299252, + "y": -0.017889462411403656, + "z": -0.023806551471352577 + }, + "50": { + "x": 0.0, + "y": 0.0071265646256506443, + "z": 0.028913609683513641 + }, + "51": { + "x": 0.0, + "y": 0.015915822237730026, + "z": 0.025168856605887413 + }, + "52": { + "x": 0.014816462062299252, + "y": 0.029561810195446014, + "z": -0.0035894536413252354 + }, + "53": { + "x": 0.014816462062299252, + "y": 0.026903789490461349, + "z": -0.012766006402671337 + }, + "54": { + "x": 0.014816462062299252, + "y": -0.026903789490461349, + "z": -0.012766006402671337 + }, + "55": { + "x": 0.014816462062299252, + "y": -0.01383895892649889, + "z": -0.026367934420704842 + }, + "56": { + "x": 0.014816462062299252, + "y": -0.0094300340861082077, + "z": -0.028246402740478516 + }, + "57": { + "x": 0.014816462062299252, + "y": -0.021476637572050095, + "z": -0.020628591999411583 + }, + "58": { + "x": 0.014816462062299252, + "y": -0.029177118092775345, + "z": 0.0059565515257418156 + }, + "59": { + "x": 0.014816462062299252, + "y": -0.029754780232906342, + "z": 0.0011990766506642103 + }, + "6": { + "x": 0.014816462062299252, + "y": 0.010380548425018787, + "z": 0.0059743961319327354 + }, + "60": { + "x": 0.014816462062299252, + "y": -0.029561810195446014, + "z": -0.0035894536413252354 + }, + "61": { + "x": 0.014816462062299252, + "y": -0.028603203594684601, + "z": -0.008285018615424633 + }, + "62": { + "x": 0.014816462062299252, + "y": -0.024507580325007439, + "z": -0.016916360706090927 + }, + "63": { + "x": 0.014816462062299252, + "y": 0.0047768764197826385, + "z": -0.029393302276730537 + }, + "64": { + "x": 0.014816462062299252, + "y": -2.045294925157771e-19, + "z": -0.02977893128991127 + }, + "65": { + "x": 0.014816462062299252, + "y": 0.01383895892649889, + "z": -0.026367934420704842 + }, + "66": { + "x": 0.014816462062299252, + "y": 0.017889462411403656, + "z": -0.023806551471352577 + }, + "67": { + "x": 0.014816462062299252, + "y": 0.0094300340861082077, + "z": -0.028246402740478516 + }, + "68": { + "x": 0.014816462062299252, + "y": 0.024507580325007439, + "z": -0.016916360706090927 + }, + "69": { + "x": 0.014816462062299252, + "y": 0.021476637572050095, + "z": -0.020628591999411583 + }, + "7": { + "x": 0.014816462062299252, + "y": -0.010380548425018787, + "z": -0.011409667320549488 + }, + "70": { + "x": 0.014816462062299252, + "y": 0.028603203594684601, + "z": -0.008285018615424633 + }, + "71": { + "x": 0.014816462062299252, + "y": -0.0023962082341313362, + "z": 0.029682368040084839 + }, + "72": { + "x": 0.014816462062299252, + "y": -0.019747084006667137, + "z": 0.022289849817752838 + }, + "73": { + "x": 0.014816462062299252, + "y": -0.027843784540891647, + "z": 0.010559754446148872 + }, + "74": { + "x": 0.014816462062299252, + "y": -0.023066908121109009, + "z": 0.018833547830581665 + }, + "75": { + "x": 0.014816462062299252, + "y": 0.0023962082341313362, + "z": 0.029682368040084839 + }, + "76": { + "x": 0.014816462062299252, + "y": -0.011672346852719784, + "z": 0.027396004647016525 + }, + "77": { + "x": 0.014816462062299252, + "y": -0.015915822237730026, + "z": 0.025168856605887413 + }, + "78": { + "x": 0.014816462062299252, + "y": -0.0071265646256506443, + "z": 0.028913609683513641 + }, + "79": { + "x": 0.014816462062299252, + "y": 0.025789311155676842, + "z": 0.014889465644955635 + }, + "8": { + "x": 0.014816462062299252, + "y": -0.010380548425018787, + "z": 0.011091546155512333 + }, + "80": { + "x": 0.014816462062299252, + "y": 0.023066908121109009, + "z": 0.018833547830581665 + }, + "81": { + "x": 0.014816462062299252, + "y": 0.019747084006667137, + "z": 0.022289849817752838 + }, + "82": { + "x": 0.014816462062299252, + "y": 0.027843784540891647, + "z": 0.010559754446148872 + }, + "83": { + "x": 0.014816462062299252, + "y": 0.029177118092775345, + "z": 0.0059565515257418156 + }, + "84": { + "x": 0.014816462062299252, + "y": 0.0071265646256506443, + "z": 0.028913609683513641 + }, + "85": { + "x": 0.014816462062299252, + "y": 0.015915822237730026, + "z": 0.025168856605887413 + }, + "86": { + "x": 0.05451495572924614, + "y": -0.010380548425018787, + "z": -0.011409667320549488 + }, + "87": { + "x": 0.05451495572924614, + "y": -0.010380548425018787, + "z": 0.011409667320549488 + }, + "88": { + "x": 0.05451495572924614, + "y": -0.0068432968109846115, + "z": -0.011409667320549488 + }, + "89": { + "x": 0.05451495572924614, + "y": 0.010380548425018787, + "z": 0.011409667320549488 + }, + "9": { + "x": 0.014816462062299252, + "y": -0.025789311155676842, + "z": 0.014889465644955635 + }, + "90": { + "x": 0.05451495572924614, + "y": 0.010380548425018787, + "z": -0.011409667320549488 + }, + "91": { + "x": 0.05451495572924614, + "y": 0.0068432968109846115, + "z": 0.011409667320549488 + }, + "92": { + "x": 0.05451495572924614, + "y": -0.017271781340241432, + "z": 0.028796831145882607 + }, + "93": { + "x": 0.05451495572924614, + "y": -0.017271781340241432, + "z": -0.028796831145882607 + }, + "94": { + "x": 0.070000000298023224, + "y": -0.017271781340241432, + "z": -0.028796831145882607 + }, + "95": { + "x": 0.070000000298023224, + "y": -0.017271781340241432, + "z": 0.028796831145882607 + }, + "96": { + "x": 0.05451495572924614, + "y": 0.017271781340241432, + "z": -0.028796831145882607 + }, + "97": { + "x": 0.070000000298023224, + "y": 0.017271781340241432, + "z": -0.028796831145882607 + }, + "98": { + "x": 0.05451495572924614, + "y": 0.017271781340241432, + "z": 0.028796831145882607 + }, + "99": { + "x": 0.070000000298023224, + "y": 0.017271781340241432, + "z": 0.028796831145882607 + } + } + }, + "datatype": "compas.datastructures/Mesh" + }, + "root_name": "ee_link" + }, + "link_name": "ee_link", + "touch_links": [ + "ee_link" + ], + "weight": 0.0 + }, + { + "collision_mesh": { + "frame": { + "point": [ + 0.076000000000000012, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Mesh" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 1, + 2, + 3 + ], + "1": [ + 3, + 0, + 1 + ], + "10": [ + 5, + 6, + 7 + ], + "11": [ + 7, + 4, + 5 + ], + "2": [ + 3, + 5, + 4 + ], + "3": [ + 4, + 0, + 3 + ], + "4": [ + 2, + 6, + 5 + ], + "5": [ + 5, + 3, + 2 + ], + "6": [ + 1, + 7, + 6 + ], + "7": [ + 6, + 2, + 1 + ], + "8": [ + 0, + 4, + 7 + ], + "9": [ + 7, + 1, + 0 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "max_face": 11, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + }, + "root_name": "ee_link" + }, + "link_name": "ee_link", + "touch_links": [ + "ee_link" + ], + "weight": 0.0 + } + ], + "fraction": 1.0, + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "points": [ + { + "accelerations": [ + -0.44171371733682063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5700000000000001, + -1.5700000000000001, + 1.5700000000000001, + -1.5700000000000001, + -1.5700000000000001, + -3.1400000000000001 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + { + "accelerations": [ + -0.47358574217027966, + 2.3466172135669376, + 0.802324328899227, + -3.1530649635630348, + -0.0090696293434336366, + -0.4867068976432915 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 116343468, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5670105251776165, + -1.5563740508426891, + 1.5758181853278883, + -1.5894682538329465, + -1.5700555016198301, + -3.143069086390315 + ], + "velocities": [ + -0.044866634387904017, + 0.21211248984574835, + 0.082487855172722516, + -0.2949745781725242, + -0.00084420040366927067, + -0.046082076749392416 + ] + }, + { + "accelerations": [ + -0.42580555945766152, + 2.5292780554503609, + 0.44270089978743304, + -2.9762399223457776, + -0.0088220966275870255, + -0.43873311369181944 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 161925327, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5640915533494286, + -1.5423755573936559, + 1.5810585955091538, + -1.608731824302041, + -1.5701107172541586, + -3.146067671685715 + ], + "velocities": [ + -0.072626883053120775, + 0.35812440992172434, + 0.12389667328856935, + -0.48264818534069287, + -0.0013893004118919513, + -0.074634247233754517 + ] + }, + { + "accelerations": [ + -0.43029098044575376, + 2.8943629275328657, + 0.20495809277793087, + -3.104082850170014, + -0.0094434400814455179, + -0.44426090297183585 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 197026934, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5612407500092444, + -1.5280140108091795, + 1.5857210132793114, + -1.6277808178409849, + -1.5701657302387153, + -3.1489980898283818 + ], + "velocities": [ + -0.088142861040985648, + 0.4557375227384296, + 0.13612588598334496, + -0.59265311736058635, + -0.0017192765355032596, + -0.090635882312769561 + ] + }, + { + "accelerations": [ + -0.38370897536773951, + 2.9867565612794773, + -0.12122534358321679, + -2.8703221736519859, + -0.0090521343579344285, + -0.397250837845948 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 226319992, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5584558598121909, + -1.5132991438974812, + 1.5898052107123417, + -1.6466052607463757, + -1.5702205464354768, + -3.1518625961664002 + ], + "velocities": [ + -0.10035110752105644, + 0.54344079562915182, + 0.13775696643864008, + -0.68213006960307532, + -0.0019958913651262318, + -0.10325540782380709 + ] + }, + { + "accelerations": [ + -0.35429195681761733, + 3.1436063086236086, + -0.41917202181522834, + -2.7293740776347364, + -0.0089561981363226063, + -0.36782524112380977 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 252080487, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5557347209329813, + -1.4982408803534011, + 1.5933109177172089, + -1.6651949466405545, + -1.5702751710347498, + -3.1546633525495671 + ], + "velocities": [ + -0.10997448604627655, + 0.62307708582866261, + 0.13095107451996035, + -0.75508695031463779, + -0.0022302475979868283, + -0.11323103374703319 + ] + }, + { + "accelerations": [ + -0.20234279603922695, + 2.5257506466077966, + -0.81763681661012266, + -1.7119142782968115, + -0.0062496698306457512, + -0.21202460258037203 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 275344451, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5530752606214275, + -1.4828493138921393, + 1.5962378420850056, + -1.6835394775835852, + -1.5703296090787806, + -3.1574024317596399 + ], + "velocities": [ + -0.1165997779737149, + 0.69010372063032621, + 0.11658819628462405, + -0.80785413026916264, + -0.0024105312865442471, + -0.12013143171389781 + ] + }, + { + "accelerations": [ + -0.19521878062865497, + 2.6867772436714938, + -1.0236322870204764, + -1.6671452077281479, + -0.0064162414243893644, + -0.20522875324888737 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 297212788, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5504754909097238, + -1.4671346842362607, + 1.5985856866206452, + -1.7016283051788446, + -1.5703838654456659, + -3.1600818217743409 + ], + "velocities": [ + -0.12095845012017502, + 0.74716855641765934, + 0.096479180814330615, + -0.84489536316934033, + -0.0025492661362660437, + -0.12470577336761794 + ] + }, + { + "accelerations": [ + -0.14743997123915903, + 2.5737399256548765, + -1.254576902146016, + -1.3229143333183397, + -0.0056919225570082064, + -0.15646075488394584 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 317873621, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5479335045546498, + -1.4511073502377663, + 1.6003541634359808, + -1.7194507717261298, + -1.5704379448744403, + -3.1627034298574008 + ], + "velocities": [ + -0.12452282781088525, + 0.8017231374704249, + 0.072927707782173418, + -0.8759788813564453, + -0.0026749588849748944, + -0.12846766611826294 + ] + }, + { + "accelerations": [ + -0.1294880566848324, + 2.6217961139387436, + -1.4528817146051014, + -1.1726951323707842, + -0.0055622750479551149, + -0.13838587548706008 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 337602231, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5454474711914388, + -1.4347777604122149, + 1.6015430053792306, + -1.7369961510880378, + -1.5704918519652162, + -3.1652690863993125 + ], + "velocities": [ + -0.12726280441155441, + 0.85304510729226124, + 0.0462208325397096, + -0.9006683868725025, + -0.0027861796392297231, + -0.13138470700111393 + ] + }, + { + "accelerations": [ + -0.059600364131305657, + 2.2783130763420334, + -1.6421253193888909, + -0.63936940471337622, + -0.0042305138253036631, + -0.066581342820914283 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 356524971, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5430156336892578, + -1.4181564211840352, + 1.6021519745863091, + -1.754253688960991, + -1.5705455911652868, + -3.1677805485349664 + ], + "velocities": [ + -0.12906947547676065, + 0.89961196665022847, + 0.016877991402506176, + -0.91795858925124607, + -0.0028793535156772872, + -0.13334241587528972 + ] + }, + { + "accelerations": [ + -0.15475579928482863, + 3.0998617893134099, + -1.8322346114991828, + -1.2721097461007116, + -0.0066061457845938577, + -0.16532836189707109 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 374880460, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5406363047062421, + -1.4012538631591849, + 1.6021808681493166, + -1.7712126422625816, + -1.5705991668024799, + -3.170239503633415 + ], + "velocities": [ + -0.13101544834019083, + 0.94869795552858927, + -0.014889026802688315, + -0.93534748859474792, + -0.0029781380872866891, + -0.1354484457826578 + ] + }, + { + "accelerations": [ + 0.21806224436497582, + 0.38527100157222433, + -1.8396804433201033, + 1.4543180161323714, + 0.0018835023826733969, + 0.22012554252539387 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 392466082, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5383078634170915, + -1.3840806057447277, + 1.6016295208693778, + -1.7878623172265553, + -1.5706525830594398, + -3.1726475725254764 + ], + "velocities": [ + -0.13048079769133977, + 0.97995246100450095, + -0.04759388354888007, + -0.93393822160180151, + -0.0030208675381029927, + -0.13499057660475799 + ] + }, + { + "accelerations": [ + 0.31789498822573109, + -0.54253997267164089, + -1.6959269060808768, + 2.2398161973683646, + 0.0044638115017405951, + 0.32386968287236267 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 410194680, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.536028752420648, + -1.3666471204501298, + 1.6004978051038203, + -1.8041921059417871, + -1.5707058440045467, + -3.1750063126373718 + ], + "velocities": [ + -0.1257032234332211, + 0.97848575883924016, + -0.079052771531229665, + -0.90100133147978068, + -0.0029641861638512452, + -0.13014117682307433 + ] + }, + { + "accelerations": [ + 0.35196898556701151, + -1.0386332100669367, + -1.5062632543241723, + 2.5469747041248434, + 0.0056193357639086634, + 0.35975212543404966 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 428357176, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5337974748008507, + -1.3489637931960259, + 1.5987856276804009, + -1.8201915209218422, + -1.5707589535662405, + -3.1773172208849711 + ], + "velocities": [ + -0.11960029535779226, + 0.9640256132488958, + -0.10818068628575828, + -0.85738197090114276, + -0.0028722373155856025, + -0.12391275977369098 + ] + }, + { + "accelerations": [ + 0.37246324752404375, + -1.4629607737305463, + -1.2789590020928157, + 2.7446046509546349, + 0.0065092972995426284, + 0.38167101692005667 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 447135757, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5316125913498209, + -1.3310408859604443, + 1.5964929238967618, + -1.835850227457668, + -1.5708119155708264, + -3.1795817365026813 + ], + "velocities": [ + -0.11277655089482833, + 0.94039868116339709, + -0.13436109164138466, + -0.80752968307934625, + -0.0027578944687645917, + -0.11692880143113393 + ] + }, + { + "accelerations": [ + 0.33056784535542288, + -1.3612377915177847, + -1.1192733552954706, + 2.482970800564174, + 0.0058661141206925692, + 0.33889121864510496 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 466731069, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5294727179248475, + -1.3128884980719751, + 1.5936196485807155, + -1.8511580733471173, + -1.5708647337097179, + -3.1818012436309036 + ], + "velocities": [ + -0.10589529261185265, + 0.91274169506134317, + -0.15783148719968176, + -0.75635193001669554, + -0.0026367446141089181, + -0.10987591541202417 + ] + }, + { + "accelerations": [ + 0.33801623935537128, + -1.6730566001412679, + -0.88552164974954561, + 2.5614703367838945, + 0.0064351941032034518, + 0.34728254893018323 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 487164358, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5273765229518994, + -1.2945165274533357, + 1.5901657642386189, + -1.8661051158020836, + -1.5709174115782245, + -3.183977073866294 + ], + "velocities": [ + -0.099043216929483563, + 0.88157791559242871, + -0.17831674366727407, + -0.70464795699505511, + -0.0025105697881238481, + -0.10284339105479706 + ] + }, + { + "accelerations": [ + 0.3714154043631761, + -2.2464598427868476, + -0.55660214624036242, + 2.8067944873577804, + 0.007713776101734438, + 0.38271099706010386 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 508670279, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.525322725048732, + -1.2759346320870362, + 1.5861312262696348, + -1.8806816451665092, + -1.5709699526520955, + -3.1861105085974337 + ], + "velocities": [ + -0.091359640686638655, + 0.83899873865366537, + -0.19380477114649969, + -0.64650882973701429, + -0.002357125562587277, + -0.094936766415500473 + ] + }, + { + "accelerations": [ + 0.38813738070708098, + -2.7023286579933181, + -0.20573096089140713, + 2.9124449076071488, + 0.0086227800206862045, + 0.40091567159927877 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 531745629, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5233100907750972, + -1.2571521919562847, + 1.5815159652642024, + -1.8948782052659834, + -1.5710223603038707, + -3.1882027812743421 + ], + "velocities": [ + -0.082521356705215626, + 0.78124718621277478, + -0.20249883151151724, + -0.5799685293091299, + -0.0021667668093613263, + -0.08581789711584914 + ] + }, + { + "accelerations": [ + -0.17777077223109458, + 2.6769111400812702, + -1.6561302722913611, + -1.0248004003704685, + -0.0062793459282951859, + -0.1876758366134203 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 557093765, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5213374324958666, + -1.238178271677232, + 1.576319866372581, + -1.9086856101306076, + -1.5710746378073799, + -3.1902550795471454 + ], + "velocities": [ + -0.079995119661306596, + 0.78124718621277478, + -0.22522865066775888, + -0.55723474438666654, + -0.0021391192851646372, + -0.083258015711930949 + ] + }, + { + "accelerations": [ + -0.15010763818887199, + 2.570350382332903, + -1.8199651041971772, + -0.75422106830021218, + -0.0058139441014323423, + -0.15936350575655336 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 580628901, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5194036063502179, + -1.2190215840044338, + 1.570542745729526, + -1.9220949568923376, + -1.5711267883258819, + -3.1922685472735948 + ], + "velocities": [ + -0.083882103586614409, + 0.84331891989055485, + -0.26625495530737769, + -0.57837310652438956, + -0.0022822629707375894, + -0.087371765076771024 + ] + }, + { + "accelerations": [ + 0.21340833988464838, + -1.1363636522578258, + -0.63973728819939368, + 1.7780044176502598, + 0.0041530084331759141, + 0.2194066852132977 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 602780439, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5175075103277327, + -1.1996904543530489, + 1.5641843239191244, + -1.9350976347254276, + -1.5711788149339279, + -3.1942442864716516 + ], + "velocities": [ + -0.083186621050866758, + 0.85984396485038705, + -0.29426637221547502, + -0.56690905025063154, + -0.0023017691205578991, + -0.086714262313029589 + ] + }, + { + "accelerations": [ + 0.34072668602098505, + -2.6920595023542671, + 0.089400900507274894, + 2.6069329261594061, + 0.0080618100001343604, + 0.35279481009046904 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 625799811, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5156480824398801, + -1.1801927864353619, + 1.557244196430386, + -1.947685329659647, + -1.57123072063085, + -3.1961833591641398 + ], + "velocities": [ + -0.076675209181444826, + 0.81460603149109012, + -0.30041460025632083, + -0.51544994182245696, + -0.0021578274220638719, + -0.079989844415294276 + ] + }, + { + "accelerations": [ + 0.30202595795615772, + -2.5367047667187106, + 0.25340443818169989, + 2.2872983778140417, + 0.007388552382149363, + 0.31314467248646721 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 650929878, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5138242989735988, + -1.1605360290631628, + 1.5497218010287155, + -1.9598500251043867, + -1.5712825082845701, + -3.198086789033749 + ], + "velocities": [ + -0.068584966195979494, + 0.74869901656493609, + -0.29599179032383061, + -0.45386148385359615, + -0.0019632054578432052, + -0.071607490555083475 + ] + }, + { + "accelerations": [ + 0.29629626890208616, + -2.7223845481051021, + 0.54983555142952178, + 2.1768016985750629, + 0.0076312821903455003, + 0.30787084834763995 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 678626970, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5120351728491441, + -1.1407271441254094, + 1.5416163819894555, + -1.9715839981367236, + -1.5713341807100778, + -3.1999555631817063 + ], + "velocities": [ + -0.060215699287910422, + 0.67494928545801114, + -0.28451630757900914, + -0.39147156172638164, + -0.0017528047631886357, + -0.062920261385346232 + ] + }, + { + "accelerations": [ + 0.27986787537998919, + -2.7811115202578609, + 0.8015008447246007, + 1.9839260420561045, + 0.0075539186411650297, + 0.29140332319212464 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 710066277, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5102797520454656, + -1.1207725756888511, + 1.5329269510243393, + -1.982879811300903, + -1.5713857406431009, + -3.2017906336575921 + ], + "velocities": [ + -0.051027848323586075, + 0.58692926485679831, + -0.26261985511691471, + -0.32521099482785576, + -0.0015102271207273997, + -0.053363142716099807 + ] + }, + { + "accelerations": [ + 0.003755283133030416, + 0.32956342256635673, + -0.53890328752426186, + 0.20886905419868798, + -0.00051097935393747097, + 0.0028405772221228938 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 747336212, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5085571181026884, + -1.1006782201255665, + 1.5236522447520775, + -1.9937302999237092, + -1.5714371907116838, + -3.20359291890846 + ], + "velocities": [ + -0.046151035821710082, + 0.54525087015989582, + -0.25881653771292923, + -0.28727049642625413, + -0.0013899191133476647, + -0.048305095140388846 + ] + }, + { + "accelerations": [ + 0.26077842331129697, + -2.8672056587751928, + 1.1325843055501581, + 1.7390374352958653, + 0.0074963033770995184, + 0.27232527688799046 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 784026200, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.506866384706252, + -1.0804493971152989, + 1.5137906785081894, + -2.0041285549334997, + -1.5714885334748132, + -3.2053633052502706 + ], + "velocities": [ + -0.040610341100881978, + 0.49118910631919799, + -0.24501867327780086, + -0.2469226507283161, + -0.0012420909792443754, + -0.042539054645952583 + ] + }, + { + "accelerations": [ + 0.25399399004808126, + -3.0440507745436567, + 1.4866180037699395, + 1.5620968670027953, + 0.0077215617175563087, + 0.26597474955349365 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 831258179, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.505206696335577, + -1.0600908213102271, + 1.5033402961975264, + -2.0140679010409057, + -1.5715397714272259, + -3.2071026482228189 + ], + "velocities": [ + -0.026012130359770846, + 0.32164962638818317, + -0.1678367693378581, + -0.15430482479437022, + -0.00080735034267348971, + -0.027268071874617696 + ] + }, + { + "accelerations": [ + 0.1960793361935661, + -1.1213949291373364, + 2.7945505923396845, + -1.6693889194723739, + 0.0061533064684266506, + 0.20566463178141584 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 927761115, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772269732968, + -1.0396065743930196, + 1.4922987158385888, + -2.0235418701961025, + -1.5715909069661524, + -3.2088117738249311 + ], + "velocities": [ + -0.0084425911585242954, + 0.16398162968869837, + 0.0059079248388437602, + -0.17005173921649697, + -0.00026494291925033048, + -0.008855305235020405 + ] + }, + { + "accelerations": [ + -3.9332687070032368e-08, + 1.5949999208157699, + 1.4411195716328054, + -3.0361194924798465, + 2.0897095164669709e-12, + -3.9332637723675224e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 3486181, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772267392531, + -1.0308453562919158, + 1.5018577098753985, + -2.0418620823342022, + -1.57159090696614, + -3.208811774058975 + ], + "velocities": [ + -4.2593114091507503e-09, + 0.16308657401214641, + 0.16904981715320375, + -0.33213639116873644, + 2.2629293897328523e-13, + -4.2593128752742926e-09 + ] + }, + { + "accelerations": [ + -4.0233329367867093e-08, + 1.8007566329194937, + 1.2425653215034169, + -3.0433219544548971, + 2.1375479695578107e-12, + -4.023350182972032e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 46604622, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772265052096, + -1.0217699842371772, + 1.5109930736105115, + -2.0600728181242398, + -1.5715909069661276, + -3.2088117742930184 + ], + "velocities": [ + -6.1993297361116622e-09, + 0.24500204691338884, + 0.23569094484567737, + -0.48069299176399488, + 3.2936410266818745e-13, + -6.1993330427916992e-09 + ] + }, + { + "accelerations": [ + 2.7661999890869717e-09, + 0.15458885065954897, + -0.46879657017633891, + 0.31420771951898879, + -1.4696533941236518e-13, + 2.7662026134680425e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 80179780, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.503577226271166, + -1.0123847650479105, + 1.5197063354766485, + -2.0781712991798296, + -1.5715909069661151, + -3.2088117745270623 + ], + "velocities": [ + -6.9239859414402467e-09, + 0.28214148877138823, + 0.25159168469928378, + -0.53373317347617677, + 3.6786419925700451e-13, + -6.9239925104438043e-09 + ] + }, + { + "accelerations": [ + 4.0275524390002156e-08, + -1.4931492358660863, + -1.67037627915813, + 3.1635255150563006, + -2.1397968821268678e-12, + 4.0275820072883723e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 114211445, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772260371223, + -1.002694101854579, + 1.5279987709098604, + -2.0961543978065591, + -1.5715909069661027, + -3.2088117747611062 + ], + "velocities": [ + -6.0902043956487e-09, + 0.25557652556489402, + 0.21102723321852121, + -0.46660375878825588, + 3.2356624959449052e-13, + -6.0902051423269985e-09 + ] + }, + { + "accelerations": [ + 4.0967872278532523e-08, + -1.7057793658469942, + -1.4391118625662593, + 3.1448912284458537, + -2.1765788887519162e-12, + 4.0967801048969509e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 158344180, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772258030786, + -0.99270250607626653, + 1.5358714436130751, + -2.1140186662882723, + -1.5715909069660903, + -3.2088117749951497 + ], + "velocities": [ + -3.8562963194777477e-09, + 0.16615500096514962, + 0.1275605085680718, + -0.29371550953628378, + 2.0488108874122319e-13, + -3.8562938038325256e-09 + ] + }, + { + "accelerations": [ + 2.2669475850163685e-08, + -1.8350378481191592, + -1.3295203933101734, + 3.1645582414473123, + -1.2044069071600515e-12, + 2.2669475850163685e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 255481172, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -0.98241460535029523, + 1.5433252287261121, + -2.1317603521274662, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + -1.2047081455178055e-09, + 0.008393118211184436, + 0.0060809986859717002, + -0.01447411689811165, + 6.4004956319408893e-14, + -1.2047081455178055e-09 + ] + }, + { + "accelerations": [ + 0.0, + -1.7165384522678886, + -1.4233259878753282, + 3.139864440143123, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 370913390, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -0.99270250393026183, + 1.5358714499077901, + -2.1140186747291776, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + -0.15762310155985154, + -0.12137028169432551, + 0.27899338325417328, + 0.0, + 0.0 + ] + }, + { + "accelerations": [ + 0.0, + -1.4209367368589201, + -1.6061343553127128, + 3.0270710921719881, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 415100277, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0026940952554195, + 1.5279987699667359, + -2.096154403462966, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + -0.25402798244026215, + -0.20971181385964388, + 0.46373979629990547, + 0.0, + 0.0 + ] + }, + { + "accelerations": [ + 0.0, + 0.3081926141543283, + -0.30819261415451182, + -3.2196937790995028e-15, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 449472265, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.012384753908762, + 1.5197063272995839, + -2.0781713021424713, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + -0.276621191983837, + -0.24656942888648903, + 0.52319062087032919, + 0.0, + 0.0 + ] + }, + { + "accelerations": [ + 0.0, + 1.7436936280039179, + 1.2216014512991715, + -2.9652950793029644, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 484064788, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0217699684734174, + 1.510993058201169, + -2.060072818479401, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + -0.23664032385486455, + -0.22759572323593211, + 0.46423604709079913, + 0.0, + 0.0 + ] + }, + { + "accelerations": [ + 0.0, + 1.5782171629700084, + 1.5030728141979128, + -3.0812899771679589, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 528998345, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0308453358210543, + 1.5018576872327678, + -2.0418620801633627, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + -0.14047591825629013, + -0.14473939347757458, + 0.28521531173386822, + 0.0, + 0.0 + ] + }, + { + "accelerations": [ + 0.0, + 1.4239233355867909, + 1.5535813970529819, + -2.977504732639809, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 639929588, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "start_configuration": { + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ] + } + } + }, + "place_tolerance": 0.0080000000000000002 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "16": {}, + "17": {}, + "18": {}, + "19": {}, + "2": {}, + "20": {}, + "21": {}, + "22": {}, + "23": {}, + "24": {}, + "25": {}, + "26": {}, + "27": {}, + "28": {}, + "29": {}, + "3": {}, + "30": {}, + "31": {}, + "32": {}, + "33": {}, + "34": {}, + "35": {}, + "36": {}, + "37": {}, + "38": {}, + "39": {}, + "4": {}, + "40": {}, + "41": {}, + "42": {}, + "43": {}, + "44": {}, + "45": {}, + "46": {}, + "47": {}, + "48": {}, + "49": {}, + "5": {}, + "50": {}, + "51": {}, + "52": {}, + "53": {}, + "54": {}, + "55": {}, + "56": {}, + "57": {}, + "58": {}, + "59": {}, + "6": {}, + "60": {}, + "61": {}, + "62": {}, + "63": {}, + "64": {}, + "65": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 65, + "node": { + "0": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.26689211854733336, + 0.36055842203008698, + 0.10189178182404157 + ], + "xaxis": [ + -0.68540106367987375, + -0.72816556084808304, + -0.0005458033476301396 + ], + "yaxis": [ + 0.72816532996996453, + -0.68540128099880049, + 0.00057985768593939602 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.26689211854733336, + 0.36055842203008698, + 0.051891781824041562 + ], + "xaxis": [ + -0.68540106367987375, + -0.72816556084808304, + -0.0005458033476301396 + ], + "yaxis": [ + 0.72816532996996453, + -0.68540128099880049, + 0.00057985768593939581 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0064616859821367, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0456549340377359, + -1.5884932100695817, + 2.5649642562990014, + -0.91583404981690864, + -0.012698405081146349, + -0.18817164717762669 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 245355853, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4130834887701351, + -1.0868045070722316, + 1.5685099624659316, + -2.050753513072141, + -1.5719682071369989, + -3.2144028076611346 + ], + "velocities": [ + -0.6325254149928613, + -0.32990025090614983, + 0.53269497556195311, + -0.19020155761934854, + -0.0026372206036654106, + -0.039079722358148022 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1478420827975993, + -1.6417899871099666, + 2.6510233764877977, + -0.9465619137131267, + -0.01312445919336298, + -0.19448514116134261 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 346328045, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3225897519712353, + -1.1340024627080998, + 1.6447212225512577, + -2.077965146448391, + -1.57234550730792, + -3.2199938400930761 + ], + "velocities": [ + -1.0362302833588837, + -0.54045675062796406, + 0.87268377267756958, + -0.31159635530126939, + -0.0043204079846292584, + -0.064022078501347224 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.848092570670631, + -1.4854524915473957, + 2.3985828337802753, + -0.85642668317409854, + -0.011874698202607174, + -0.17596552529572287 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 423263048, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2320960151723352, + -1.1812004183439679, + 1.7209324826365837, + -2.105176779824641, + -1.5727228074788411, + -3.2255848725250176 + ], + "velocities": [ + -1.2777328486787229, + -0.66641494140578916, + 1.0760703877950868, + -0.3842166216243551, + -0.0053273169972998724, + -0.07894298599023658 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8249725358337763, + -1.4733939953781028, + 2.379111795778317, + -0.84947444610338629, + -0.011778302657471288, + -0.17453708539287849 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 488874854, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1416022783734354, + -1.2283983739798361, + 1.7971437427219099, + -2.132388413200891, + -1.5731001076497622, + -3.2311759049569591 + ], + "velocities": [ + -1.466689885216317, + -0.76496746164711138, + 1.2352046479762187, + -0.44103635063554381, + -0.0061151452460214356, + -0.090617439459574151 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8249725358337763, + 1.4733939953781028, + -2.3791117957783707, + 0.84947444610338629, + 0.011778302657471288, + 0.17453708539287849 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 547102000, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0511085415745354, + -1.2755963296157042, + 1.8733550028072359, + -2.1596000465771406, + -1.5734774078206835, + -3.2367669373889005 + ], + "velocities": [ + -1.466689885216317, + -0.76496746164711138, + 1.2352046479762171, + -0.44103635063554381, + -0.0061151452460214356, + -0.090617439459574151 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8941585691192415, + 1.5094786952163994, + -2.4373783119319592, + 0.87027881377712801, + 0.012066763528928433, + 0.17881165034754065 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 612713806, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.96061480477563554, + -1.3227942852515724, + 1.9495662628925619, + -2.1868116799533905, + -1.5738547079916045, + -3.242357969820842 + ], + "velocities": [ + -1.2759189956427512, + -0.66546890736906872, + 1.0745428121818918, + -0.38367119267469263, + -0.005319754406951563, + -0.07883091954774421 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9886289267700166, + 1.5587506990812805, + -2.5169385693814297, + 0.8986862243698317, + 0.012460643628805392, + 0.18464837288952182 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 689886823, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.8701210679767355, + -1.3699922408874405, + 2.0257775229778883, + -2.2140233133296405, + -1.5742320081625256, + -3.2479490022527835 + ], + "velocities": [ + -1.0405197554634227, + -0.54269396970248618, + 0.87629624449884436, + -0.31288620746579809, + -0.004338292300333892, + -0.064287097700473445 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1292184772378646, + 1.6320766506948694, + -2.6353391037718938, + 0.94096176121018782, + 0.013046810841008394, + 0.19333450702502225 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 789502245, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.77962733117783556, + -1.4171901965233087, + 2.1019887830632142, + -2.2412349467058905, + -1.5746093083334467, + -3.253540034684725 + ], + "velocities": [ + -0.64139194329972971, + -0.33452468155157339, + 0.54016211438008122, + -0.19286773901644133, + -0.0026741882741804666, + -0.039627528748689612 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0972328566781817, + 1.6153942154947794, + -2.608401720769558, + 0.93134362617929423, + 0.012913451555260212, + 0.1913583189679153 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 31236017, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68913359437893562, + -1.4643881521591768, + 2.1782000431485402, + -2.2684465800821405, + -1.5749866085043678, + -3.2591310671166664 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.17749300765013573, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68913359437893562, + -1.4643881521591768, + 2.1782000431485402, + -2.2684465800821405, + -1.5749866085043678, + -3.2591310671166664 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.10888440646819693, + 2.5233714646587084, + 1.0992252502266195, + -2.0432304059563728, + -0.34687051579209471, + 0.95330225898649057 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 114161759, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68797696943214381, + -1.4655626331965088, + 2.1822806804883572, + -2.2881295623858193, + -1.5713019748285999, + -3.269257524650099 + ], + "velocities": [ + -0.0050657277385750188, + 0.10710926039626129, + 0.08688461111431979, + -0.26747218059280903, + 0.016137775527819753, + -0.044351354899129433 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2493294123385841e-08, + 2.0862163132525597, + 0.99977014465556802, + -3.0859864579018872, + -7.6901250207117519e-12, + 1.2493268359405593e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 186095673, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68797696953928067, + -1.4494130099145397, + 2.1922093501450477, + -2.3142078553244247, + -1.5713019748286658, + -3.269257524542962 + ], + "velocities": [ + 1.8635847404212549e-09, + 0.28699385522843712, + 0.16797052701998397, + -0.45496438224748104, + -1.147114202840566e-12, + 1.8635855121177737e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.6145830413210615e-09, + 1.4996372209397992, + 0.42496520708834534, + -1.9246024280243104, + -4.6870917908575606e-12, + 7.6143440360905453e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 233971899, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68797696964641764, + -1.4326811633142362, + 2.2016848296799987, + -2.3404151814596252, + -1.5713019748287318, + -3.2692575244358251 + ], + "velocities": [ + 2.4080334979751436e-09, + 0.38300943944074484, + 0.20741733060487799, + -0.59042677004441013, + -1.482244527273706e-12, + 2.4080281544192065e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2463486426094314e-08, + -1.7929786902992388, + -1.2306695631635918, + 3.0236482534568112, + 7.6718723787609789e-12, + -1.2463391780548642e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 275525614, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.6879769697535546, + -1.4153724800538785, + 2.2106985987220762, + -2.3667376337620065, + -1.5713019748287977, + -3.2692575243286885 + ], + "velocities": [ + 2.2804192383581435e-09, + 0.37368826283923606, + 0.18750746982573102, + -0.5611957326638124, + -1.403690758863829e-12, + 2.2804108131218918e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2586099036970367e-08, + -2.0551107089541705, + -1.0422139930084553, + 3.0973247019561909, + 7.747225559322051e-12, + -1.258603308694952e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 329565436, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.6879769698606919, + -1.3974940012648456, + 2.2192421029446399, + -2.3931596167735485, + -1.5713019748288637, + -3.2692575242215516 + ], + "velocities": [ + 1.3944449708057339e-09, + 0.23480876111989957, + 0.10939638999984631, + -0.34420515111903582, + -8.5833683812761334e-13, + 1.3944418891254198e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2137074498371834e-08, + -2.088933864680965, + -0.91361816698777676, + 3.0025520316625793, + 7.4708729207680682e-12, + -1.2137074498371834e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 462435658, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68797696996782887, + -1.3790544640934617, + 2.2273068370348192, + -2.4196638880350574, + -1.5713019748289296, + -3.2692575241144146 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.26689211854733336, + "y": 0.36055842203008698, + "z": 0.051891781824041562 + }, + "1": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.31706435844363534, + 0.30972291223414, + 0.10189178182404157 + ], + "xaxis": [ + -0.73897542419375373, + -0.67373212491713896, + -0.00058846605544478207 + ], + "yaxis": [ + 0.67373191129813026, + -0.73897565849941005, + 0.00053651088695059676 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.31706435844363534, + 0.30972291223414, + 0.051891781824041562 + ], + "xaxis": [ + -0.73897542419375373, + -0.67373212491713896, + -0.00058846605544478207 + ], + "yaxis": [ + 0.67373191129813026, + -0.73897565849941005, + 0.00053651088695059687 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1042377381546129, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0416726159657821, + -1.3672007706261915, + 2.1826940864905571, + -0.7707295945708883, + -0.016721812046831219, + -0.40606040023870082 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 264462054, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3950217556183746, + -1.0884011263005973, + 1.5701977442018034, + -2.0510487563085658, + -1.572187698401041, + -3.2233038271827428 + ], + "velocities": [ + -0.69572662024370113, + -0.31272200905169567, + 0.49925109357563824, + -0.17629020728200043, + -0.0038248066930761174, + -0.092878841854968863 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1321462822000257, + -1.4078677594229507, + 2.2476176864980255, + -0.79365472192674758, + -0.017219197476813091, + -0.41813854859999705 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 375122654, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2864662856677143, + -1.1371957011648308, + 1.6480967860230009, + -2.0785556329212409, + -1.5727844898360042, + -3.2377958791362924 + ], + "velocities": [ + -1.1337044648096901, + -0.50958857630311272, + 0.81354252860061682, + -0.28726943785451359, + -0.0062326211169776453, + -0.15134846739146979 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8399169468238905, + -1.2765136582522181, + 2.0379148937396807, + -0.71960671426362255, + -0.01561264587258086, + -0.379126210368251 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 459507565, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1779108157170537, + -1.1859902760290646, + 1.7259958278441987, + -2.1060625095339156, + -1.5733812812709673, + -3.252287931089842 + ], + "velocities": [ + -1.3974375990249537, + -0.62813392613665675, + 1.0027965428037524, + -0.35409679150910683, + -0.0076825128238367877, + -0.18655658988089602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5570435380086938, + -1.1493649505010815, + 1.8349258825603505, + -0.64792940535561894, + -0.014057529141599696, + -0.34136287943059296 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 531472812, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0693553457663934, + -1.2347848508932984, + 1.8038948696653963, + -2.1335693861465908, + -1.5739780727059305, + -3.2667799830433917 + ], + "velocities": [ + -1.5956825167131847, + -0.71724299159405502, + 1.1450564320645573, + -0.40433008230890255, + -0.0087723783916896711, + -0.21302209777257969 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7613599445745667, + 1.2412030881896026, + -1.9815426519140069, + 0.69970115106228559, + 0.015180773152393441, + 0.36863892531074421 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 595976969, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.96079987581573278, + -1.2835794257575319, + 1.8817939114865943, + -2.1610762627592655, + -1.5745748641408936, + -3.2812720349969409 + ], + "velocities": [ + -1.5882149772833669, + -0.71388640890019817, + 1.1396977507690935, + -0.40243788207440812, + -0.0087313250613140492, + -0.21202518836367296 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.814881683649042, + 1.2652605631867448, + -2.0199496726969572, + 0.7132630275251276, + 0.015475012728515408, + 0.37578402655415222 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 668661868, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85224440586507233, + -1.3323740006217657, + 1.9596929533077918, + -2.1885831393719406, + -1.5751716555758568, + -3.2957640869504905 + ], + "velocities": [ + -1.3822535988809466, + -0.62130887317431327, + 0.99190055513248254, + -0.35024931686192512, + -0.0075990377005791393, + -0.18452954030845453 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9565847105905325, + 1.3289546263208087, + -2.1216352904453304, + 0.74916916546068968, + 0.016254035221121718, + 0.39470124582780147 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 754071411, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.74368893591441176, + -1.3811685754859995, + 2.0375919951289894, + -2.2160900159846153, + -1.57576844701082, + -3.3102561389040401 + ], + "velocities": [ + -1.1260921847812475, + -0.50616693418867875, + 0.80807998193613484, + -0.28534056179162454, + -0.0061907720648425426, + -0.1503322352503598 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0431103238168857, + 1.3678470056192824, + -2.1837257808314638, + 0.77109389544382756, + 0.016729715948236717, + 0.40625233286891921 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 864708512, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63513346596375142, + -1.429963150350233, + 2.1154910369501874, + -2.2435968925972904, + -1.5763652384457831, + -3.3247481908575898 + ], + "velocities": [ + -0.69502359999316532, + -0.31240600863033113, + 0.49874660859738379, + -0.17611206894133011, + -0.0038209417891305478, + -0.092784989320409406 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0798678577597065, + 1.3843691416536386, + -2.2101028641341678, + 0.78040788902893521, + 0.016931793111528513, + 0.4111594286774094 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 130214800, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52657799601309085, + -1.4787577252144668, + 2.1933900787713849, + -2.2711037692099652, + -1.5769620298807463, + -3.3392402428111394 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.24723787952808676, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52657799601309085, + -1.4787577252144668, + 2.1933900787713849, + -2.2711037692099652, + -1.5769620298807463, + -3.3392402428111394 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.14890018896166471, + 2.2413357439974666, + 1.1895004469603563, + -2.0043063731427111, + -0.54790100044463697, + 1.5762089943853725 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 112593337, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52501084661747255, + -1.477597841353574, + 2.1960539982925367, + -2.2899415602829265, + -1.5711954635085301, + -3.3558295786120134 + ], + "velocities": [ + -0.0069593336831605028, + 0.11505765822805697, + 0.079254832751321766, + -0.26098600839475239, + 0.025607937834590099, + -0.073669259622334324 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4033132315831282e-08, + 2.0875521473530121, + 1.0061141427234297, + -3.0936662900708987, + -9.6686332951641293e-12, + 1.403315658982516e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 186953028, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52501084673897014, + -1.4612525562513983, + 2.2060814034081773, + -2.3163142505006942, + -1.5711954635086138, + -3.3558295784905159 + ], + "velocities": [ + 2.0654921178925407e-09, + 0.2840143350965727, + 0.16579203125611727, + -0.44980636635186555, + -1.4231043147969409e-12, + 2.0654913713704606e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.6768494756814861e-09, + 1.5207704154990047, + 0.44019223199530988, + -1.9609626474908561, + -5.9783400873297803e-12, + 8.6769659742836476e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 235609283, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52501084686046806, + -1.4443097239824541, + 2.2156537456090692, + -2.342829424970482, + -1.5711954635086975, + -3.355829578369018 + ], + "velocities": [ + 2.6937916046503575e-09, + 0.38269435225574022, + 0.20671425232422014, + -0.58940860457888711, + -1.8559964595122209e-12, + 2.6937942459495436e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3741251650076778e-08, + -1.7610660232186661, + -1.2096228981348027, + 2.9706889213479095, + 9.4675980022532822e-12, + -1.3741445293341906e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 277642501, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52501084698196576, + -1.4267745662318476, + 2.224762110608959, + -2.3694729477209298, + -1.5711954635087813, + -3.35582957824752 + ], + "velocities": [ + 2.5586880447762938e-09, + 0.37464701468552808, + 0.18748407923775434, + -0.56213109392226501, + -1.7629129018227426e-12, + 2.5586886512131232e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4003159386981111e-08, + -2.0426785753586563, + -1.0335406976932251, + 3.0762192730463278, + 9.6480500622136536e-12, + -1.4003098525919752e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 332202605, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52501084710346346, + -1.4086540529022911, + 2.2333975405096678, + -2.3962288909511469, + -1.571195463508865, + -3.3558295781260226 + ], + "velocities": [ + 1.5676669317835894e-09, + 0.23596197722620321, + 0.1096202129662551, + -0.34558219019183661, + -1.0801083256102014e-12, + 1.5676657270676965e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.358585704002e-08, + -2.090707562524043, + -0.91173225519656642, + 3.0024398177152216, + 9.3605325225430524e-12, + -1.3585881869018735e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 465940815, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52501084722496116, + -1.3899569503845242, + 2.2415511205462679, + -2.4230795735054658, + -1.5711954635089487, + -3.3558295780045246 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.31706435844363534, + "y": 0.30972291223414, + "z": 0.051891781824041562 + }, + "10": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.27412218579120734, + -0.218724731127103, + 0.10189178182404157 + ], + "xaxis": [ + -0.40394729155681069, + 0.91478220477317851, + -0.00032167411998766844 + ], + "yaxis": [ + -0.91478191472486325, + -0.40394741963567798, + -0.00072846550416434674 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.27412218579120734, + -0.218724731127103, + 0.051891781824041562 + ], + "xaxis": [ + -0.40394729155681069, + 0.91478220477317851, + -0.00032167411998766844 + ], + "yaxis": [ + -0.91478191472486325, + -0.40394741963567798, + -0.00072846550416434707 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1827553534354291, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2326495101435211, + -0.17644242968280668, + -1.7436134249051878, + 0.51178432047463018, + -1.3971809156172432, + 3.1869765930110443 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 390916793, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3367973212350932, + -1.052786878849713, + 1.3620500095697168, + -1.9853113649551857, + -1.6759609383503924, + -2.9707432163792511 + ], + "velocities": [ + -0.73419263779485966, + -0.058021974465407494, + -0.57337622135029132, + 0.16829702939229585, + -0.45945408683861044, + 1.0480170491528913 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1893088094611901, + -0.17301728906049541, + -1.7097660040667852, + 0.50184944670835097, + -1.3700585215344754, + 3.1251102776885391 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 551013091, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.170017416901151, + -1.0659672062630627, + 1.231801316758828, + -1.9470808502144803, + -1.7803309697347069, + -2.7326746575293095 + ], + "velocities": [ + -1.196888172411207, + -0.094588002388815595, + -0.93472364383439088, + 0.2743594985324026, + -0.74900664211887158, + 1.7084878627819624 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0150829847013503, + -0.15924852343275542, + -1.5737023336893647, + 0.46191212339419702, + -1.2610288703258139, + 2.8764131029259317 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 674368368, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0032375125672091, + -1.0791475336764123, + 1.1015526239479392, + -1.9088503354737751, + -1.8847010011190215, + -2.4946060986793674 + ], + "velocities": [ + -1.4672642003906273, + -0.11595535229659779, + -1.1458769260739996, + 0.33633707769268151, + -0.91820661041526475, + 2.0944338290282833 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8919670296172819, + -0.14951888241693653, + -1.477553506419657, + 0.43369057983079617, + -1.1839835203637867, + 2.7006722778227004 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 779758549, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.83645760823326709, + -1.092327861089762, + 0.97130393113705049, + -1.8706198207330698, + -1.9890710325033361, + -2.2565375398294258 + ], + "velocities": [ + -1.6768843133317968, + -0.13252126730909153, + -1.3095821746559273, + 0.38438773972987583, + -1.0493858304407588, + 2.3936542800362419 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9923778633306686, + -0.15745417695666603, + -1.5559705068817411, + 0.45670748869482114, + -1.2468201187409578, + 2.8440028701414803 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 873916968, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.66967770389932513, + -1.1055081885031115, + 0.8410552383261618, + -1.8323893059923644, + -2.0934410638876502, + -2.0184689809794838 + ], + "velocities": [ + -1.8607643746011686, + -0.14705299055234483, + -1.453185432554233, + 0.42653807805124044, + -1.1644570546525632, + 2.6561323127612519 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2321501861747195, + -0.17640296897304053, + -1.743223472083917, + 0.51166986176676321, + -1.3968684411706276, + 3.1862638372499541 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 959433740, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50289779956538294, + -1.1186885159164612, + 0.71080654551527289, + -1.794158791251659, + -2.1978110952719652, + -1.7804004221295417 + ], + "velocities": [ + -2.0416148938852556, + -0.16134529433173633, + -1.594422734644044, + 0.46799396250546499, + -1.2776324066167644, + 2.9142858514934584 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.426102297374612, + -0.11270239828589476, + -1.1137310624410168, + 0.32690164393168086, + -0.89244769703327786, + 2.0356776199413207 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 37625130, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.33611789523144098, + -1.1318688433298107, + 0.5805578527043842, + -1.7559282765109536, + -2.3021811266562793, + -1.5423318632795999 + ], + "velocities": [ + -2.1873716530214784, + -0.17286419893715749, + -1.7082531593685477, + 0.50140539748001312, + -1.3688462587069035, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3876911397038912e-14, + -3.7680750798452035e-14, + 2.3876911397038912e-14, + -7.4615348115746597e-15, + 1.7609222155316197e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 112021554, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.16933799089749901, + -1.1450491707431603, + 0.4503091598934954, + -1.7176977617702482, + -2.4065511580405943, + -1.3042633044296583 + ], + "velocities": [ + -2.2417731112700645, + -0.17716345210164286, + -1.7507386065942332, + 0.51387569934158561, + -1.4028904196472323, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9846139246298607e-14, + 4.2157671685396777e-14, + 5.9692278492597215e-14, + -4.6261515831762836e-14, + -6.2676892417227077e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 186417979, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.0025580865635570493, + -1.15822949815651, + 0.3200604670826066, + -1.6794672470295429, + -2.5109211894249084, + -1.0661947455797165 + ], + "velocities": [ + -2.2417731112700627, + -0.17716345210164269, + -1.7507386065942301, + 0.51387569934158361, + -1.4028904196472283, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3723050643337522e-14, + -4.4396132128869202e-14, + -8.3569189889636136e-14, + 5.3723050643337522e-14, + -3.5815367095558344e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 260814404, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.16422181777038491, + -1.1714098255698595, + 0.18981177427171803, + -1.6412367322888377, + -2.6152912208092229, + -0.82812618672977445 + ], + "velocities": [ + -2.2417731112700636, + -0.1771634521016428, + -1.750738606594231, + 0.51387569934158384, + -1.4028904196472318, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9846139246298595e-14, + 4.8873053015813951e-14, + 4.7753822794077748e-14, + -2.6861525321668736e-14, + -8.9538417738895781e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 335210828, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.33100172210432688, + -1.1845901529832092, + 0.059563081460829226, + -1.6030062175481323, + -2.7196612521935375, + -0.59005762787983285 + ], + "velocities": [ + -2.2417731112700645, + -0.17716345210164264, + -1.7507386065942323, + 0.51387569934158484, + -1.4028904196472336, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9846139246298595e-14, + -4.8873053015813951e-14, + -4.7753822794077748e-14, + 2.6861525321668736e-14, + 8.9538417738895784e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 409607253, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.49778162643826929, + -1.1977704803965588, + -0.070685611350059796, + -1.5647757028074269, + -2.8240312835778525, + -0.35198906902989036 + ], + "velocities": [ + -2.2417731112700645, + -0.17716345210164264, + -1.7507386065942323, + 0.51387569934158484, + -1.4028904196472305, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.3723050643337522e-14, + 4.4396132128869202e-14, + 8.3569189889636136e-14, + -1.3430762660834381e-14, + -4.476920886944793e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 484003678, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.66456153077221125, + -1.2109508078099085, + -0.2009343041609486, + -1.5265451880667216, + -2.9284013149621666, + -0.11392051017994875 + ], + "velocities": [ + -2.2417731112700636, + -0.1771634521016428, + -1.750738606594231, + 0.51387569934158539, + -1.4028904196472287, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3723050643337522e-14, + -4.4396132128869202e-14, + -8.3569189889636136e-14, + -2.6861525321668761e-14, + -3.5815367095558344e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 558400102, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.83134143510615321, + -1.224131135223258, + -0.33118299697183717, + -1.4883146733260162, + -3.0327713463464812, + 0.12414804866999329 + ], + "velocities": [ + -2.2417731112700636, + -0.1771634521016428, + -1.750738606594231, + 0.51387569934158384, + -1.4028904196472318, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.9919211241924447e-14, + 0.0, + 7.9092269002691425e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 632796527, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.99812133944009518, + -1.2373114626366077, + -0.46143168978272597, + -1.450084158585311, + -3.1371413777307957, + 0.3622166075199349 + ], + "velocities": [ + -2.2417731112700654, + -0.17716345210164297, + -1.7507386065942341, + 0.51387569934158583, + -1.4028904196472332, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.3723050643337522e-14, + 4.476920886944793e-15, + 8.3569189889636136e-14, + -9.2523031663525735e-14, + 3.5815367095558344e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 707192952, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1649012437740371, + -1.2504917900499573, + -0.59168038259361477, + -1.4118536438446054, + -3.2415114091151103, + 0.6002851663698765 + ], + "velocities": [ + -2.2417731112700636, + -0.17716345210164131, + -1.750738606594231, + 0.51387569934158528, + -1.4028904196472318, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3723050643337522e-14, + -4.4396132128869202e-14, + -1.2236917090982435e-13, + 5.3723050643337522e-14, + 4.476920886944793e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 781589376, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3316811481079791, + -1.2636721174633068, + -0.72192907540450335, + -1.3736231291039003, + -3.3458814404994248, + 0.83835372521981855 + ], + "velocities": [ + -2.2417731112700636, + -0.1771634521016428, + -1.7507386065942323, + 0.51387569934158384, + -1.4028904196472287, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.9919211241924447e-14, + 8.058457596500635e-14, + 0.0, + -1.5818453800538285e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 855985801, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4984610524419211, + -1.2768524448766565, + -0.85217776821539237, + -1.3353926143631949, + -3.4502514718837389, + 1.0764222840697601 + ], + "velocities": [ + -2.2417731112700654, + -0.17716345210164297, + -1.7507386065942341, + 0.51387569934158583, + -1.4028904196472332, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0744610128667494e-13, + -3.0965369468034791e-14, + 8.6553803814265922e-14, + -6.7153813304171838e-14, + 2.2981527219649919e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 930382226, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.665240956775863, + -1.290032772290006, + -0.98242646102628095, + -1.2971620996224895, + -3.5546215032680539, + 1.3144908429197018 + ], + "velocities": [ + -2.2417731112700614, + -0.17716345210164264, + -1.7507386065942279, + 0.51387569934158339, + -1.4028904196472305, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0744610128667494e-13, + 3.0965369468034791e-14, + -1.6713837977927212e-13, + 1.0595379432436001e-13, + -1.5221531015612282e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 4778650, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.832020861109805, + -1.3032130997033557, + -1.1126751538371695, + -1.2589315848817844, + -3.658991534652368, + 1.5525594017696442 + ], + "velocities": [ + -2.2417731112700614, + -0.17716345210164264, + -1.7507386065942308, + 0.51387569934158472, + -1.4028904196472274, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.5815367095558382e-14, + 0.0, + 8.058457596500635e-14, + -7.9092269002691425e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 79175075, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.998800765443747, + -1.3163934271167053, + -1.2429238466480586, + -1.2207010701410788, + -3.7633615660366826, + 1.7906279606195858 + ], + "velocities": [ + -2.2417731112700641, + -0.17716345210164147, + -1.7507386065942341, + 0.51387569934158583, + -1.4028904196472332, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.356918988963606e-14, + -3.0965369468034791e-14, + 5.9692278492597185e-15, + 5.3723050643337472e-14, + -8.9538417738895781e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 153571499, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1655806697776887, + -1.3295737545300548, + -1.3731725394589471, + -1.1824705554003736, + -3.8677315974209971, + 2.0286965194695274 + ], + "velocities": [ + -2.2417731112700658, + -0.17716345210164264, + -1.7507386065942308, + 0.51387569934158484, + -1.4028904196472336, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4261022973747413, + 0.11270239828589403, + 1.1137310624409753, + -0.32690164393174964, + 0.892447697033112, + -2.0356776199413198 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 227967924, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3323605741116316, + -1.3427540819434045, + -1.5034212322698361, + -1.144240040659668, + -3.9721016288053121, + 2.2667650783194699 + ], + "velocities": [ + -2.1873716530214771, + -0.17286419893715979, + -1.7082531593685455, + 0.50140539748001145, + -1.3688462587069048, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2321501861746182, + 0.1764029689730964, + 1.7432234720839164, + -0.5116698617666986, + 1.3968684411708143, + -3.1862638372499426 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 306159314, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4991404784455735, + -1.3559344093567542, + -1.6336699250807252, + -1.1060095259189628, + -4.0764716601896271, + 2.5048336371694124 + ], + "velocities": [ + -2.041614893885253, + -0.16134529433173636, + -1.5944227346440436, + 0.46799396250546327, + -1.2776324066167639, + 2.9142858514934584 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9486227012899704, + 0.15399628216995231, + 1.5217994076578889, + -0.44667760905159731, + 1.2194383568094589, + -2.7815449354708166 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 391676086, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6659203827795155, + -1.3691147367701038, + -1.7639186178916137, + -1.0677790111782575, + -4.1808416915739413, + 2.742902196019354 + ], + "velocities": [ + -1.8628368956703616, + -0.14721677830826135, + -1.4548039918234903, + 0.42701315655426919, + -1.1657540279893657, + 2.6590907153703602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9679805996006954, + 0.15552610339622741, + 1.5369171819522467, + -0.45111496869437218, + 1.2315524329164076, + -2.8091772031088316 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 485614675, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.8327002871134574, + -1.3822950641834533, + -1.8941673107025028, + -1.0295484964375521, + -4.2852117229582554, + 2.9809707548692956 + ], + "velocities": [ + -1.6772321429654489, + -0.13254875568350871, + -1.3098538162262066, + 0.38446747179345808, + -1.0496035004887541, + 2.3941507864944942 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0929724784511117, + 0.16540399542311135, + 1.6345310335565626, + -0.47976652528295177, + 1.3097717266048587, + -2.9875957996699176 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 591235076, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9994801914473994, + -1.395475391596803, + -2.0244160035133913, + -0.99131798169684671, + -4.3895817543425704, + 3.2190393137192372 + ], + "velocities": [ + -1.4585675281221793, + -0.11526806932709066, + -1.1390851594082609, + 0.33434356259455389, + -0.91276427633297896, + 2.0820198380141512 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.128660199837789, + 0.16822433432657022, + 1.6624017718123156, + -0.48794712692065917, + 1.3321049244563934, + -3.0385379346538306 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 715875819, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1662600957813414, + -1.4086557190101525, + -2.1546646963242799, + -0.95308746695614155, + -4.4939517857268845, + 3.4571078725691797 + ], + "velocities": [ + -1.1858950197468334, + -0.093719232545110359, + -0.92613841427616905, + 0.27183956732929659, + -0.74212718207135675, + 1.692795780318693 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1984887002958331, + 0.17374275995763375, + 1.7169351458535866, + -0.50395372871567856, + 1.3758032513827125, + -3.1382140349435015 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 877217684, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3330400001152833, + -1.4218360464235023, + -2.2849133891351689, + -0.91485695221543617, + -4.5983218171111986, + 3.6951764314191213 + ], + "velocities": [ + -0.73017146596339477, + -0.057704188209708948, + -0.57023584075882949, + 0.16737526684787141, + -0.45693765758457106, + 1.0422770615528978 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1827553534354367, + 0.17249938076421745, + 1.7046480068826546, + -0.50034721538021687, + 1.365957401475582, + -3.1157556025088398 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 268134477, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4998199044492257, + -1.4350163738368518, + -2.4151620819460575, + -0.87662643747473079, + -4.7026918484955136, + 3.9332449902690629 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.19168791575736785, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4998199044492257, + -1.4350163738368518, + -2.4151620819460575, + -0.87662643747473079, + -4.7026918484955136, + 3.9332449902690629 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.10766527914622481, + -2.6969155269133727, + -1.0118294598427662, + 2.2721523610979344, + 0.89242440636394627, + -0.58983981690619736 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 108884719, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.49868358978375, + -1.4322288533829832, + -2.4203135734340457, + -0.85910046204613677, + -4.7121106235395045, + 3.9394702440881044 + ], + "velocities": [ + 0.0052179706949027661, + -0.10510470197734942, + -0.096349497827171948, + 0.27107831457575671, + -0.04325113339906668, + 0.028586443257908899 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.0888275705333353e-09, + -2.0519014461520624, + -0.98040857398893999, + 3.0323100201388082, + 6.0293931419544482e-12, + -8.0888275705333353e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 193859034, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4986835898743078, + -1.4522666518475453, + -2.432667782452564, + -0.82670845456308162, + -4.712110623539437, + 3.9394702439975466 + ], + "velocities": [ + -1.3496446400643787e-09, + -0.30783664056258481, + -0.17980222084496914, + 0.48763886140718038, + 1.0060219563245302e-12, + -1.3496446400643787e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.2020778336717069e-09, + -1.8768771918193459, + -0.60291390288270841, + 2.4797910947001558, + 4.6230143033871448e-12, + -6.2020778336717069e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 249294150, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4986835899648656, + -1.4733244135290793, + -2.4445429197103037, + -0.79377555562383295, + -4.7121106235393695, + 3.9394702439069889 + ], + "velocities": [ + -1.7915579372391043e-09, + -0.42767014271741399, + -0.22957400965455776, + 0.65724415237147282, + 1.3354230938923679e-12, + -1.7915579372391043e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.4619142410947686e-09, + 1.7444523948447501, + 1.2230513743993572, + -2.9675037692416288, + -6.3074910731098047e-12, + 8.4620515419271199e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 295745133, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4986835900554234, + -1.495410790200717, + -2.4559202119760739, + -0.76031188668645044, + -4.712110623539302, + 3.9394702438164311 + ], + "velocities": [ + -1.7233030931205223e-09, + -0.42883873050889532, + -0.21223258636081704, + 0.64107131686923124, + 1.2845460928133825e-12, + -1.7232994223512149e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.4870558897398665e-09, + 2.1017648312177997, + 1.0516068065852087, + -3.1533716378006709, + -6.3262315991744704e-12, + 8.4870142697951357e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 356235070, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4986835901459812, + -1.5185300680872946, + -2.466780213984356, + -0.72633260679161582, + -4.7121106235392345, + 3.9394702437258737 + ], + "velocities": [ + -1.0492523406482928e-09, + -0.27130076694114946, + -0.12404599035212201, + 0.39534675729298002, + 7.8211023930472293e-13, + -1.049247195186192e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.988742902707116e-09, + 2.1305845635178517, + 0.91064514368603933, + -3.0412297072016581, + -5.9547902647705527e-12, + 7.9887037264553729e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 506805145, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.498683590236539, + -1.5426816796698584, + -2.4771029902667201, + -0.69185821892671329, + -4.712110623539167, + 3.9394702436353164 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.27412218579120734, + "y": -0.218724731127103, + "z": 0.051891781824041562 + }, + "11": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.29197823849548438, + 0.33514066713211299, + 0.12189178182404158 + ], + "xaxis": [ + -0.7127081061213929, + -0.70146050021177331, + -0.00056754868181220139 + ], + "yaxis": [ + 0.70146027780097953, + -0.71270833209851625, + 0.00055859173284295081 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.29197823849548438, + 0.33514066713211299, + 0.071891781824041573 + ], + "xaxis": [ + -0.7127081061213929, + -0.70146050021177331, + -0.00056754868181220139 + ], + "yaxis": [ + 0.70146027780097953, + -0.71270833209851625, + 0.00055859173284295081 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1467507772637995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.121964927901693, + -1.6327107277601718, + 2.3338938984055639, + -0.66124327360286916, + -0.02473076140355714, + -0.342130705486067 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 251624887, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4039588308997326, + -1.0917045171134265, + 1.5667706355563276, + -2.0446414099351586, + -1.5723800377881296, + -3.2197287818050815 + ], + "velocities": [ + -0.67396107395815696, + -0.35246503434740029, + 0.50383449993815366, + -0.14274735210575679, + -0.0053388077381595588, + -0.073858221674008157 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0689248102535527, + -1.604972053212014, + 2.2942425859121296, + -0.6500091880715777, + -0.024310602136984258, + -0.33631813126139598 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 356263668, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3043404362304301, + -1.1438024827904896, + 1.6412425687320495, + -2.0657409401744258, + -1.5731691686101814, + -3.2306457883809703 + ], + "velocities": [ + -1.0941289169369628, + -0.57220246270871833, + 0.81794025950975435, + -0.2317403953878624, + -0.0086671829486844355, + -0.1199036846630831 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8578986413644865, + -1.4946105668596446, + 2.136485308252714, + -0.6053130950804757, + -0.022638950483867076, + -0.31319214051360011 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 436845683, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2047220415611273, + -1.1959004484675526, + 1.7157145019077715, + -2.0868404704136934, + -1.5739582994322332, + -3.2415627949568586 + ], + "velocities": [ + -1.3429100653042396, + -0.70230887299333067, + 1.0039221067187054, + -0.28443312729104464, + -0.010637912077313457, + -0.14716717793356485 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8346990035335664, + -1.4824777279452617, + 2.1191419061231809, + -0.60039932928891893, + -0.022455173689093191, + -0.31064973256155354 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 505567738, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1051036468918247, + -1.2479984141446157, + 1.7901864350834935, + -2.1079400006529605, + -1.574747430254285, + -3.2524798015327474 + ], + "velocities": [ + -1.5415058097423633, + -0.80616955366074017, + 1.152386745783365, + -0.32649641218006842, + -0.012211095660372508, + -0.16893094008985809 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8346990035335664, + 1.4824777279452617, + -2.1191419061231809, + 0.60039932928891893, + 0.022455173689093191, + 0.31064973256155354 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 566555073, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0054852522225222, + -1.3000963798216789, + 1.8646583682592155, + -2.1290395308922281, + -1.5755365610763368, + -3.2633968081086357 + ], + "velocities": [ + -1.5415058097423633, + -0.80616955366074017, + 1.152386745783365, + -0.32649641218006842, + -0.012211095660372508, + -0.16893094008985809 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.155441372193049, + 1.650218083218677, + -2.3589199543915362, + 0.66833370354773314, + 0.024995946303300827, + 0.34579933078047603 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 635277128, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.90586685755321961, + -1.352194345498742, + 1.9391303014349375, + -2.1501390611314952, + -1.5763256918983886, + -3.2743138146845245 + ], + "velocities": [ + -1.3305017541111939, + -0.69581963199731267, + 0.99464599937869513, + -0.28180500285574339, + -0.010539619178250522, + -0.14580737269538752 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8842164837985393, + 1.5083741499446093, + -2.1561597931666854, + 0.6108873076957787, + 0.022847428252491347, + 0.31607626708335756 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 717509912, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.80624846288391705, + -1.404292311175805, + 2.0136022346106595, + -2.1712385913707628, + -1.5771148227204403, + -3.2852308212604129 + ], + "velocities": [ + -1.0757100720630282, + -0.56256986070545578, + 0.80417084484312529, + -0.22783921854517142, + -0.0085212773833030428, + -0.11788519549472712 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0434813393730256, + 1.5916657449038165, + -2.2752217567825195, + 0.64462017046068365, + 0.024109050735173079, + 0.3335298255490724 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 823486851, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.70663006821461449, + -1.456390276852868, + 2.0880741677863814, + -2.1923381216100299, + -1.5779039535424921, + -3.2961478278363017 + ], + "velocities": [ + -0.66643172948278384, + -0.34852737272023843, + 0.49820577202612104, + -0.14115261017112338, + -0.0052791637555890053, + -0.073033093910981575 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0986479324884906, + 1.6205165137220714, + -2.3164627630210268, + 0.65630465105790037, + 0.02454605495632636, + 0.33957543652089928 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 77057306, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60701167354531183, + -1.5084882425299311, + 2.1625461009621034, + -2.2134376518492975, + -1.5786930843645439, + -3.30706483441219 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.18161283518746629, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60701167354531183, + -1.5084882425299311, + 2.1625461009621034, + -2.2134376518492975, + -1.5786930843645439, + -3.30706483441219 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.098916409895941804, + 2.4238190923785008, + 1.0108872372227438, + -2.0051398315028406, + -0.88148257506406735, + 0.68644243974667318 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 95905823, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60617644275038041, + -1.5111644523877257, + 2.1672292006550307, + -2.2275155217218736, + -1.5712500178257793, + -3.3128610201450339 + ], + "velocities": [ + -0.0043544319500210668, + 0.078795188536430319, + 0.093330795661936292, + -0.23505740808043224, + 0.038804038601645101, + -0.030218111377007653 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1794798612331526e-09, + 1.919682862162134, + 1.1550246550590297, + -3.0747075172197391, + -2.071688096258745e-12, + 3.1795566965429098e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 176085335, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60617644277764238, + -1.4962915588872692, + 2.1782804549920982, + -2.2534396695593855, + -1.5712500178257971, + -3.3128610201177722 + ], + "velocities": [ + 4.4337820251603705e-10, + 0.24790481279063442, + 0.17538184443042887, + -0.42328665722086467, + -2.8889911904177802e-13, + 4.4337793112794597e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4025947412091094e-09, + 1.6791155365847183, + 0.70249420948820296, + -2.3816097460717272, + -1.5654951379261573e-12, + 2.4026045255537219e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 225947876, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60617644280490446, + -1.4808184799072215, + 2.1888978000615946, + -2.2795300936089173, + -1.5712500178258149, + -3.31286102009051 + ], + "velocities": [ + 6.0163631211342352e-10, + 0.34867709490968224, + 0.22898202936694953, + -0.57765912427635957, + -3.9201730747957797e-13, + 6.0163876222159533e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1409608933421334e-09, + -1.619333461792448, + -1.348299256128161, + 2.9676327179192636, + 2.0465753622326766e-12, + -3.1411036193449625e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 267472511, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60617644283216654, + -1.4647468058100881, + 2.1990726549038948, + -2.3057766225483385, + -1.5712500178258326, + -3.3128610200632478 + ], + "velocities": [ + 5.8168459909349361e-10, + 0.34845377449626758, + 0.21290428738586237, + -0.56135806188186255, + -3.7901773932834597e-13, + 5.8168387184537033e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.2330843706544488e-09, + -1.928125024547475, + -1.1909043847229095, + 3.1190294092688466, + 2.106632519311658e-12, + -3.2330124859461776e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 321260493, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60617644285942851, + -1.4480796289862896, + 2.2087962743602461, + -2.3321674188284756, + -1.5712500178258504, + -3.312861020035986 + ], + "velocities": [ + 3.5705953034463465e-10, + 0.2205422075668044, + 0.12560479439461858, + -0.34614700196125892, + -2.3265592246614183e-13, + 3.57058732461524e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1519545280128787e-09, + -1.9953323564514971, + -1.0710311137509647, + 3.06636347020105, + 2.0537836006159998e-12, + -3.1519930364553903e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 452783813, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60617644288669037, + -1.4308216166173324, + 2.2180598279476413, + -2.3586889847848158, + -1.5712500178258682, + -3.3128610200087238 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.29197823849548438, + "y": 0.33514066713211299, + "z": 0.071891781824041573 + }, + "12": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33987771214736934, + 0.28225361380876501, + 0.12189178182404158 + ], + "xaxis": [ + -0.77054104733025242, + -0.63739008297198363, + -0.0006136026122593181 + ], + "yaxis": [ + 0.63738988087587944, + -0.77054129164436624, + 0.00050757074822708071 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33987771214736934, + 0.28225361380876501, + 0.071891781824041573 + ], + "xaxis": [ + -0.77054104733025242, + -0.63739008297198363, + -0.00061360261225931799 + ], + "yaxis": [ + 0.63738988087587944, + -0.77054129164436624, + 0.00050757074822708082 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0827727711610899, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0966203938478269, + -1.3976955148688854, + 2.0002383833345463, + -0.62761035679947119, + -0.0049882451525539943, + -0.48975386159565082 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 276135449, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3860453016675478, + -1.0926559478742965, + 1.5682175544045662, + -2.0473627693476195, + -1.571780235322513, + -3.2274003351010707 + ], + "velocities": [ + -0.72775184765861289, + -0.32847923349948055, + 0.47008576902788879, + -0.14749776810807325, + -0.0011723117995196685, + -0.11509944143695472 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0456619853780911, + -1.3746948464290674, + 1.9673221870913247, + -0.61728231498164088, + -0.004906157908464946, + -0.48169440510606298 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 390258265, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2685133777660602, + -1.1457053443122294, + 1.6441364064285267, + -2.071183658999348, + -1.5719695636789484, + -3.2459888949729487 + ], + "velocities": [ + -1.1836769535584601, + -0.53426631573222128, + 0.76458712236088799, + -0.23990280391941535, + -0.0019067467350856846, + -0.18720743428505088 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8160788043905161, + -1.2710698160594001, + 1.8190246780740627, + -0.57075133481336726, + -0.0045363298237018814, + -0.44538409413958296 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 478133807, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1509814538645728, + -1.1987547407501624, + 1.7200552584524873, + -2.0950045486510764, + -1.5721588920353835, + -3.2645774548448263 + ], + "velocities": [ + -1.452157922475839, + -0.65544831363839406, + 0.93801036154458695, + -0.294317428660269, + -0.0023392340023060212, + -0.22966972367430294 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5951921641465825, + -1.171370070176212, + 1.6763446333843726, + -0.52598293395564311, + -0.0041805107136524714, + -0.4104492066571746 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 553146162, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0334495299630853, + -1.2518041371880955, + 1.7959741104764477, + -2.1188254383028049, + -1.5723482203918189, + -3.2831660147167043 + ], + "velocities": [ + -1.6590448321412596, + -0.74882911882166392, + 1.0716473867816507, + -0.33624842138065897, + -0.0026725014012786768, + -0.26239044821759205 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7617850706810665, + 1.2465637099051141, + -1.7839540538685492, + 0.55974730291674246, + 0.0044488698125337038, + 0.43679713081726307 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 620259115, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.91591760606159778, + -1.3048535336260285, + 1.8718929625004086, + -2.1426463279545329, + -1.572537548748254, + -3.3017545745885819 + ], + "velocities": [ + -1.6527028741031315, + -0.74596660253681768, + 1.0675508472385538, + -0.33496305926296976, + -0.0026622853471881562, + -0.26138741974002316 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7568432018619409, + 1.2443331401209907, + -1.7807618913040748, + 0.55874570515594479, + 0.0044409091167402735, + 0.43601553700551249 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 695883669, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.79838568216011041, + -1.3579029300639616, + 1.947811814524369, + -2.1664672176062614, + -1.5727268771046894, + -3.3203431344604599 + ], + "velocities": [ + -1.4410274621308057, + -0.65042445132269355, + 0.93082072536878946, + -0.29206155247913729, + -0.0023213043054752325, + -0.22790935745500568 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.912723255149837, + 1.3146914093394841, + -1.8814514257403863, + 0.59033883683469146, + 0.0046920112284378557, + 0.46066914265727527 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 784392980, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68085375825862293, + -1.4109523265018944, + 2.0237306665483294, + -2.1902881072579898, + -1.5729162054611245, + -3.3389316943323375 + ], + "velocities": [ + -1.1806322762529828, + -0.53289206533248079, + 0.7626204362202873, + -0.23928572117532881, + -0.0019018421633660535, + -0.18672589561449487 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1174268694948206, + 1.4070867588682632, + -2.0136781679764755, + 0.63182732818882759, + 0.005021761627965032, + 0.49304456258520679 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 898130625, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.56332183435713545, + -1.4640017229398274, + 2.0996495185722903, + -2.2141089969097183, + -1.5731055338175599, + -3.3575202542042155 + ], + "velocities": [ + -0.72859297261079181, + -0.32885888499807686, + 0.47062908729120473, + -0.14766824387332977, + -0.0011736667403686462, + -0.11523247168962393 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0566758520961628, + 1.3796660828595007, + -1.9744365105008275, + 0.619514560443303, + 0.0049238997884305646, + 0.48343633116425844 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 175442347, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44578991045564798, + -1.5170511193777605, + 2.1755683705962507, + -2.2379298865614468, + -1.5732948621739951, + -3.3761088140760931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.4199631927248294, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44578991045564798, + -1.5170511193777605, + 2.1755683705962507, + -2.2379298865614468, + -1.5732948621739951, + -3.3761088140760931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.20596767241197314, + 1.3401751161888695, + 1.1067634915375897, + -3.1619227537596086, + -0.19527483498571682, + 1.1838214282852277 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 104086048, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44351498972463088, + -1.5174602411074121, + 2.174030819288963, + -2.228086186671145, + -1.5711380442581895, + -3.3891841664133824 + ], + "velocities": [ + -0.010928077326432499, + 0.067175387843469464, + 0.043949895752064358, + -0.073190195103688474, + 0.010360744621596441, + -0.062810302921246855 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.747516095209872e-09, + 1.8862530583018986, + 1.1958110906468338, + -3.0820641489496139, + 1.9700750847005894e-12, + -2.7475289260208525e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 212228977, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44351498970109593, + -1.5025060868894622, + 2.1851340395089669, + -2.2541435611091067, + -1.5711380442581726, + -3.3891841664369173 + ], + "velocities": [ + -3.286729621583916e-10, + 0.21451697633882477, + 0.15100211625233337, + -0.36551909259126769, + 2.356704707503264e-13, + -3.2867348073379736e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6250685463688767e-09, + 2.0412752576153563, + 0.96655750927702733, + -3.0078327668935856, + 1.8821708029949507e-12, + -2.6249348388294853e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 265751715, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44351498967756103, + -1.4869442134368145, + 2.1958028615438616, + -2.2803742565966569, + -1.5711380442581557, + -3.3891841664604523 + ], + "velocities": [ + -5.0219565640296135e-10, + 0.33933593370835469, + 0.22233706574919626, + -0.56167299945772475, + 3.6009044885303036e-13, + -5.0219351124776837e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6901861901050875e-09, + -1.6143066381734832, + -1.3439052110319607, + 2.9582118492063221, + -1.9288476192719496e-12, + 2.6900318008141126e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 307430969, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44351498965402586, + -1.4707760266098198, + 2.2060285168990905, + -2.306768098778889, + -1.5711380442581389, + -3.3891841664839872 + ], + "velocities": [ + -5.0033940614096826e-10, + 0.34931412646422788, + 0.21320292892444925, + -0.56251705538885854, + 3.5875981754598558e-13, + -5.0033777080702764e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7709410454232261e-09, + -1.9264665177104474, + -1.1878324269770189, + 3.1142989446885214, + -1.9868813819728398e-12, + 2.7709675189219104e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 361409315, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44351498963049102, + -1.4540044711237812, + 2.2158020653155965, + -2.3333132026814423, + -1.571138044258122, + -3.3891841665075222 + ], + "velocities": [ + -3.0651320437095113e-10, + 0.22068104302429351, + 0.12555428732665105, + -0.34623533035105564, + 2.1978135919759528e-13, + -3.0651402400094103e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6629694017523496e-09, + -1.9654443423878241, + -1.0536925716475831, + 3.0191369140363369, + -1.9094384215183523e-12, + 2.6629631207049104e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 494359541, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44351498960695601, + -1.4366341074729825, + 2.2251144751106393, + -2.359995976127292, + -1.5711380442581051, + -3.3891841665310571 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.33987771214736934, + "y": 0.28225361380876501, + "z": 0.071891781824041573 + }, + "13": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38235753903807534, + 0.22499207775207, + 0.12189178182404158 + ], + "xaxis": [ + -0.8361067447105649, + -0.54856637532823727, + -0.00066581434494579277 + ], + "yaxis": [ + 0.5485662013953031, + -0.83610700981348063, + 0.00043683805728400338 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38235753903807534, + 0.22499207775207, + 0.071891781824041573 + ], + "xaxis": [ + -0.8361067447105649, + -0.54856637532823727, + -0.00066581434494579277 + ], + "yaxis": [ + 0.5485662013953031, + -0.83610700981348063, + 0.00043683805728400349 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1708144296929439, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.108398316685389, + -0.27025102323732586, + -1.6776335802743092, + 0.50746885026574806, + 1.4437548503718676, + 2.9959084701641894 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 398538123, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5965589963249658, + -1.0622774796676102, + 1.3515646913077672, + -1.9809711254905875, + -1.4504766103236157, + -2.9574897816956836 + ], + "velocities": [ + 0.3907432558821225, + -0.095271495035301787, + -0.59141555654277611, + 0.17889780941257055, + 0.50896637286218138, + 1.0561465245251371 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1295213655869323, + -0.275401270665179, + -1.7096047007835473, + 0.51713982249551271, + 1.471268880163455, + 3.053002314648781 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 568157353, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6895407670808964, + -1.0849484078988567, + 1.2108306802349289, + -1.9384003712852842, + -1.3293623136811537, + -2.7061677881621744 + ], + "velocities": [ + 0.63268625547082769, + -0.15426233092856445, + -0.95761216160087748, + 0.28966894103814944, + 0.82411154577645851, + 1.7100983312477676 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0883726701331979, + -0.26536834578262342, + -1.6473234502272682, + 0.4983003124948992, + 1.4176702525280178, + 2.9417808129645788 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 697804127, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7825225378368272, + -1.1076193361301034, + 1.0700966691620906, + -1.8958296170799807, + -1.2082480170386916, + -2.4548457946286648 + ], + "velocities": [ + 0.78232291663757625, + -0.19074692332226678, + -1.184097066742356, + 0.35817855825498013, + 1.0190222129082869, + 2.1145537818633606 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.99956259317559515, + -0.24371456499797223, + -1.5129035714454655, + 0.45763952569360822, + 1.3019898356243678, + 2.7017345608293906 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 807523249, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8755043085927579, + -1.1302902643613502, + 0.92936265808925245, + -1.8532588628746773, + -1.0871337203962295, + -2.2035238010951552 + ], + "velocities": [ + 0.89929924589850618, + -0.21926823393905881, + -1.3611484165244616, + 0.4117349760379585, + 1.1713908516971001, + 2.4307310715307988 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.95231059846130151, + -0.23219352627990503, + -1.4413845769880202, + 0.4360056824537924, + 1.2404412970425951, + 2.5740163488241667 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 905280896, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9684860793486885, + -1.1529611925925969, + 0.78862864701641411, + -1.8106881086693738, + -0.96601942375376748, + -1.9522018075616459 + ], + "velocities": [ + 0.99569992477157876, + -0.24277276449818863, + -1.5070571693655328, + 0.45587104241060616, + 1.2969584798746197, + 2.6912940893717878 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0026522067226455, + -0.24446787832402236, + -1.5175799042750269, + 0.45905407370475987, + 1.3060142413611471, + 2.7100855292996169 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 994664606, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0614678501046191, + -1.1756321208238434, + 0.64789463594357577, + -1.7681173544640703, + -0.84490512711130539, + -1.7008798140281363 + ], + "velocities": [ + 1.083350113100896, + -0.2641437398293125, + -1.6397214806019109, + 0.49600078604831599, + 1.4111280727290063, + 2.9282052590066847 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.71342424740466193, + -0.17394796614271466, + -1.0798144100463738, + 0.32663400614397825, + 0.92927759096894991, + 1.9283264088779148 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 77208963, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1544496208605497, + -1.1983030490550901, + 0.50716062487073765, + -1.7255466002587669, + -0.72379083046884352, + -1.4495578204946271 + ], + "velocities": [ + 1.1551761636264235, + -0.28165645466965017, + -1.7484349209655226, + 0.52888560978958599, + 1.5046857832273348, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.9581089425486594e-14, + 2.615179122755364e-14, + -5.9371634138229887e-14, + -1.8376934376118775e-14, + -2.8272206732490425e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 155747086, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2474313916164803, + -1.2209739772863368, + 0.36642661379789931, + -1.6829758460534634, + -0.60267653382638131, + -1.1982358269611173 + ], + "velocities": [ + 1.1839062003115373, + -0.28866144709422836, + -1.7919197166205687, + 0.54203936369304473, + 1.5421083678623746, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5444986059241395e-14, + -2.9685817069114963e-14, + 3.9581089425486613e-14, + 2.4031375722616874e-14, + 3.675386875223757e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 234285209, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3404131623724109, + -1.2436449055175833, + 0.22569260272506098, + -1.6404050918481601, + -0.48156223718391944, + -0.94691383342760815 + ], + "velocities": [ + 1.1839062003115379, + -0.28866144709422853, + -1.7919197166205694, + 0.54203936369304495, + 1.5421083678623759, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.0680516831226033e-14, + 0.0, + 3.6753868752237538e-14, + -3.5340258415613017e-14, + -7.0680516831226033e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 312823331, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4333949331283415, + -1.2663158337488301, + 0.084958591652222637, + -1.5978343376428565, + -0.36044794054145712, + -0.69559183989409856 + ], + "velocities": [ + 1.1839062003115397, + -0.2886614470942297, + -1.7919197166205665, + 0.54203936369304451, + 1.5421083678623746, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4136103366245207e-13, + 0.0, + -7.3507737504475076e-14, + 3.5340258415613017e-14, + 7.0680516831226033e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 391361454, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5263767038842726, + -1.2889867619800768, + -0.05577541942061548, + -1.5552635834375532, + -0.23933364389899525, + -0.44426984636058897 + ], + "velocities": [ + 1.1839062003115368, + -0.2886614470942297, + -1.7919197166205678, + 0.54203936369304451, + 1.5421083678623746, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6963324039494262e-13, + 2.9685817069114963e-14, + 3.1099427405739484e-14, + -2.4031375722616874e-14, + -3.675386875223757e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 469899577, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6193584746402028, + -1.3116576902113235, + -0.19650943049345404, + -1.5126928292322497, + -0.11821934725653294, + -0.19294785282707938 + ], + "velocities": [ + 1.1839062003115379, + -0.28866144709422853, + -1.7919197166205696, + 0.54203936369304495, + 1.5421083678623759, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4418825433570135e-13, + 0.0, + 0.0, + 3.6753868752237601e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 548437700, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7123402453961338, + -1.33432861844257, + -0.33724344156629216, + -1.4701220750269464, + 0.0028949493859289355, + 0.058374140706429767 + ], + "velocities": [ + 1.1839062003115388, + -0.28866144709422736, + -1.7919197166205683, + 0.5420393636930454, + 1.5421083678623744, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1591604760321079e-13, + -2.9685817069114963e-14, + 5.6544413464980873e-15, + -1.2722493029620698e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 626975823, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.805322016152064, + -1.3569995466738165, + -0.47797745263913027, + -1.4275513208216428, + 0.12400924602839081, + 0.30969613423993891 + ], + "velocities": [ + 1.1839062003115379, + -0.28866144709422853, + -1.791919716620568, + 0.54203936369304628, + 1.5421083678623744, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.6125502890467318e-14, + 6.3612465148103369e-15, + 3.9581089425486543e-14, + -1.1308882692996156e-14, + 2.8272206732490389e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 705513946, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8983037869079951, + -1.3796704749050632, + -0.61871146371196861, + -1.3849805666163393, + 0.2451235426708529, + 0.56101812777344851 + ], + "velocities": [ + 1.1839062003115386, + -0.28866144709422947, + -1.7919197166205663, + 0.5420393636930454, + 1.5421083678623746, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.9162178850973225e-14, + -1.9083739544431046e-14, + -1.2157048894970888e-13, + 0.0, + 6.7853296157977054e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 784052069, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9912855576639257, + -1.4023414031363099, + -0.75944547478480695, + -1.3424098124110357, + 0.36623783931331522, + 0.81234012130695854 + ], + "velocities": [ + 1.1839062003115379, + -0.28866144709422992, + -1.7919197166205696, + 0.54203936369304495, + 1.5421083678623773, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3717192791731877e-14, + 1.2722493029620709e-14, + 8.1989399524222344e-14, + -2.4031375722616893e-14, + -1.4136103366245232e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862590192, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0842673284198563, + -1.4250123313675567, + -0.90017948585764529, + -1.2998390582057324, + 0.48735213595577731, + 1.0636621148404672 + ], + "velocities": [ + 1.1839062003115388, + -0.28866144709423019, + -1.7919197166205709, + 0.54203936369304406, + 1.5421083678623744, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.6047063583925274e-14, + 7.0680516831226033e-14, + 3.5340258415613017e-14, + 7.0680516831226033e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 941128315, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1772490991757869, + -1.4476832595988034, + -1.0409134969304836, + -1.2572683040004291, + 0.60846643259823896, + 1.3149841083739768 + ], + "velocities": [ + 1.1839062003115368, + -0.28866144709422825, + -1.7919197166205652, + 0.54203936369304451, + 1.5421083678623715, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.84755587004415434, + 0.20665210121862074, + 1.2828314220078683, + -0.38804479980946599, + -1.1039920215656061, + -2.2908730298294047 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 19666438, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2702308699317175, + -1.4703541878300499, + -1.1816475080033215, + -1.2146975497951256, + 0.72958072924070105, + 1.5663061019074864 + ], + "velocities": [ + 1.1495996976514689, + -0.28029679396546514, + -1.7399945738105209, + 0.52633248179015091, + 1.4974221040263855, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.98289599717943565, + 0.23965089532792511, + 1.4876775848202, + -0.45000889491697676, + -1.2802806012755712, + -2.656686137927279 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 103036238, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3632126406876486, + -1.4930251160612966, + -1.3223815190761603, + -1.172126795589822, + 0.85069502588316359, + 1.817628095440996 + ], + "velocities": [ + 1.0726238743573222, + -0.26152845527654683, + -1.6234866144573403, + 0.49108988717655017, + 1.3971565076524843, + 2.8992131277293911 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0268428327343069, + 0.25036606612704804, + 1.5541940040208921, + -0.47012950478817966, + -1.3375239731176309, + -2.7754707795984457 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 193313786, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4561944114435788, + -1.5156960442925431, + -1.4631155301489986, + -1.1295560413845187, + 0.97180932252562569, + 2.0689500889745056 + ], + "velocities": [ + 0.9811794875677684, + -0.23923237387046009, + -1.4850795348936345, + 0.44922300852039621, + 1.2780447452298267, + 2.6520465552006147 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0196796878284979, + 0.24861953943960233, + 1.543352114193161, + -0.46684993204341246, + -1.3281935500681303, + -2.7561093946398785 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 293036362, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5491761821995098, + -1.5383669725237898, + -1.6038495412218365, + -1.0869852871792154, + 1.0929236191680873, + 2.3202720825080152 + ], + "velocities": [ + 0.8782186344698335, + -0.21412833366737294, + -1.3292415279149441, + 0.40208343337178143, + 1.1439320992425062, + 2.3737519320060585 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0961901727872181, + 0.26727441877066188, + 1.6591557534425505, + -0.50187947625228357, + -1.4278530155335782, + -2.9629108724965643 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 405873818, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.64215795295544, + -1.5610379007550366, + -1.7445835522946749, + -1.0444145329739118, + 1.2140379158105494, + 2.5715940760415239 + ], + "velocities": [ + 0.75607989610225412, + -0.1843483181947187, + -1.1443765332165223, + 0.34616345929815007, + 0.98483911499491217, + 2.0436210798545948 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.86229095237944819, + 0.21024482688290891, + 1.3051339359702989, + -0.39479110678110613, + -1.1231853442835562, + -2.3307007319398303 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 540996809, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.735139723711371, + -1.5837088289862833, + -1.8853175633675137, + -1.0018437787686083, + 1.335152212453012, + 2.8229160695750344 + ], + "velocities": [ + 0.62307826948858547, + -0.15191970012169448, + -0.94306984438515384, + 0.28527002277349739, + 0.81159657155162546, + 1.6841287441849744 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1491280879904746, + 0.28018180552536592, + 1.7392807616437764, + -0.52611656012297947, + -1.4968078043425213, + -3.1059976547144621 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 707621970, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8281214944673012, + -1.60637975721753, + -2.0260515744403516, + -0.95927302456330477, + 1.4562665090954736, + 3.0742380631085431 + ], + "velocities": [ + 0.39566834344172219, + -0.096472335863440367, + -0.59886999972569621, + 0.18115271045645082, + 0.51538159286534957, + 1.0694586266043153 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1708144296929506, + 0.2854693956877945, + 1.772104462767893, + -0.53604543020925055, + -1.5250555565706105, + -3.1646140327937493 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 106160093, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9211032652232323, + -1.6290506854487765, + -2.1667855855131899, + -0.91670227035800145, + 1.5773808057379359, + 3.3255600566420522 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.21099708054248406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9211032652232323, + -1.6290506854487765, + -2.1667855855131899, + -0.91670227035800145, + 1.5773808057379359, + 3.3255600566420522 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.11426668879577691, + -1.8257883014649008, + -1.0449678692934499, + 2.7992471209680763, + 0.71426535116630163, + -1.6032427327797982 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 104088932, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9222462897670658, + -1.6283862881395363, + -2.1694076609346098, + -0.91402927792379229, + 1.5702359165677233, + 3.3415975021374216 + ], + "velocities": [ + 0.0054906151941081574, + -0.08134776099936715, + -0.075402350604963586, + 0.16018618452749495, + -0.034321080203076559, + 0.077037227587653953 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.378434744978693e-11, + -1.9000673705816009, + -1.1656582199923573, + 3.0657255905739138, + 0.0, + -1.378434744978693e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 192203529, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9222462897669472, + -1.643284571897468, + -2.180476085967058, + -0.88806256913341253, + 1.5702359165677233, + 3.341597502137303 + ], + "velocities": [ + -1.826409552413294e-12, + -0.23534689936472092, + -0.16626848702057548, + 0.40161538638529359, + 0.0, + -1.826409552413294e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1911883969339763e-11, + -1.8379805643715115, + -0.81887102766543207, + 2.6568515920368654, + 0.0, + -1.1911883969339763e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 243596406, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9222462897668287, + -1.6587854500633128, + -2.1911104541543556, + -0.8619273227802704, + 1.5702359165677233, + 3.3415975021371844 + ], + "velocities": [ + -2.5840919170113147e-12, + -0.34434467330470525, + -0.22596011000733929, + 0.57030478331203838, + 0.0, + -2.5840919170113147e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3810272272873522e-11, + 1.6123415812509896, + 1.343506104151188, + -2.9558476854019253, + 0.0, + 1.3810272272873522e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 285195533, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9222462897667096, + -1.6748873923209695, + -2.2013021246864843, + -0.83563370999048525, + 1.5702359165677233, + 3.3415975021370654 + ], + "velocities": [ + -2.5314788047731881e-12, + -0.34860036585019005, + -0.21293849292980804, + 0.5615388587799961, + 0.0, + -2.5314788047731881e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4030213525824202e-11, + 1.9273972362233678, + 1.1902718741348879, + -3.1176691103582721, + 0.0, + 1.4030213525824202e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 339044373, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9222462897665911, + -1.6915873546827611, + -2.2110422901066049, + -0.80919358220857285, + 1.5702359165677233, + 3.3415975021369468 + ], + "velocities": [ + -1.5516114382375082e-12, + -0.2207882003393753, + -0.1257084231470329, + 0.34649662348641153, + 0.0, + -1.5516114382375082e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3701637902769792e-11, + 1.9983435491241819, + 1.0723288918740896, + -3.0706724409983099, + 0.0, + 1.3701637902769792e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 470603050, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9222462897664725, + -1.7088807054009665, + -2.2203220556507079, + -0.78262046594626411, + 1.5702359165677233, + 3.3415975021368283 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.38235753903807534, + "y": 0.22499207775207, + "z": 0.071891781824041573 + }, + "14": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41721527279111337, + 0.162914635337016, + 0.12189178182404158 + ], + "xaxis": [ + -0.90650869720650673, + -0.42218652368603587, + -0.00072187731798186968 + ], + "yaxis": [ + 0.42218638982412943, + -0.90650898463164753, + 0.00033619840572281137 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41721527279111337, + 0.162914635337016, + 0.071891781824041573 + ], + "xaxis": [ + -0.90650869720650673, + -0.42218652368603587, + -0.00072187731798186968 + ], + "yaxis": [ + 0.42218638982412943, + -0.90650898463164753, + 0.00033619840572281148 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6268641045129826, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5939763220870358, + -0.024053429619763467, + 0.046824130136894251, + -1.0882407101073266, + 1.0588409005984032, + 3.1024053142218007 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 414232111, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.27820772924612, + -1.0416963582214471, + 1.4963668700561767, + -2.1180902603525253, + -1.4795968365414227, + -2.939269020693501 + ], + "velocities": [ + -0.92466334994953536, + -0.0085742204431876815, + 0.016691192075346646, + -0.38792038770411819, + 0.37744036669662728, + 1.1059008003748925 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5354219443589274, + -0.023510466450969401, + 0.045767159115436433, + -1.0636756217308012, + 1.0349394603578941, + 3.0323740610111067 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 586894515, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0528382329232051, + -1.043786165006531, + 1.5004350377317477, + -2.2126386410091592, + -1.3876027661167674, + -2.6697262661578094 + ], + "velocities": [ + -1.4990862362018544, + -0.013900730307138388, + 0.027060157956211375, + -0.62890576768406437, + 0.61191530813108819, + 1.7929127055128709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3689554997093949, + -0.021966856019225618, + 0.042762256410123066, + -0.99383860726306916, + 0.96698915615842551, + 2.8332795750195157 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 720019900, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.82746873660028986, + -1.0458759717916148, + 1.5045032054073189, + -2.3071870216657935, + -1.2956086956921122, + -2.4001835116221173 + ], + "velocities": [ + -1.8389916905520609, + -0.017052606387874994, + 0.033195825846938101, + -0.77150496948164016, + 0.75066206319510953, + 2.1994408911906111 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3497249682848946, + -0.021788535103110594, + 0.042415124133599193, + -0.98577089785693628, + 0.95913940323692037, + 2.8102797880211705 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 833552059, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60209924027737483, + -1.0479657785766985, + 1.5085713730828898, + -2.4017354023224273, + -1.2036146252674569, + -2.1306407570864252 + ], + "velocities": [ + -2.1109502775315767, + -0.019574424600207641, + 0.038104977931383621, + -0.88559868857012347, + 0.86167343701180399, + 2.5247043711651189 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1729643277934447, + -0.020149468628471799, + 0.039224399853263037, + -0.91161519979223915, + 0.88698708859371045, + 2.5988734055740519 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 934306086, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.37672974395445968, + -1.0500555853617821, + 1.512639540758461, + -2.4962837829790616, + -1.1116205548428018, + -1.8610980025507331 + ], + "velocities": [ + -2.341607630168669, + -0.021713264631513528, + 0.042268597238526953, + -0.98236546284172133, + 0.95582596913646056, + 2.8005714214895807 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5991857954473265, + -0.024101736036347424, + 0.046918166869776082, + -1.090426220029221, + 1.0609673669880695, + 3.1086358637066196 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 26429505, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.15136024763154454, + -1.052145392146866, + 1.5167077084340321, + -2.5908321636356955, + -1.0196264844181466, + -1.591555248015041 + ], + "velocities": [ + -2.5609817795208025, + -0.023747477749385789, + 0.046228542296802504, + -1.0743986391037477, + 1.0453727856938051, + 3.0629437187838606 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1088832069971672e-14, + 3.1756815480367503e-14, + 3.039757435085761e-14, + 8.435532827988669e-14, + -2.1088832069971672e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 110661616, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.074009248691370377, + -1.0542351989319498, + 1.5207758761096031, + -2.6853805442923298, + -0.92763241399349139, + -1.3220124934793493 + ], + "velocities": [ + -2.67557697655654, + -0.024810096356652295, + 0.048297111841318519, + -1.1224743125535055, + 1.0921496512343309, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1633248104957485e-14, + 0.0, + 0.0, + -6.326649620991497e-14, + 1.5816624052478742e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 194893726, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.29937874501428552, + -1.0563250057170335, + 1.5248440437851742, + -2.7799289249489636, + -0.83563834356883615, + -1.0524697389436573 + ], + "velocities": [ + -2.6755769765565378, + -0.024810096356650956, + 0.048297111841319802, + -1.1224743125535046, + 1.0921496512343307, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.326649620991497e-14, + -3.1303735103864178e-14, + -3.1303735103864178e-14, + 6.326649620991497e-14, + -1.5816624052478742e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 279125837, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.52474824133720044, + -1.0584148125021171, + 1.5289122114607454, + -2.8744773056055979, + -0.7436442731441808, + -0.78292698440796515 + ], + "velocities": [ + -2.6755769765565391, + -0.024810096356652274, + 0.048297111841318484, + -1.1224743125535046, + 1.0921496512343307, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.326649620991497e-14, + 0.0, + 3.1303735103864178e-14, + -6.326649620991497e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 363357948, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.7501177376601158, + -1.060504619287201, + 1.5329803791363164, + -2.9690256862622317, + -0.65165020271952556, + -0.51338422987227306 + ], + "velocities": [ + -2.6755769765565391, + -0.024810096356653592, + 0.048297111841318484, + -1.1224743125535046, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.326649620991497e-14, + 3.1303735103864178e-14, + -3.1303735103864178e-14, + 6.326649620991497e-14, + -1.5816624052478742e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 447590059, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.97548723398303072, + -1.0625944260722848, + 1.5370485468118875, + -3.063574066918866, + -0.55965613229487032, + -0.24384147533658096 + ], + "velocities": [ + -2.6755769765565391, + -0.024810096356652274, + 0.048297111841318484, + -1.1224743125535046, + 1.0921496512343294, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1088832069971691e-14, + -9.4734987814325959e-16, + 3.3198434860150749e-14, + -4.481376814868984e-14, + 4.2177664139943383e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 531822170, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2008567303059461, + -1.0646842328573685, + 1.5411167144874585, + -3.1581224475754999, + -0.4676620618702152, + 0.025701279199111138 + ], + "velocities": [ + -2.6755769765565409, + -0.024810096356650997, + 0.04829711184131856, + -1.1224743125535039, + 1.0921496512343305, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1088832069971691e-14, + -3.0356385225720971e-14, + -1.8946997562865192e-15, + -8.1719224271140296e-14, + -4.2177664139943383e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 616054280, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4262262266288606, + -1.0667740396424521, + 1.5451848821630296, + -3.2526708282321337, + -0.37566799144556007, + 0.29524403373480235 + ], + "velocities": [ + -2.6755769765565409, + -0.024810096356652316, + 0.048297111841319879, + -1.1224743125535093, + 1.0921496512343305, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.326649620991497e-14, + 0.0, + -3.1303735103864178e-14, + 1.2653299241982994e-13, + 3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 700286391, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6515957229517759, + -1.068863846427536, + 1.5492530498386008, + -3.3472192088887684, + -0.28367392102090494, + 0.56478678827049444 + ], + "velocities": [ + -2.6755769765565391, + -0.024810096356653592, + 0.048297111841318484, + -1.1224743125535073, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1633248104957485e-14, + 3.1303735103864178e-14, + 3.1303735103864178e-14, + 0.0, + -3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 784518502, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8769652192746908, + -1.0709536532126198, + 1.5533212175141717, + -3.4417675895454023, + -0.19167985059624959, + 0.83432954280618654 + ], + "velocities": [ + -2.6755769765565378, + -0.024810096356652274, + 0.048297111841318484, + -1.1224743125535019, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1633248104957485e-14, + 0.0, + -3.1303735103864178e-14, + -6.326649620991497e-14, + 3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 868750613, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.102334715597606, + -1.0730434599977035, + 1.5573893851897429, + -3.5363159702020361, + -0.099685780171594462, + 1.1038722973418786 + ], + "velocities": [ + -2.6755769765565378, + -0.024810096356650956, + 0.048297111841318484, + -1.1224743125535046, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.1303735103864178e-14, + 3.1303735103864178e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 952982724, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3277042119205209, + -1.0751332667827871, + 1.5614575528653138, + -3.6308643508586704, + -0.0076917097469391127, + 1.3734150518775707 + ], + "velocities": [ + -2.6755769765565365, + -0.024810096356652274, + 0.048297111841318484, + -1.1224743125535073, + 1.0921496512343314, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 6.326649620991497e-14, + -3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 37214834, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5530737082434358, + -1.0772230735678709, + 1.565525720540885, + -3.7254127315153047, + 0.084302360677716237, + 1.6429578064132628 + ], + "velocities": [ + -2.6755769765565365, + -0.024810096356653592, + 0.048297111841319802, + -1.1224743125535046, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2653299241982994e-13, + 3.1303735103864178e-14, + -3.1303735103864178e-14, + 0.0, + 3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 121446945, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7784432045663507, + -1.0793128803529548, + 1.5695938882164562, + -3.8199611121719386, + 0.17629643110237136, + 1.9125005609489549 + ], + "velocities": [ + -2.6755769765565418, + -0.024810096356652274, + 0.048297111841318484, + -1.1224743125535019, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2653299241982994e-13, + 0.0, + 3.1303735103864178e-14, + -1.2653299241982994e-13, + -3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 205679056, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.0038127008892666, + -1.0814026871380384, + 1.5736620558920271, + -3.9145094928285724, + 0.26829050152702671, + 2.182043315484647 + ], + "velocities": [ + -2.6755769765565418, + -0.024810096356650956, + 0.048297111841318484, + -1.1224743125535073, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.1303735103864178e-14, + 0.0, + 1.2653299241982994e-13, + 3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 289911167, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2291821972121815, + -1.0834924939231221, + 1.5777302235675983, + -4.0090578734852071, + 0.36028457195168184, + 2.4515860700203391 + ], + "velocities": [ + -2.6755769765565365, + -0.024810096356652274, + 0.048297111841319802, + -1.1224743125535073, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -3.1303735103864178e-14, + 0.0, + -3.1633248104957485e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 374143277, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4545516935350964, + -1.0855823007082059, + 1.5817983912431695, + -4.103606254141841, + 0.45227864237633719, + 2.7211288245560312 + ], + "velocities": [ + -2.6755769765565365, + -0.024810096356653592, + 0.048297111841318484, + -1.1224743125535019, + 1.0921496512343301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2653299241982994e-13, + 3.1303735103864178e-14, + 3.1303735103864178e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 458375388, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.6799211898580113, + -1.0876721074932898, + 1.5858665589187404, + -4.1981546347984748, + 0.54427271280099232, + 2.9906715790917233 + ], + "velocities": [ + -2.6755769765565418, + -0.024810096356652274, + 0.048297111841318484, + -1.1224743125535019, + 1.0921496512343287, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2653299241982994e-13, + -3.1303735103864178e-14, + 0.0, + -1.2653299241982994e-13, + 6.326649620991497e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 542607499, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9052906861809271, + -1.0897619142783734, + 1.5899347265943116, + -4.2927030154551087, + 0.63626678322564745, + 3.2602143336274154 + ], + "velocities": [ + -2.6755769765565418, + -0.024810096356652274, + 0.048297111841319802, + -1.1224743125535073, + 1.0921496512343314, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.4355328279886904e-14, + 2.9367846222441094e-14, + -2.7514335591291234e-14, + 1.6343844854228087e-13, + -3.9541560131196982e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 626839610, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.130660182503842, + -1.0918517210634573, + 1.5940028942698827, + -4.3872513961117434, + 0.72826085365030302, + 3.5297570881631075 + ], + "velocities": [ + -2.67557697655654, + -0.024810096356652357, + 0.048297111841318643, + -1.1224743125535057, + 1.0921496512343323, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1633248104957611e-14, + -2.9820926598944419e-14, + 2.8420496344297856e-14, + -1.8452728061225275e-13, + -2.6361040087464677e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 711071721, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3560296788267561, + -1.0939415278485409, + 1.5980710619454537, + -4.4817997767683764, + 0.8202549240749577, + 3.7992998426987978 + ], + "velocities": [ + -2.6755769765565423, + -0.024810096356652375, + 0.048297111841318685, + -1.1224743125535066, + 1.0921496512343305, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.3810912244900861e-14, + 3.1756815480367503e-14, + -3.2209895856870796e-14, + 2.1088832069971672e-14, + -2.1088832069971672e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 795303831, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.581399175149671, + -1.0960313346336248, + 1.6021392296210248, + -4.5763481574250111, + 0.91224899449961283, + 4.0688425972344895 + ], + "velocities": [ + -2.675576976556544, + -0.024810096356652295, + 0.048297111841318519, + -1.1224743125535135, + 1.0921496512343296, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5991857954474207, + 0.024101736036344378, + -0.046918166869775187, + 1.0904262200293688, + -1.0609673669879782, + -3.1086358637066178 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 879535942, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.8067686714725868, + -1.0981211414187084, + 1.6062073972965958, + -4.6708965380816458, + 1.004243064924268, + 4.3383853517701816 + ], + "velocities": [ + -2.5609817795208043, + -0.023747477749383246, + 0.046228542296802469, + -1.0743986391037446, + 1.045372785693806, + 3.0629437187838606 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3901254860127721, + 0.022163161117017025, + -0.043144397983785138, + 1.0027199685658499, + -0.97563057943292941, + -2.8585989572553205 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 971659361, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.0321381677955017, + -1.1002109482037921, + 1.610275564972167, + -4.7654449187382788, + 1.0962371353489235, + 4.6079281063058737 + ], + "velocities": [ + -2.3305342208723685, + -0.02161058309626139, + 0.042068710002264649, + -0.97771987888117684, + 0.95130588983884112, + 2.7873275828489303 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3034261036024741, + 0.021359214883945595, + -0.041579378623233396, + 0.96634731678950925, + -0.94024056782368348, + -2.7549061739252734 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 73420928, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.2575076641184166, + -1.1023007549888759, + 1.6143437326477379, + -4.8599932993949135, + 1.1882312057735787, + 4.8774708608415658 + ], + "velocities": [ + -2.0900497797342328, + -0.019380618416049232, + 0.037727700922161878, + -0.87683038472289676, + 0.85314201684336943, + 2.499707298183286 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3854559025341593, + 0.022119860992609527, + -0.0430601068579635, + 1.000760956528288, + -0.97372449188159682, + -2.8530141180739776 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 188088409, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.4828771604413316, + -1.1043905617739598, + 1.6184119003233091, + -4.9545416800515474, + 1.2802252761982338, + 5.1470136153772579 + ], + "velocities": [ + -1.8164303405469309, + -0.016843399449533239, + 0.03278856862577275, + -0.76203989482328116, + 0.74145269611078257, + 2.1724574328005115 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4682650831108495, + 0.022887734153157972, + -0.044554903789937698, + 1.0355015671910279, + -1.0075265534474269, + -2.9520542055642403 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 323247151, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7082466567642474, + -1.1064803685590434, + 1.6224800679988802, + -5.0490900607081812, + 1.3722193466228889, + 5.41655636991295 + ], + "velocities": [ + -1.4757350169457641, + -0.0136841990673837, + 0.026638642724945587, + -0.61910932227754878, + 0.6023835225798243, + 1.7649845605653607 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5094075057599965, + 0.023269239704749804, + -0.045297569841218695, + 1.0527618863613275, + -1.0243205694451074, + -3.0012606958394152 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 498764868, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9336161530871623, + -1.1085701753441271, + 1.6265482356744512, + -5.143638441364816, + 1.4642134170475445, + 5.6860991244486421 + ], + "velocities": [ + -0.91404639219753059, + -0.0084757714928675419, + 0.016499544292286776, + -0.38346629706927393, + 0.3731066073588778, + 1.0932028794762998 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6268641045129799, + 0.024358391524462439, + -0.047417790838854203, + 1.1020379924480832, + -1.0722654368464986, + -3.1417392241354984 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 912996979, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589856494100772, + -1.1106599821292109, + 1.6306164033500223, + -5.2381868220214498, + 1.5562074874721996, + 5.9556418789843342 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.32781145960453856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589856494100772, + -1.1106599821292109, + 1.6306164033500223, + -5.2381868220214498, + 1.5562074874721996, + 5.9556418789843342 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.18297585341923905, + 1.1524754476711712, + 0.94225481633416741, + -2.5725373740706909, + -1.3894146445826137, + -1.6857110711460532 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 108637629, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1570512119379863, + -1.1101585183263014, + 1.6321959818790079, + -5.2352164438274569, + 1.5708965063393572, + 5.9734633708009337 + ], + "velocities": [ + 0.0089031649313049653, + 0.060692614780449475, + 0.060387737386579002, + -0.097831407240384846, + 0.06760557528693191, + 0.082022646789763967 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.5013665269316913e-10, + 1.7289110707969089, + 1.329203515661046, + -3.0581145864580264, + -7.5078528396133919e-13, + -9.5013665269316913e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 194630381, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1570512119438874, + -1.1001172050837418, + 1.6413314726098236, + -5.2543932478008326, + 1.5708965063393525, + 5.9734633707950326 + ], + "velocities": [ + -9.9757735946500567e-11, + 0.17342394386373242, + 0.14979222883013715, + -0.32321617269387704, + -7.8827229638640575e-14, + -9.9757735946500567e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.5578656435735156e-10, + 1.9143618137141765, + 1.1116686912551965, + -3.0260305049697629, + -7.5524976864480721e-13, + -9.5578656435735156e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 239713533, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1570512119497884, + -1.0897445369372918, + 1.6500482490808379, + -5.2734826924182974, + 1.5708965063393479, + 5.9734633707891316 + ], + "velocities": [ + -1.5000303678832064e-10, + 0.2683549384421956, + 0.21557591862534994, + -0.48393085706756317, + -1.1853039481316728e-13, + -1.5000303678832064e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.6483595691652725e-10, + -1.5715463194339778, + -1.5880231494975381, + 3.1595694689317826, + 7.62400477695932e-13, + 9.6483595691652725e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 274607633, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1570512119556895, + -1.0790449143296483, + 1.6583461695474047, + -5.2924802354925085, + 1.5708965063393432, + 5.9734633707832305 + ], + "velocities": [ + -1.4978590144979152e-10, + 0.27515033707015796, + 0.20599195865672726, + -0.48114229572690526, + -1.1835881737077143e-13, + -1.4978590144979152e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.8845180847720912e-10, + -1.8112134389198811, + -1.3659950326656043, + 3.1772084715856712, + 7.8106140796287608e-13, + 9.8845180847720912e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 319840858, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1570512119615906, + -1.0680229620059742, + 1.66622493561231, + -5.3113809538810886, + 1.5708965063393385, + 5.9734633707773295 + ], + "velocities": [ + -9.1124585813209398e-11, + 0.17159499721598356, + 0.11982332373870389, + -0.29141832095469478, + -7.2005429789185622e-14, + -9.1124585813209398e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.0908342091377232e-10, + -1.7468876193387723, + -1.1491210117790127, + 2.8960086311177848, + 7.1834556890386885e-13, + 9.0908342091377232e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 433781339, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1570512119674916, + -1.0566835360394382, + 1.6736841290346043, + -5.3301795732699189, + 1.5708965063393339, + 5.9734633707714284 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.41721527279111337, + "y": 0.162914635337016, + "z": 0.071891781824041573 + }, + "15": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44119200238950834, + 0.096078928096821406, + 0.12189178182404158 + ], + "xaxis": [ + -0.97035574899009713, + -0.24167979498704234, + -0.00077272044683945038 + ], + "yaxis": [ + 0.24167971835807317, + -0.97035605665911184, + 0.00019245607619272059 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44119200238950834, + 0.096078928096821406, + 0.071891781824041573 + ], + "xaxis": [ + -0.97035574899009713, + -0.24167979498704234, + -0.00077272044683945028 + ], + "yaxis": [ + 0.24167971835807317, + -0.97035605665911184, + 0.00019245607619272062 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2727441343891597, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3003490596667429, + -0.14468519369628377, + -3.0232061541676729, + 0.46562505031962681, + -3.1953539570241785, + 0.8656295025459283 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 371094977, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6600687069000954, + -1.0494494055862824, + 1.2866316504839608, + -1.9918656636176566, + -1.7889690792093038, + -3.1499234762695099 + ], + "velocities": [ + 0.72297896825919983, + -0.045473251818607119, + -0.95016643538944501, + 0.14634175498760582, + -1.0042709376493393, + 0.27205954766536444 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2834154599296954, + -0.14362012005119329, + -3.000951373867248, + 0.46219743649878048, + -3.1718319420938781, + 0.85925732895988971 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 523880497, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8165601882311559, + -1.0592922597362013, + 1.080964598587316, + -1.9601894475394219, + -2.0063472514525298, + -3.0910351773098266 + ], + "velocities": [ + 1.1785037491117003, + -0.07412442146355111, + -1.5488344136521335, + 0.23854678279195501, + -1.6370283467490192, + 0.44347513687329948 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.268420884631916, + -0.14267700534337735, + -2.9812449331733935, + 0.45916231022166559, + -3.1510033746596213, + 0.85361481714135934 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 641300345, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9730516695622162, + -1.06913511388612, + 0.87529754669067095, + -1.9285132314611875, + -2.2237254236957558, + -3.0321468783501433 + ], + "velocities": [ + 1.4555675339558178, + -0.09155091906744274, + -1.9129621689237948, + 0.29462863620357405, + -2.0218903126012862, + 0.54773522089848314 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9420769414649217, + -0.12215093064599809, + -2.5523513210445339, + 0.39310541580382979, + -2.6976876460019876, + 0.73081043491275544 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 740447021, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1295431508932765, + -1.078977968036039, + 0.66963049479402614, + -1.896837015382953, + -2.4411035959389822, + -2.97325857939046 + ], + "velocities": [ + 1.6696680474435013, + -0.10501721199123462, + -2.1943412001914222, + 0.33796578190641136, + -2.3192916657128402, + 0.62830200279897486 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2490682913424638, + 0.1414597841147627, + 2.9558110196176175, + -0.45524505593093623, + 3.124121199849514, + -0.84633236770972797 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 829314538, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2860346322243368, + -1.0888208221859579, + 0.46396344289738112, + -1.8651607993047183, + -2.6584817681822082, + -2.9143702804307767 + ], + "velocities": [ + 1.6541178517970427, + -0.10403915039676995, + -2.1739045421201926, + 0.33481818976167343, + -2.2976913007670889, + 0.62245040907437466 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1167759985824119, + 0.13313898778950978, + 2.7819474609805073, + -0.42846711750698135, + 2.9403574795661469, + -0.79655030916026093 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 930454062, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4425261135553971, + -1.0986636763358768, + 0.25829639100073631, + -1.8334845832264839, + -2.8758599404254341, + -2.8554819814710934 + ], + "velocities": [ + 1.4307461257029495, + -0.089989725453895636, + -1.8803409309121804, + 0.28960441198065534, + -1.9874115517600044, + 0.53839483701711999 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1127884575499767, + 0.13288818318040224, + 2.7767068830175212, + -0.42765997957020746, + 2.9348184919228988, + -0.79504978333971887 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 49530608, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5990175948864573, + -1.1085065304857955, + 0.05262933910409151, + -1.8018083671482494, + -3.0932381126686606, + -2.7965936825114102 + ], + "velocities": [ + 1.1708694683644767, + -0.073644247646450611, + -1.5388011517692635, + 0.23700149020162245, + -1.6264237695470698, + 0.44060232997569243 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2995060909104081, + 0.14463217343952053, + 3.0220982925928457, + -0.46545442083713551, + 3.1941830114497032, + -0.8653122904158248 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 201829331, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7555090762175176, + -1.1183493846357144, + -0.15303771279255329, + -1.770132151070015, + -3.3106162849118865, + -2.7377053835517269 + ], + "velocities": [ + 0.74766798080838526, + -0.047026118131585894, + -0.98261367393585686, + 0.15133918034018284, + -1.0385657911249631, + 0.28135011057428133 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1034795812528193, + -0.093286623679827277, + 1.0397263585246812, + 2.1105966045613322, + 1.329694649126046, + -0.5438863583572372 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 536351417, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9120005575485783, + -1.1281922387856334, + -0.35870476468919832, + -1.7384559349917803, + -3.5279944571551125, + -2.6788170845920436 + ], + "velocities": [ + -0.062513353868386357, + -0.045364355024068437, + -0.43714119223872439, + 0.45534758904518147, + -0.42260021298981199, + 0.083098347470392103 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3160590132933039, + -0.23950458584155315, + -1.0137033298177949, + 3.1879373433042271, + -0.76331687617322364, + -0.038444170812056901 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 885345323, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7051055104195258, + -1.1495873380861696, + -0.44925953768667293, + -1.4536754336739293, + -3.5961820465748224, + -2.6822513271939572 + ], + "velocities": [ + -0.89497522598680701, + -0.092549744893428348, + -0.39171686104717046, + 1.231887843910549, + -0.29496212740334299, + -0.014855657935706843 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1233000136913538, + -0.21957130085100751, + -0.92933568692643076, + 2.9226143918759595, + -0.69978818515720442, + -0.035244571896949219 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 58172992, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4982104632904734, + -1.1709824373867059, + -0.53981431068414754, + -1.1688949323560782, + -3.6643696359945319, + -2.6856855697958708 + ], + "velocities": [ + -1.3608911396842984, + -0.14073029526223493, + -0.59564107473059569, + 1.8731973837758202, + -0.44851671204981325, + -0.022589377528962125 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1533359943875299, + -0.22267733358838324, + -0.94248197269519851, + 2.9639573904586909, + -0.70968731589010181, + -0.035743137937695117 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 193871715, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2913154161614209, + -1.1923775366872422, + -0.63036908368162203, + -0.88411443103822718, + -3.7325572254142418, + -2.6891198123977844 + ], + "velocities": [ + -1.6597696152114585, + -0.17163743756181762, + -0.72645557648283576, + 2.2845883922838617, + -0.54701980846720888, + -0.027550449375259765 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2891374289064248, + -0.23672061406805153, + -1.0019201673075604, + 3.1508811527170377, + -0.75444417492608051, + -0.037997300510929324 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 309141634, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0844203690323684, + -1.2137726359877785, + -0.72092385667909664, + -0.59933392972037614, + -3.8007448148339513, + -2.692554054999698 + ], + "velocities": [ + -1.9188046264227325, + -0.19842435133324227, + -0.8398312080609277, + 2.6411369002121772, + -0.63239146542517832, + -0.031850161152961437 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9740407740354426, + -0.20413634337728204, + -0.8640072184474834, + 2.7171666458551198, + -0.65059595995902397, + -0.032767023755180917 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 410425002, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8775253219033161, + -1.2351677352883148, + -0.81147862967657125, + -0.31455342840252509, + -3.8689324042536613, + -2.6959882976016116 + ], + "velocities": [ + -2.1384217629369671, + -0.22113504696865111, + -0.93595424348089518, + 2.9434287100083929, + -0.7047719469396756, + -0.035495577207107047 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.99904313822829405, + -0.10331144918409405, + -0.4372657821070039, + 1.3751320280052399, + -0.32926038717392025, + -0.016583077043468283 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 503032418, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6706302747742636, + -1.2565628345888511, + -0.90203340267404575, + -0.02977292708467405, + -3.9371199936733712, + -2.6994225402035252 + ], + "velocities": [ + -2.2794657297865282, + -0.23572045980652151, + -0.99768701368470991, + 3.1375685511725062, + -0.75125661747732009, + -0.0378367603645536 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.122774310784607e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 592026324, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4637352276452111, + -1.2779579338893874, + -0.99258817567152036, + 0.25500757423317699, + -4.0053075830930807, + -2.7028567828054388 + ], + "velocities": [ + -2.3248226186455816, + -0.24041083376456768, + -1.0175390247961285, + 3.2000000000000002, + -0.76620514794140582, + -0.038589637546349365 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9960432191726356e-14, + -2.1831722709700705e-15, + 4.9901080479315891e-15, + 0.0, + 1.0603979601854627e-13, + -3.8985219124465543e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 681020231, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2568401805161586, + -1.2993530331899237, + -1.083142948668995, + 0.53978807555102803, + -4.073495172512791, + -2.7062910254073524 + ], + "velocities": [ + -2.3248226186455825, + -0.24041083376456779, + -1.0175390247961282, + 3.2000000000000002, + -0.76620514794140604, + -0.038589637546349378 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.9861512671042217e-14, + 4.3663445419401386e-15, + 1.7465378167760554e-14, + 0.0, + 1.3722797131811864e-14, + 7.0173394424037945e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 770014138, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0499451333871062, + -1.32074813249046, + -1.1736977216664695, + 0.82456857686887886, + -4.1416827619325005, + -2.7097252680092661 + ], + "velocities": [ + -2.3248226186455803, + -0.24041083376456768, + -1.0175390247961271, + 3.2000000000000002, + -0.76620514794140071, + -0.038589637546349365 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.4831836814836909e-14, + 0.0, + -2.7445594263623705e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 859008044, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84305008625805389, + -1.3421432317909963, + -1.264252494663944, + 1.1093490781867301, + -4.20987035135221, + -2.7131595106111797 + ], + "velocities": [ + -2.3248226186455812, + -0.24041083376456748, + -1.0175390247961276, + 3.2000000000000002, + -0.76620514794140016, + -0.038589637546349337 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.9861512671042217e-14, + -4.3663445419401386e-15, + 9.9802160958631734e-15, + 0.0, + -1.2600022821027258e-13, + -7.0173394424037945e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 948001951, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63615503912900095, + -1.3635383310915326, + -1.3548072676614187, + 1.3941295795045814, + -4.2780579407719195, + -2.7165937532130933 + ], + "velocities": [ + -2.3248226186455816, + -0.24041083376456768, + -1.0175390247961285, + 3.2000000000000002, + -0.76620514794140582, + -0.038589637546349365 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4970324143794762e-14, + 4.3663445419401386e-15, + -9.9802160958631734e-15, + 0.0, + 1.2600022821027258e-13, + 7.0173394424037945e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 36995858, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42925999199994891, + -1.3849334303920688, + -1.4453620406588932, + 1.6789100808224322, + -4.3462455301916298, + -2.7200279958150069 + ], + "velocities": [ + -2.3248226186455794, + -0.24041083376456768, + -1.0175390247961285, + 3.2000000000000002, + -0.76620514794140582, + -0.038589637546349365 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.99904313822824065, + 0.10331144918408798, + 0.43726578210699313, + -1.3751320280052455, + 0.32926038717395339, + 0.016583077043467374 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 125989764, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.22236494487089642, + -1.4063285296926051, + -1.5359168136563679, + 1.9636905821402835, + -4.4144331196113393, + -2.7234622384169205 + ], + "velocities": [ + -2.2794657297865286, + -0.23572045980652157, + -0.99768701368471091, + 3.1375685511725058, + -0.75125661747731787, + -0.037836760364553614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9740407740354968, + 0.20413634337729053, + 0.86400721844750705, + -2.7171666458551096, + 0.65059595995895614, + 0.032767023755182187 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 218597181, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.01546989774184393, + -1.4277236289931414, + -1.6264715866538424, + 2.2484710834581341, + -4.4826207090310488, + -2.7268964810188341 + ], + "velocities": [ + -2.1384217629369675, + -0.22113504696865105, + -0.93595424348089551, + 2.9434287100083929, + -0.70477194693967515, + -0.03549557720710704 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9793610829232784, + 0.20468651864027146, + 0.86633583563918937, + -2.7244897802331183, + 0.65234940472767156, + 0.032855335349351901 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 319880548, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19142514938720856, + -1.4491187282936777, + -1.7170263596513171, + 2.5332515847759858, + -4.5508082984507592, + -2.7303307236207477 + ], + "velocities": [ + -1.9366899589159903, + -0.20027388069620303, + -0.84765934240433216, + 2.6657551500173042, + -0.63828603721705368, + -0.032147039070775582 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1493112356145914, + 0.22226113167923806, + 0.94072039781889227, + -2.9584175148697982, + 0.7083608530166533, + 0.03567633112799979 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 432898102, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.39832019651626105, + -1.470513827594214, + -1.8075811326487916, + 2.8180320860938366, + -4.6189958878704687, + -2.7337649662226613 + ], + "velocities": [ + -1.6989879506968149, + -0.17569302126840855, + -0.74362083740375051, + 2.3385704348477194, + -0.55994522062621299, + -0.028201432955431892 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.5816401408476376, + 0.060147638830865442, + 0.25457492410547311, + -0.80059804811990642, + 0.19169448309413573, + 0.0096546214053932038 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 564902823, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.60521524364531354, + -1.4919089268947503, + -1.8981359056462661, + 3.1028125874116883, + -4.6871834772901781, + -2.7371992088245749 + ], + "velocities": [ + -1.5279247485621488, + -0.15800330734279683, + -0.66874911063948739, + 2.1031106443068608, + -0.50356693823696064, + -0.02536196171364722 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7159356801101422, + 0.17744559272310637, + 0.75103859733150446, + -2.3618981217376804, + 0.56553078118390199, + 0.028482747637269802 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 703896729, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.81211029077436603, + -1.5133040261952866, + -1.9886906786437406, + 3.3875930887295382, + -4.7553710667098876, + -2.7406334514264885 + ], + "velocities": [ + -1.3563970091358994, + -0.14026555543067873, + -0.59367406306319048, + 1.8670114418293076, + -0.4470355556234758, + -0.022514779635962559 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9588115765140426, + 0.081982269622354623, + 2.7917757210896172, + 0.38955433312985821, + 3.0340309699733554, + -0.88821499061500675 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 872890636, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0190053379034185, + -1.5346991254958229, + -2.0792454516412153, + 3.6723735900473899, + -4.823558656129598, + -2.7440676940284021 + ], + "velocities": [ + -1.4687050193564142, + -0.11983016346803717, + -0.30521551734229579, + 1.717333882525433, + -0.15284764351340061, + -0.093697857294214523 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8359588777917817, + -0.18715779366197827, + -0.1234689819581033, + 2.8961838003939957, + 0.16189372304084515, + -0.27657778942468886 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 34339981, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2955898374150243, + -1.5529521915381643, + -2.09128709542086, + 3.9548316867421218, + -4.8077695363676822, + -2.771041685105315 + ], + "velocities": [ + -1.9198160663865524, + -0.12669737281293761, + -0.083582923969661882, + 1.9605856187640713, + 0.10959473812362136, + -0.18723067104435617 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9863880275904204, + -0.13109075858317287, + -0.086481263695657534, + 2.0285713138701644, + 0.11339506919823462, + -0.19372312268447545 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 164405748, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5721743369266301, + -1.5712052575805056, + -2.1033287392005047, + 4.2372897834368537, + -4.7919804166057665, + -2.7980156761822284 + ], + "velocities": [ + -2.2490046282225293, + -0.14842201960328699, + -0.097914787848375096, + 2.2967648869228192, + 0.12838681662498361, + -0.21933488999106299 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7550048579279895, + 0.18181527058647334, + 0.11994449135414172, + -2.8135106266952081, + -0.1572723768805277, + 0.26868272295024703 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 281033664, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8487588364382361, + -1.5894583236228468, + -2.1153703829801493, + 4.5197478801315851, + -4.7761912968438498, + -2.8249896672591417 + ], + "velocities": [ + -2.1969939033247283, + -0.14498959588414959, + -0.095650399847433829, + 2.2436496531035415, + 0.1254177291823918, + -0.2142625275420651 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9212238417151988, + 0.19278481549560753, + 0.12718115789082191, + -2.9832594661202751, + -0.16676116401913366, + 0.28489328208641895 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 417789068, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1253433359498421, + -1.6077113896651882, + -2.127412026759794, + 4.8022059768263166, + -4.760402177081934, + -2.8519636583360546 + ], + "velocities": [ + -1.793494447454796, + -0.11836083603300906, + -0.078083266759911341, + 1.8315814116669036, + 0.10238353441063482, + -0.17491111507537127 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0366189724342081, + 0.20040026374270187, + 0.13220510919856868, + -3.1011051481751228, + -0.17334861755352046, + 0.29614722882540484 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 594575383, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4019278354614482, + -1.6259644557075297, + -2.1394536705394387, + 5.0846640735210489, + -4.7446130573200183, + -2.8789376494129675 + ], + "velocities": [ + -1.1088208063420322, + -0.073176115953793947, + -0.048274669003527629, + 1.1323679204291286, + 0.063298212794834247, + -0.1081381009744924 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0846045659980308, + 0.20356705078227583, + 0.13429425528329431, + -3.1501097722619238, + -0.17608792610104865, + 0.30082703906386399 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 18051740, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6785123349730537, + -1.6442175217498709, + -2.1514953143190834, + 5.3671221702157803, + -4.7288239375581025, + -2.9059116404898808 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.60678081693456998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6785123349730537, + -1.6442175217498709, + -2.1514953143190834, + 5.3671221702157803, + -4.7288239375581025, + -2.9059116404898808 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.35032302541364019, + -1.4084654877042757, + -1.3474615859166141, + 2.7478551219884411, + -1.2852637110941187, + 1.6847403057275145 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 120202129, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6828958869769859, + -1.6466265550937043, + -2.1495508136896588, + 5.3676877063391659, + -4.7127415795152849, + -2.92699260353506 + ], + "velocities": [ + -0.018234086409538431, + -0.093351235805332042, + -0.053957578979666229, + 0.14772895463692465, + 0.06689714332740368, + -0.087689641163965243 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.0326296666185302e-10, + -1.8890630094944334, + -1.1633215568755528, + 3.0523845663699287, + -4.1804759727838116e-13, + 6.0326296666185302e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 208197408, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6828958869718602, + -1.6612919321276813, + -2.1604703310759326, + 5.3932726007594152, + -4.7127415795152885, + -2.9269926035299343 + ], + "velocities": [ + 7.9234585110891779e-11, + -0.23237395364140995, + -0.16455941956447462, + 0.39693337320586486, + -5.4916128202648999e-14, + 7.9234585110891779e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.1384099293682879e-10, + -1.8320788355141151, + -0.82114598740792821, + 2.6532248229214672, + -3.5628399715069662e-13, + 5.1384099293682879e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 259346247, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6828958869667341, + -1.6765387338575306, + -2.1709572117219902, + 5.419006283135321, + -4.712741579515292, + -2.9269926035248082 + ], + "velocities": [ + 1.1210109813530132e-10, + -0.34044955926952347, + -0.22401386758474109, + 0.56446342685422957, + -7.7696591224246323e-14, + 1.1210109813530132e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9809982446511594e-10, + 1.6205204749480955, + 1.3485845531416834, + -2.9691050280894582, + 4.1455541463532553e-13, + -5.9809982446511594e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 300688196, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6828958869616084, + -1.6923649347046432, + -2.1810033456912148, + 5.4448786179516562, + -4.7127415795152956, + -2.9269926035196825 + ], + "velocities": [ + 1.0978244771712245e-10, + -0.34433789065023684, + -0.21098298677410596, + 0.55532087742430214, + -7.6092495385286753e-14, + 1.0978244771712245e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.1148757464695061e-10, + 1.9074646789392391, + 1.1845754757062044, + -3.0920401546452316, + 4.2386137956274912e-13, + -6.1148757464695061e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 354313939, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6828958869564827, + -1.7087670985814636, + -2.1906004766319565, + 5.4708779127692164, + -4.7127415795152992, + -2.9269926035145568 + ], + "velocities": [ + 6.7884642854209353e-11, + -0.21946364816147351, + -0.12530880692508789, + 0.34477245508653787, + -4.7051049805942589e-14, + 6.7884642854209353e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.3010019707232325e-10, + 2.0863389734614053, + 1.1234594677665268, + -3.2097984412277136, + 4.3669770220727591e-13, + -6.3010019707232325e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 481871043, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6828958869513566, + -1.7257403159173148, + -2.1997402769985213, + 5.4969909304716307, + -4.7127415795153027, + -2.9269926035094307 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44119200238950834, + "y": 0.096078928096821406, + "z": 0.071891781824041573 + }, + "16": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.45002907652143537, + 0.025920275388854701, + 0.12189178182404158 + ], + "xaxis": [ + -0.99999609009818935, + 0.0026806075170804581, + -0.00079632384966295657 + ], + "yaxis": [ + -0.0026806066671451506, + -0.99999640716521554, + -2.1346393668433959e-06 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.45002907652143537, + 0.025920275388854701, + 0.071891781824041573 + ], + "xaxis": [ + -0.99999609009818935, + 0.0026806075170804581, + -0.00079632384966295657 + ], + "yaxis": [ + -0.0026806066671451506, + -0.99999640716521554, + -2.1346393668433964e-06 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3167449080480598, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2517979294238009, + -0.22421901762188218, + 0.32102878271386037, + -0.088806948326526108, + 3.0852705100163549, + -0.055321259725213866 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 469179044, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.758568567231914, + -1.0649968883678689, + 1.5286516801265064, + -2.0335982895570384, + -1.2222179652548764, + -3.2150762992592967 + ], + "velocities": [ + 0.91857054756149759, + -0.091465127975908431, + 0.13095650407491533, + -0.036226806182577988, + 1.2585670253663708, + -0.022567069262109451 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2465737206430147, + -0.22369882575858419, + 0.32028399057971774, + -0.088600914724161151, + 3.078112630937202, + -0.055192913479307069 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 666287968, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0135599088947931, + -1.0903872252993743, + 1.5650046578724071, + -2.0436546994181852, + -0.87284502354367488, + -3.2213408232894003 + ], + "velocities": [ + 1.4893530662094245, + -0.14829984388655415, + 0.21233042078456654, + -0.058737464433438621, + 2.0406169817174398, + -0.036589823057258788 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0455836782746952, + -0.20368557800542647, + 0.29162973710695417, + -0.080674221092575868, + 2.8027288398682568, + -0.050255071503863935 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 817613730, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2685512505576719, + -1.1157775622308796, + 1.6013576356183079, + -2.0537111092793325, + -0.5234720818324734, + -3.2276053473195043 + ], + "velocities": [ + 1.8285606147165376, + -0.18207586894740577, + 0.26068972734652646, + -0.072115213315174204, + 2.5053776214306738, + -0.044923336756028776 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0496506339664693, + -0.20409053832537402, + 0.29220954483218609, + -0.080834614669302376, + 2.8083011242626261, + -0.050354986824516224 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 946914956, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5235425922205508, + -1.141167899162385, + 1.6377106133642085, + -2.0637675191404798, + -0.17409914012127192, + -3.2338698713496079 + ], + "velocities": [ + 2.0971261636971814, + -0.208817834899445, + 0.29897791925822181, + -0.082706966029288273, + 2.8733490799035755, + -0.051521346415004401 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0124135423186011, + -0.10080938743194144, + 0.14433528108656488, + -0.039927808780201975, + 1.3871447367641776, + -0.024872565958110927 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 61663229, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7785339338834296, + -1.1665582360938906, + 1.6740635911101094, + -2.0738239290016272, + 0.17527380158992978, + -3.2401343953797115 + ], + "velocities": [ + 2.2788569782407424, + -0.22691337721083188, + 0.32488647055946868, + -0.089874109601817409, + 3.122345100170798, + -0.055986035479716159 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8472721018172843e-14, + 2.7964279571419758e-15, + 1.5253243402592596e-14, + -3.6099342719469144e-14, + 0.0, + -3.6607784166222228e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 170842273, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0335252755463085, + -1.191948573025396, + 1.71041656885601, + -2.083880338862774, + 0.52464674330113104, + -3.2463989194098151 + ], + "velocities": [ + 2.3355337403195664, + -0.23255687112707002, + 0.33296662362319585, + -0.092109341376161058, + 3.2000000000000002, + -0.057378447220743777 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8472721018172843e-14, + -2.7964279571419758e-15, + -1.5253243402592596e-14, + -1.1439932551944446e-15, + 0.0, + 3.6607784166222228e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 280021317, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2885166172091873, + -1.2173389099569014, + 1.7467695466019109, + -2.0939367487239213, + 0.87401968501233274, + -3.2526634434399191 + ], + "velocities": [ + 2.3355337403195664, + -0.23255687112707002, + 0.33296662362319585, + -0.092109341376163084, + 3.2000000000000002, + -0.057378447220743777 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8472721018172843e-14, + 2.7964279571419758e-15, + 1.5253243402592596e-14, + 1.1439932551944446e-15, + 0.0, + 6.3555180844135818e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 389200361, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5435079588720662, + -1.2427292468884068, + 1.7831225243478115, + -2.1039931585850686, + 1.223392626723534, + -3.2589279674700227 + ], + "velocities": [ + 2.3355337403195664, + -0.23255687112707002, + 0.33296662362319585, + -0.092109341376163084, + 3.2000000000000002, + -0.057378447220741743 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 3.7243335974663561e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 498379406, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.798499300534945, + -1.2681195838199122, + 1.8194755020937123, + -2.1140495684462159, + 1.5727655684347357, + -3.2651924915001262 + ], + "velocities": [ + 2.3355337403195651, + -0.23255687112706988, + 0.33296662362319668, + -0.092109341376161002, + 3.2000000000000002, + -0.057378447220741709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -1.8812333529864192e-14, + -3.7243335974663561e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 607558450, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0534906421978238, + -1.2935099207514176, + 1.8558284798396132, + -2.1241059783073628, + 1.9221385101459374, + -3.2714570155302298 + ], + "velocities": [ + 2.3355337403195651, + -0.23255687112706988, + 0.33296662362319562, + -0.092109341376161002, + 3.2000000000000002, + -0.057378447220741709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2877910462321029e-14, + -5.5928559142839556e-15, + 7.6266217012963025e-15, + -2.1608761487006191e-15, + 0.0, + -3.8577994772390461e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 716737494, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3084819838607027, + -1.318900257682923, + 1.8921814575855138, + -2.1341623881685101, + 2.2715114518571391, + -3.2777215395603334 + ], + "velocities": [ + 2.3355337403195682, + -0.23255687112707019, + 0.33296662362319507, + -0.09210934137616314, + 3.2000000000000002, + -0.057378447220743811 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.1350631480493847e-14, + -1.0423049658438273e-14, + 7.1181802545432109e-15, + 4.0421095016870376e-14, + 0.0, + 3.9277101761675934e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 825916539, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.5634733255235815, + -1.3442905946144283, + 1.9285344353314144, + -2.1442187980296574, + 2.6208843935683399, + -3.2839860635904374 + ], + "velocities": [ + 2.3355337403195664, + -0.23255687112707107, + 0.33296662362319585, + -0.092109341376161058, + 3.2000000000000002, + -0.057378447220743777 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.81809087437810102, + 0.081460032350905903, + -0.11663156543452669, + 0.032264064664902094, + -1.1208961586878652, + 0.020098525337874876 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 935095583, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8184646671864604, + -1.369680931545934, + 1.9648874130773153, + -2.1542752078908043, + 2.9702573352795421, + -3.290250587620541 + ], + "velocities": [ + 2.2899678793215505, + -0.22801972662730374, + 0.32647050214694817, + -0.090312303990954718, + 3.1375685511725062, + -0.056259003598409581 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0613340843495132, + 0.20525389838223562, + -0.29387520221882629, + 0.081295389395526663, + -2.8243090459553284, + 0.050642021102628575 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 48707734, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.0734560088493392, + -1.3950712684774391, + 2.0012403908232161, + -2.1643316177519516, + 3.3196302769907433, + -3.2965151116506446 + ], + "velocities": [ + 2.1200065780448014, + -0.21109611394072439, + 0.30223987783364548, + -0.083609329313359099, + 2.9046983704954381, + -0.052083463169889731 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0766776942460305, + 0.20678171270914023, + -0.29606267221474197, + 0.081900514372957894, + -2.8453318857547396, + 0.051018976697563508 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 176483801, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3284473505122181, + -1.4204616054089447, + 2.0375933685691168, + -2.1743880276130989, + 3.6690032187019446, + -3.3027796356807482 + ], + "velocities": [ + 1.8517617039003293, + -0.18438607864987255, + 0.26399740310241127, + -0.073030223450560317, + 2.5371662803168311, + -0.045493331720440559 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.293421885059443, + 0.22836365347939427, + -0.32696292433234903, + 0.090448523899993222, + -3.1423010104688012, + 0.056343860212788935 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 325783824, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5834386921750969, + -1.4458519423404501, + 2.0739463463150174, + -2.1844444374742462, + 4.0183761604131458, + -3.3090441597108522 + ], + "velocities": [ + 1.5110648578702315, + -0.15046175927575733, + 0.21542577403821772, + -0.059593739294918367, + 2.0703650997236815, + -0.037123229563176777 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3242714051669262, + 0.23143544291583634, + -0.33136100275583869, + 0.091665174693672122, + -3.1845690636507391, + 0.057101758731090697 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 519809054, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.8384300338379758, + -1.4712422792719555, + 2.1102993240609185, + -2.1945008473353931, + 4.367749102124348, + -3.3153086837409558 + ], + "velocities": [ + 0.9288507633053219, + -0.092488763287453118, + 0.13242210856062619, + -0.036632239803604999, + 1.2726523240766097, + -0.022819629439807497 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3167449080480607, + 0.2306860045368084, + -0.33028798364670287, + 0.091368342890087356, + -3.1742567353102782, + 0.056916850797526529 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 988988098, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0934213755008546, + -1.4966326162034609, + 2.1466523018068191, + -2.2045572571965404, + 4.7171220438355492, + -3.3215732077710594 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.39225519023549438, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0934213755008546, + -1.4966326162034609, + 2.1466523018068191, + -2.2045572571965404, + 4.7171220438355492, + -3.3215732077710594 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.24991446529119624, + 2.4147657907823965, + 1.3411870977737841, + -2.1646127556520041, + 0.42815165025036728, + 0.41335071561046044 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 116813963, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0960976349623976, + -1.4967026708421138, + 2.1514858501213423, + -2.2263619373696817, + 4.7125370956084396, + -3.3259996571592323 + ], + "velocities": [ + 0.011455220979910686, + 0.11008485736763747, + 0.10285358194268786, + -0.28588000436246885, + -0.01962500084278616, + -0.018946576435471481 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.095852829619244e-09, + 1.8971737533155526, + 1.0827720657405349, + -2.9799458190566277, + -2.4316163081182684e-12, + 3.095852829619244e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 183346259, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0960976349895368, + -1.4820143739452361, + 2.1624190352830963, + -2.2519834194283175, + 4.7125370956084183, + -3.3259996571320931 + ], + "velocities": [ + 4.9543461242126878e-10, + 0.27440558715594326, + 0.1949407034964396, + -0.46934629065245825, + -3.8913570814604169e-13, + 4.9543461242126878e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6479465397175192e-09, + 1.2466089709085777, + 0.39546980758798905, + -1.6420787784966997, + -1.2943682731123345e-12, + 1.6479465397175192e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 229900413, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.096097635016676, + -1.4667426679941269, + 2.1729194370987601, + -2.2777555271950947, + 4.712537095608397, + -3.3259996571049539 + ], + "velocities": [ + 6.1919788488349986e-10, + 0.3554548131278924, + 0.23424883919772466, + -0.58970365232571065, + -4.8634471911257998e-13, + 6.1919788488349986e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0982815634804519e-09, + -1.5811996414705489, + -1.3261157264262995, + 2.9073153678971284, + 2.4335239404218759e-12, + -3.0982815634804519e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 271306687, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0960976350438152, + -1.4508895355113622, + 2.1829788953528868, + -2.30366811793199, + 4.7125370956083756, + -3.3259996570778148 + ], + "velocities": [ + 5.8203566033861558e-10, + 0.34540800537560756, + 0.21152853020617143, + -0.55693653558186884, + -4.5715590548916004e-13, + 5.8203566033861558e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.2708586807871384e-09, + -1.9323161875794521, + -1.1965595847854009, + 3.1288757723653879, + 2.5690734500226243e-12, + -3.2708586807871384e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 324663582, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0960976350709544, + -1.4344583792939247, + 2.1925891016514378, + -2.329709480447983, + 4.7125370956083543, + -3.3259996570506756 + ], + "velocities": [ + 3.5857775543899669e-10, + 0.21929927744048056, + 0.12521724258054701, + -0.34451652002108624, + -2.8164243129126587e-13, + 3.5857775543899669e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.2042854096967108e-09, + -2.0076733384464993, + -1.0806316760547305, + 3.0883050145017541, + 2.5167839322136757e-12, + -3.2042854096967108e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 454814658, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0960976350980935, + -1.4174540863768408, + 2.2017416750323906, + -2.3558663467460241, + 4.712537095608333, + -3.3259996570235364 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.45002907652143537, + "y": 0.025920275388854701, + "z": 0.071891781824041573 + }, + "17": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43984664279786134, + -0.043767374922742498, + 0.12189178182404158 + ], + "xaxis": [ + -0.95763921361736604, + 0.28796971193654325, + -0.00076259392684336301 + ], + "yaxis": [ + -0.28796962063051501, + -0.95763951725437091, + -0.00022931797349723257 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43984664279786134, + -0.043767374922742498, + 0.071891781824041573 + ], + "xaxis": [ + -0.95763921361736604, + 0.28796971193654325, + -0.0007625939268433629 + ], + "yaxis": [ + -0.28796962063051501, + -0.95763951725437091, + -0.00022931797349723263 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.1188795568683301, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.044907871742956885, + -0.18716385451187842, + -0.48011770885478322, + 0.59316531442257503, + 0.44776002824652167, + 1.2069309856797026 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 399340193, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4940982101543168, + -1.0791125220633142, + 1.390956933410509, + -1.8983383699176888, + -1.4770790976748944, + -2.9540564957262685 + ], + "velocities": [ + -0.031001172113249653, + -0.1292044944884691, + -0.33143881348952625, + 0.40947876820520435, + 0.30910139274815057, + 0.83317854451067186 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0880320858542576, + 0.1257330574111914, + -0.0081112448165897941, + -3.1575076077935504, + 1.7557361134102971, + -2.2033979031885615 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 647056226, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4846191947395986, + -1.1186184926902647, + 1.2896151644404121, + -1.7731348601394867, + -1.382567288383711, + -2.6993012162233438 + ], + "velocities": [ + 0.10689884487671336, + -0.14270566033643262, + -0.41018679842776939, + 0.084159090914368323, + 0.61578198230316872, + 0.73444075598515157 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.7946088000550513, + -0.39698528447824188, + -1.2964914333365378, + -1.0627221070602293, + 2.6796525960778785, + 1.3885291524947161 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 933017457, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5566995379817157, + -1.1546297167860451, + 1.1720081765504113, + -1.8695362267523159, + -1.1394913510400249, + -2.5733453271033504 + ], + "velocities": [ + 0.34201792381617668, + -0.17087160722788042, + -0.55803976528387622, + -0.45742006459670581, + 1.1533841777182527, + 0.59765491882493194 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.87389343841212541, + -0.43659576288065749, + -1.4258530190854288, + -1.1687586094580023, + 2.9470235174518926, + 1.5270740964925078 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 99880723, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6287798812238328, + -1.1906409408818253, + 1.0544011886604108, + -1.9659375933651451, + -0.89641541369633848, + -2.447389437983357 + ], + "velocities": [ + 0.49649723574231375, + -0.2480492241719072, + -0.81008971052244494, + -0.66402308718591496, + 1.6743334664934562, + 0.86759784929827166 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.86180799767075533, + -0.43055789603291289, + -1.4061342966295436, + -1.1525953539686224, + 2.9062678869389904, + 1.5059555450884266 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 228361153, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7008602244659499, + -1.2266521649776057, + 0.93679420077040998, + -2.062338959977974, + -0.65333947635265233, + -2.3214335488633639 + ], + "velocities": [ + 0.61211929115998109, + -0.30581381796795137, + -0.9987397787615383, + -0.8186578135413054, + 2.0642447548435814, + 1.0696401556604314 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.82007513572850899, + -0.40970822501360354, + -1.33804255388398, + -1.0967811785230046, + 2.7655325064127529, + 1.4330299804334377 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 337044110, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.772940567708067, + -1.2626633890733858, + 0.81918721288040919, + -2.1587403265908032, + -0.41026353900896606, + -2.1954776597433705 + ], + "velocities": [ + 0.7052728508206616, + -0.35235318725192488, + -1.1507300311681452, + -0.94324282593470266, + 2.3783857232815686, + 1.2324201717369614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.85094220269741594, + -0.42512936225846815, + -1.3884055600507461, + -1.1380632716053394, + 2.8696252576265189, + 1.4869682483399824 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 433494716, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8450209109501838, + -1.2986746131691662, + 0.7015802249904084, + -2.2551416932036323, + -0.16718760166527979, + -2.0695217706233771 + ], + "velocities": [ + 0.78642266314765519, + -0.39289550358388209, + -1.2831348528760422, + -1.0517738408664656, + 2.6520465552006147, + 1.3742243905270115 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.81452356504740764, + -0.40693466918835203, + -1.3289845572583068, + -1.08935642197446, + 2.7468109911376555, + 1.4233289580783579 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 520810192, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9171012541923009, + -1.3346858372649466, + 0.58397323710040772, + -2.3515430598164615, + 0.07588833567840636, + -1.9435658815033836 + ], + "velocities": [ + 0.85971601986795521, + -0.42951274727153899, + -1.4027210053346653, + -1.149797510478376, + 2.8992131277293915, + 1.502299944791297 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.70236752497355937, + -0.35090169110968389, + -1.1459896733071124, + -0.93935719818218333, + 2.3685881172796819, + 1.2273432966307496 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 601444568, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.989181597434418, + -1.3706970613607268, + 0.46636624921040692, + -2.4479444264292907, + 0.31896427302209274, + -1.8176099923833902 + ], + "velocities": [ + 0.92141271524325663, + -0.46033631751545717, + -1.5033859325462853, + -1.2323116257302491, + 3.1072723764067312, + 1.6101110590594221 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.8000699147036462e-14, + 3.8000699147036462e-14, + -2.0461914925327324e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 677405799, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0612619406765349, + -1.4067082854565072, + 0.34875926132040624, + -2.5443457930421198, + 0.56204021036577889, + -1.6916541032633969 + ], + "velocities": [ + 0.94890963250158011, + -0.47407373335997599, + -1.5482501697232589, + -1.2690864284311527, + 3.2000000000000002, + 1.6581602012464591 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0230957462663657e-14, + -3.2154437739800065e-14, + 2.0461914925327314e-14, + 1.4615653518090939e-14, + 0.0, + 1.7538784221709125e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 753367029, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.133342283918652, + -1.4427195095522873, + 0.23115227343040545, + -2.640747159654949, + 0.80511614770946505, + -1.5656982141434037 + ], + "velocities": [ + 0.94890963250158111, + -0.47407373335997577, + -1.5482501697232589, + -1.269086428431152, + 3.2000000000000002, + 1.6581602012464598 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 3.8000699147036424e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 829328260, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2054226271607691, + -1.4787307336480677, + 0.11354528554040466, + -2.7371485262677782, + 1.0481920850531514, + -1.4397423250234103 + ], + "velocities": [ + 0.94890963250158078, + -0.47407373335997699, + -1.5482501697232567, + -1.2690864284311516, + 3.2000000000000002, + 1.6581602012464605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.192348027713642e-14, + 2.703895900846825e-14, + -7.6001398294072924e-14, + -2.9231307036181891e-14, + 0.0, + 2.9231307036181891e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 905289490, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2775029704028862, + -1.5147419577438481, + -0.0040617023495959081, + -2.8335498928806073, + 1.2912680223968378, + -1.3137864359034168 + ], + "velocities": [ + 0.94890963250158156, + -0.47407373335997594, + -1.5482501697232582, + -1.2690864284311527, + 3.2000000000000002, + 1.6581602012464605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.192348027713642e-14, + -2.703895900846825e-14, + 3.8000699147036462e-14, + 2.9231307036181891e-14, + 0.0, + -2.9231307036181891e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 981250720, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3495833136450033, + -1.5507531818396283, + -0.1216686902395967, + -2.9299512594934365, + 1.5343439597405237, + -1.1878305467834236 + ], + "velocities": [ + 0.94890963250158156, + -0.47407373335997594, + -1.5482501697232598, + -1.2690864284311527, + 3.2000000000000002, + 1.6581602012464605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.8000699147036424e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 57211951, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4216636568871204, + -1.5867644059354087, + -0.23927567812959749, + -3.0263526261062657, + 1.7774198970842101, + -1.0618746576634301 + ], + "velocities": [ + 0.94890963250158078, + -0.47407373335997555, + -1.5482501697232582, + -1.2690864284311516, + 3.2000000000000002, + 1.6581602012464605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.192348027713642e-14, + -4.9693221961509218e-14, + 0.0, + 4.6770091257891026e-14, + 0.0, + 2.9231307036181891e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 133173181, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4937440001292375, + -1.6227756300311889, + -0.35688266601959828, + -3.1227539927190948, + 2.0204958344278965, + -0.9359187685434367 + ], + "velocities": [ + 0.94890963250158156, + -0.47407373335997599, + -1.5482501697232582, + -1.2690864284311498, + 3.2000000000000002, + 1.6581602012464605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.192348027713642e-14, + 1.1692522814472757e-14, + 0.0, + -1.2277148955196395e-13, + 0.0, + -2.9231307036181891e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 209134412, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5658243433713546, + -1.6587868541269692, + -0.47448965390959885, + -3.2191553593319235, + 2.2635717717715824, + -0.80996287942344347 + ], + "velocities": [ + 0.94890963250158156, + -0.47407373335997743, + -1.5482501697232582, + -1.2690864284311527, + 3.2000000000000002, + 1.6581602012464605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3385045628945472e-14, + 1.096174013856819e-14, + -2.923130703618184e-15, + 1.081558360338728e-13, + 0.0, + -3.8000699147036393e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 285095642, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6379046866134717, + -1.6947980782227496, + -0.59209664179959964, + -3.3155567259447531, + 2.5066477091152688, + -0.68400699030345002 + ], + "velocities": [ + 0.94890963250157989, + -0.4740737333599766, + -1.5482501697232585, + -1.2690864284311534, + 3.2000000000000002, + 1.6581602012464591 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.8693571535027443e-14, + 4.3116177878368292e-14, + -3.507756844341827e-14, + -1.4615653518090946e-14, + 0.0, + 4.0923829850654648e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 361056872, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7099850298555888, + -1.73080930231853, + -0.70970362968960066, + -3.4119580925575823, + 2.7497236464589556, + -0.55805110118345658 + ], + "velocities": [ + 0.94890963250158156, + -0.47407373335997449, + -1.5482501697232598, + -1.2690864284311498, + 3.2000000000000002, + 1.6581602012464591 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.70236752497363131, + 0.3509016911095908, + 1.1459896733071508, + 0.93935719818215346, + -2.3685881172796854, + -1.2273432966307711 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 437018103, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7820653730977059, + -1.76682052641431, + -0.82731061757960123, + -3.508359459170411, + 2.9927995838026411, + -0.43209521206346357 + ], + "velocities": [ + 0.92141271524325941, + -0.46033631751545628, + -1.5033859325462868, + -1.2323116257302478, + 3.1072723764067312, + 1.6101110590594228 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.81452356504741541, + 0.40693466918838889, + 1.3289845572583037, + 1.0893564219744702, + -2.7468109911376493, + -1.4233289580783732 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 517652480, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8541457163398229, + -1.8028317505100904, + -0.94491760546960202, + -3.6047608257832402, + 3.2358755211463275, + -0.30613932294347013 + ], + "velocities": [ + 0.85971601986795476, + -0.42951274727154021, + -1.4027210053346653, + -1.1497975104783755, + 2.899213127729392, + 1.5022999447912961 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.92660837679251917, + 0.46293206170810192, + 1.5118632243767332, + 1.239260383897548, + -3.1247936622996151, + -1.6191901524788206 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 604967955, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.92622605958194, + -1.8388429746058708, + -1.0625245933596028, + -3.7011621923960694, + 3.4789514584900139, + -0.18018343382347668 + ], + "velocities": [ + 0.78272301421426693, + -0.39104716489925068, + -1.2770984697549921, + -1.0468258731248528, + 2.6395702601127145, + 1.3677594855352118 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.86210906092725326, + 0.43070830675398747, + 1.4066255143620769, + 1.1529980006273588, + -2.9072831600354974, + -1.5064816342891174 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 702383068, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9983064028240567, + -1.8748541987016512, + -1.1801315812496032, + -3.7975635590088981, + 3.7220273958336993, + -0.054227544703483233 + ], + "velocities": [ + 0.69503920815938014, + -0.34724047576061445, + -1.1340327204395673, + -0.92955619385719768, + 2.343874895912506, + 1.2145375215946277 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.86888373333022961, + 0.43409292224135937, + 1.4176791356325371, + 1.1620585523480895, + -2.9301293309951042, + -1.5183199503627933 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 813250552, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0703867460661742, + -1.9108654227974313, + -1.2977385691396039, + -3.8939649256217272, + 3.9651033331773866, + 0.071728344416510215 + ], + "velocities": [ + 0.59730876790258369, + -0.29841450425760352, + -0.97457478521362084, + -0.79884999051986783, + 2.0142993514032881, + 1.043759693091713 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.90564699477811439, + 0.45245978880922472, + 1.4776624299598409, + 1.2112263071799179, + -3.0541057694291758, + -1.5825614491451765 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 945637071, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1424670893082913, + -1.9468766468932117, + -1.4153455570296052, + -3.9903662922345564, + 4.2081792705210734, + 0.19768423353650366 + ], + "velocities": [ + 0.4740656157630766, + -0.23684242273936837, + -0.77349006156697842, + -0.63402269145979706, + 1.5986875024575311, + 0.8283999971266196 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.771498530228371, + 0.38543943066832509, + 1.2587844927007157, + 1.0318140745249378, + -2.6017180268497926, + -1.3481454021836994 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 124203013, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.214547432550408, + -1.9828878709889919, + -1.5329525449196055, + -4.0867676588473856, + 4.451255207864758, + 0.32364012265649666 + ], + "velocities": [ + 0.29285060815265967, + -0.14630769503063276, + -0.47781789566264121, + -0.39166293568395411, + 0.98757765122270502, + 0.51173811153060944 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.91947835776793918, + 0.45936991561735613, + 1.5002298161081249, + 1.2297245861054222, + -3.1007491589063565, + -1.606730890420919 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 520164243, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2866277757925251, + -2.0188990950847723, + -1.6505595328096063, + -4.1831690254602147, + 4.6943311452084453, + 0.44959601177649017 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.91045907893630684, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2866277757925251, + -2.0188990950847723, + -1.6505595328096063, + -4.1831690254602147, + 4.6943311452084453, + 0.44959601177649017 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.50747496875565001, + -1.2023411585736203, + -1.0151052459871259, + 2.2712555839910138, + -1.7261316606698012, + 0.6752609417580655 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 108347241, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2919717720472441, + -2.0190490153637377, + -1.65139088284206, + -4.182754396010103, + 4.7125082804349443, + 0.44248513504990783 + ], + "velocities": [ + 0.024661432203117471, + -0.05981309602688422, + -0.057003427128458753, + 0.11420159333117082, + 0.083883701771985772, + -0.032815218421587203 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0185418478296348e-10, + -1.7651065996314845, + -1.3430402757055575, + 3.1081468753372712, + -1.4416728207071973e-13, + -1.0192146580659303e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 194385408, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2919717720466166, + -2.0292223825331308, + -1.6605396514844228, + -4.1634322601983484, + 4.7125082804349434, + 0.4424851350492805 + ], + "velocities": [ + -1.062838061560383e-11, + -0.17603940053418093, + -0.15031054747681105, + 0.32634994801099437, + -1.5043709293140595e-14, + -1.0628648098861481e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.6416358723955522e-11, + -1.8544188963828137, + -1.0491622714414859, + 2.9035811678235803, + -1.369165118369521e-13, + -9.6472867899041474e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 239323829, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2919717720459891, + -2.03973061721369, + -1.6692706140692164, + -4.1441930629329944, + 4.7125082804349425, + 0.44248513504865289 + ], + "velocities": [ + -1.5894616293230391e-11, + -0.27097815937236752, + -0.2153007530937098, + 0.4862789124660728, + -2.2506622106558371e-14, + -1.5898218649125346e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0007615270347133e-10, + 1.5565352423455163, + 1.5579351301990545, + -3.1144703725443437, + 1.4209353100504634e-13, + 1.0013303026379615e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 274500745, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2919717720453621, + -2.0505693285777582, + -1.677583420390963, + -4.1250415452471803, + 4.7125082804349416, + 0.44248513504802567 + ], + "velocities": [ + -1.5807031343686888e-11, + -0.2767222624705965, + -0.20488826689234266, + 0.48161052936292481, + -2.2382651901967426e-14, + -1.581061820330627e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0387192573476673e-10, + 1.8127620661747053, + 1.3529172536165612, + -3.1656793197912418, + 1.4702324944765282e-13, + 1.0391475606049989e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 320010073, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2919717720447346, + -2.0617338825832974, + -1.6854775724145006, + -4.1059828392181039, + 4.7125082804349407, + 0.44248513504739806 + ], + "velocities": [ + -9.6483600017024818e-12, + -0.17307403092452797, + -0.11953963640563191, + 0.29261366733015109, + -1.365656051196388e-14, + -9.6490924820874295e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.6708697643294277e-11, + 1.770123370888802, + 1.1520143081211369, + -2.9221376790098015, + 1.3688421464019004e-13, + 9.6691587116464248e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 433927042, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2919717720441071, + -2.073219395228878, + -1.6929524609569706, + -4.0870224380300542, + 4.7125082804349399, + 0.44248513504677067 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43984664279786134, + "y": -0.043767374922742498, + "z": 0.071891781824041573 + }, + "18": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40982266083147134, + -0.107440217452378, + 0.12189178182404158 + ], + "xaxis": [ + -0.83312597954595036, + 0.553082870872045, + -0.00066344068127417374 + ], + "yaxis": [ + -0.55308269550707378, + -0.83312624370375987, + -0.00044043466332444509 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40982266083147134, + -0.107440217452378, + 0.071891781824041573 + ], + "xaxis": [ + -0.83312597954595036, + 0.553082870872045, + -0.00066344068127417374 + ], + "yaxis": [ + -0.55308269550707378, + -0.83312624370375987, + -0.0004404346633244453 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6019457315354908, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5985057413914385, + 0.7735326124812677, + -2.3881673030128372, + -0.40969263006988577, + -3.0993468420053585, + -1.6357532932033323 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 364467636, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6099757839316884, + -0.98811924508307969, + 1.3333392744662522, + -2.0508115379038721, + -1.7778873420155787, + -3.3176895776212576 + ], + "velocities": [ + 0.49797502430515317, + 0.24097500029364094, + -0.7439746007589545, + -0.12762963068190492, + -0.9655250394247894, + -0.50957858007511314 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6049383735537153, + 0.77664542630032196, + -2.3977776543581801, + -0.41134129602119002, + -3.1118190888429771, + -1.642335815224353 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 515597366, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7163743422943418, + -0.93663193872979589, + 1.1743798465518989, + -2.078081196111853, + -1.9841837770650796, + -3.4265673800133221 + ], + "velocities": [ + 0.81114986080539464, + 0.39252337648561941, + -1.2118577526863548, + -0.20789548091638876, + -1.5727405253433249, + -0.83005085420518254 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4679604222430704, + 0.71036045166053186, + -2.193132618633058, + -0.3762342234090541, + -2.8462321911384363, + -1.502166074728112 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 631464801, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.822772900656995, + -0.88514463237651198, + 1.0154204186375453, + -2.1053508543198336, + -2.1904802121145805, + -3.5354451824053865 + ], + "velocities": [ + 0.99709291900522712, + 0.48250304678500328, + -1.489656649691576, + -0.2555521759063088, + -1.9332659931610534, + -1.0203266611184085 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.45054667582096886, + 0.21802395710456629, + -0.67311665627183281, + -0.1154738752615638, + -0.87356609408619035, + -0.46104508081049606 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 730356723, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9291714590196483, + -0.83365732602322817, + 0.85646099072319204, + -2.1326205125278146, + -2.3967766471640815, + -3.6443229847974514 + ], + "velocities": [ + 1.0977505571622919, + 0.53121226552202905, + -1.6400391438050774, + -0.28135045203717635, + -2.1284313434426569, + -1.1233297713594541 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5313217708951028, + -0.74102162996226151, + 2.2877944626336264, + 0.39247356300093761, + 2.9690836709704285, + 1.5670038366676358 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 825389916, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0355700173823017, + -0.78217001966994437, + 0.69750156280883868, + -2.1598901707357956, + -2.6030730822135824, + -3.7532007871895159 + ], + "velocities": [ + 1.0408775551468505, + 0.50369086182011769, + -1.5550708885648845, + -0.26677405786332897, + -2.0181601353840044, + -1.0651315441449907 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6440618104322171, + -0.79557764127723007, + 2.4562280623331243, + 0.42136852541240438, + 3.1876756199756762, + 1.6823708861398139 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 935972767, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1419685757449551, + -0.73068271331666046, + 0.53854213489448521, + -2.1871598289437761, + -2.8093695172630833, + -3.8620785895815803 + ], + "velocities": [ + 0.85882525516750596, + 0.41559396759897882, + -1.2830847836726367, + -0.22011455351654752, + -1.6651784685620652, + -0.87883715588259115 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.584947719942934, + -0.76697175287372277, + 2.3679116212980889, + 0.40621774641952202, + 3.0730591597830696, + 1.6218793497701502 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 76806787, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2483671341076081, + -0.67919540696337666, + 0.37958270698013186, + -2.2144294871517571, + -3.0156659523125842, + -3.9709563919736448 + ], + "velocities": [ + 0.60822728133003867, + 0.29432714924130798, + -0.90869145381261274, + -0.15588698127005396, + -1.179293420598448, + -0.62239987801713692 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7365167905833556, + -1.0555254439200585, + 3.1292645597916828, + -2.3037535029037031, + 1.0810560392677215, + -0.59041733123760731 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 307623524, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3547656924702616, + -0.62770810061009286, + 0.22062327906577842, + -2.2416991453597381, + -3.2219623873620851, + -4.0798341943657093 + ], + "velocities": [ + 0.65992568406248286, + 0.10212967545102256, + -0.33014918955609907, + -0.38209509246242918, + -0.76990601481041954, + -0.53935334557548753 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1126094633044366, + -0.068154515337878363, + 0.10286399155267439, + -2.3412760519464659, + -2.3412717491917916, + -2.1997730152645127 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 535103899, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5501453665982008, + -0.63198618533419593, + 0.22708009074935037, + -2.3886619293086171, + -3.3689249012254256, + -4.2179147791434541 + ], + "velocities": [ + 1.1425071496424042, + -0.02501663699604283, + 0.037757016154837869, + -0.85938331171029381, + -0.85938173235123139, + -0.80744353802163449 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.060945423118155, + -0.067023265927747849, + 0.10115662368145656, + -2.3024148387229384, + -2.302410607386741, + -2.1632605125554534 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 672103952, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7455250407261396, + -0.63626427005829911, + 0.2335369024329223, + -2.5356247132574961, + -3.5158874150887658, + -4.3559953639211981 + ], + "velocities": [ + 1.6139465451795283, + -0.03533939797611832, + 0.05333691417026256, + -1.2139956650195927, + -1.2139934339603802, + -1.1406236792701343 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9051324682311539, + -0.063611544493093683, + 0.096007393537344374, + -2.1852137750621594, + -2.1852097591158772, + -2.0531428965710892 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 780541908, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9409047148540788, + -0.64054235478240218, + 0.23999371411649426, + -2.682587497206375, + -3.6628499289521064, + -4.494075948698943 + ], + "velocities": [ + 1.9482622111295667, + -0.042659661713443264, + 0.064385214396691676, + -1.465464817095095, + -1.4654621238904357, + -1.3768944318997742 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7398142695077135, + -0.059991693739775975, + 0.090544038754971412, + -2.0608629548949517, + -2.0608591674784513, + -1.9363076441018432 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 873812590, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.136284388982018, + -0.64482043950650525, + 0.24645052580006621, + -2.829550281155254, + -3.8098124428154465, + -4.632156533476687 + ], + "velocities": [ + 2.2159084902723345, + -0.048520115025049881, + 0.073230257413305189, + -1.6667858729927678, + -1.6667828098039243, + -1.5660479602930133 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0700994228289611, + -0.067223704312689148, + 0.10145914057605267, + -2.3093003926465334, + -2.3092961486561654, + -2.169729914445595 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 957413315, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3316640631099572, + -0.64909852423060832, + 0.25290733748363814, + -2.9765130651041329, + -3.9567749566787871, + -4.7702371182544319 + ], + "velocities": [ + 2.4593111362959612, + -0.053849723370482133, + 0.081274108728301958, + -1.8498710922706563, + -1.8498676926111202, + -1.7380677973073022 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0700994228289611, + 0.067223704312689148, + -0.10145914057604448, + 2.3093003926465334, + 2.3092961486561654, + 2.169729914445595 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 33095960, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.527043737237896, + -0.6533766089547115, + 0.25936414916721007, + -3.1234758490530119, + -4.1037374705421277, + -4.9083177030321758 + ], + "velocities": [ + 2.4593111362959612, + -0.053849723370482133, + 0.081274108728302277, + -1.8498710922706563, + -1.8498676926111202, + -1.7380677973073022 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.136164553994969, + 0.068670283797964443, + -0.10364242864168345, + 2.3589939733192882, + 2.3589896380030599, + 2.216420093378364 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 116696684, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7224234113658352, + -0.65765469367881457, + 0.26582096085078205, + -3.2704386330018909, + -4.2506999844054683, + -5.0463982878099207 + ], + "velocities": [ + 2.197041257244825, + -0.048106993129124156, + 0.07260674234607821, + -1.6525941147993368, + -1.6525910776918464, + -1.5527139296104224 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7670345761236663, + 0.060587716731618418, + -0.091443602102966426, + 2.0813378177898367, + 2.0813339927447814, + 1.9555450385344628 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 211678342, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9178030854937744, + -0.66193277840291764, + 0.27227777253435398, + -3.4174014169507698, + -4.397662498268808, + -5.1844788725876647 + ], + "velocities": [ + 1.9150984353191922, + -0.041933498957152517, + 0.063289234192611649, + -1.4405193316391345, + -1.4405166842788377, + -1.3534566122914991 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9408983774340789, + 0.064394684246430495, + -0.097189367770054408, + 2.2121165611907077, + 2.2121124958031366, + 2.0784197206824695 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 321864902, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1131827596217132, + -0.66621086312702071, + 0.27873458421792591, + -3.5643642008996488, + -4.5446250121321494, + -5.3225594573654096 + ], + "velocities": [ + 1.590060866466898, + -0.03481639087376015, + 0.052547551970381162, + -1.1960290783939136, + -1.1960268803533707, + -1.1237429648397637 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1175700213440272, + 0.068263133021200864, + -0.10302792564280151, + 2.3450073378270955, + 2.3450030282151157, + 2.2032787881039653 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 460732416, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3085624337496524, + -0.6704889478511239, + 0.28519139590149789, + -3.7113269848485277, + -4.6915875259954891, + -5.4606400421431545 + ], + "velocities": [ + 1.1126302017934511, + -0.024362443489139234, + 0.036769657429824069, + -0.83691014784933526, + -0.83690860979104431, + -0.78632861678547683 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.62276256897441418, + -1.0114447106808893, + 3.0741765326589001, + -0.53655553244792198, + 2.8734618283007221, + 1.0816983632658153 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 699492326, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.5039421078775916, + -0.67476703257522697, + 0.29164820758506982, + -3.8582897687974067, + -4.8385500398588297, + -5.5987206269208984 + ], + "velocities": [ + 0.74457906803062612, + -0.13766659306557705, + 0.39100617519167508, + -0.67905015972433114, + -0.2753245380445859, + -0.45025774806536611 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7277186849183761, + -1.0466699966448898, + 3.0697623622624004, + -3.019366220040677, + 0.26378738038250577, + -1.3100551670852827 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 934307120, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6614671233991487, + -0.73521194149455249, + 0.46892615286458694, + -4.0326573505084227, + -4.823316390062427, + -5.6743759581213666 + ], + "velocities": [ + 0.92246818474841397, + -0.35396603659095038, + 1.0381415538127372, + -1.0210984334606841, + 0.089208417013976332, + -0.44303843302580292 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5483012646476024, + -0.97782461617691729, + 2.8678468029613491, + -2.8207654988418787, + 0.24643659873862436, + -1.22388546058647 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 68475048, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8189921389207058, + -0.79565685041387813, + 0.64620409814410407, + -4.2070249322194391, + -4.8080827402660251, + -5.7500312893218348 + ], + "velocities": [ + 1.32734372839899, + -0.5093233636706781, + 1.4937866730000446, + -1.4692632484682648, + 0.12836240295506685, + -0.63749004598668191 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5924411118416999, + -0.99476179300891576, + 2.9175215888332158, + -2.8696247761243998, + 0.25070519678944336, + -1.2450847269222889 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 174867809, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.9765171544422619, + -0.85610175933320365, + 0.82348204342362119, + -4.3813925139304555, + -4.7928490904696224, + -5.825686620522303 + ], + "velocities": [ + 1.6083588905560946, + -0.61715344910375092, + 1.8100398749099624, + -1.7803245366530478, + 0.15553831881584229, + -0.77245461078902333 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.37326715235265034, + 0.14322867356545119, + -0.42007317752247852, + 0.41317685621165451, + -0.036097257699762769, + 0.17927089195322596 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 265601817, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.134042169963819, + -0.91654666825252917, + 1.0007599887031384, + -4.5557600956414719, + -4.7776154406732196, + -5.9013419517227712 + ], + "velocities": [ + 1.7190145762921851, + -0.65961383435480347, + 1.9345712868627818, + -1.9028115223580906, + 0.1662394126002365, + -0.82559977332628964 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4605533817993037, + 0.94415432724488657, + -2.7690957295366174, + 2.7236356170775493, + -0.2379508321238937, + 1.1817423437166861 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 358159579, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.2915671854853761, + -0.97699157717185481, + 1.1780379339826554, + -4.7301276773524883, + -4.7623817908768169, + -5.9769972829232394 + ], + "velocities": [ + 1.5783689351815688, + -0.60564581575989151, + 1.7762893137675446, + -1.7471280568624308, + 0.15263810340514927, + -0.75805118413939054 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6602632377436288, + 1.0207862451207896, + -2.9938483048446041, + 2.9446984400810763, + -0.25726401864403642, + 1.2776580003217746 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 466437032, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.4490922010069323, + -1.0374364860911802, + 1.3553158792621725, + -4.9044952590635038, + -4.7471481410804142, + -6.0526526141237076 + ], + "velocities": [ + 1.2896478124672777, + -0.49485882800579428, + 1.4513638584414976, + -1.4275368872320355, + 0.12471697317899588, + -0.61938563891662879 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7543133893821543, + 1.0568748170267659, + -3.0996919232724198, + 3.0488044288757168, + -0.26635925389034265, + 1.3228279395095486 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 606525498, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6066172165284893, + -1.097881395010506, + 1.5325938245416899, + -5.0788628407745202, + -4.7319144912840123, + -6.1283079453241758 + ], + "velocities": [ + 0.79645200693498275, + -0.30561158085530288, + 0.89632351303504221, + -0.88160861269132018, + 0.077021868006918473, + -0.38251600972988181 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7859978314580203, + 1.0690326524606706, + -3.1353494521413237, + 3.0838765697946653, + -0.26942333671543722, + 1.3380451858066844 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 942804211, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7641422320500464, + -1.1583263039298315, + 1.7098717698212067, + -5.2532304224855366, + -4.7166808414876096, + -6.203963276524644 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.54227110795735101, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7641422320500464, + -1.1583263039298315, + 1.7098717698212067, + -5.2532304224855366, + -4.7166808414876096, + -6.203963276524644 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.29957783607953092, + 2.4432983314429957, + 1.7167796974955571, + -2.3973485277585547, + -0.60295738653762165, + 1.5882320942982142 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 84518047, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7660790347436599, + -1.1610484715458642, + 1.7101418407350657, + -5.2621745603905969, + -4.712782657545878, + -6.2142313667803304 + ], + "velocities": [ + 0.011457923608967137, + 0.061240468244311064, + 0.068856927026179085, + -0.19751633689718923, + 0.023061251779576693, + -0.060744956874693237 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.0313720835426364e-09, + 1.7714564262835772, + 1.2422921404407996, + -3.0137485667226231, + -2.7290631488915758e-12, + -4.0313720835426364e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 152987606, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7660790347174196, + -1.1504569799535522, + 1.7193522583399803, + -5.2819764695878133, + -4.7127826575458958, + -6.2142313668065707 + ], + "velocities": [ + -4.9572901501163498e-10, + 0.20411828161806139, + 0.16918230082523883, + -0.37330058244310216, + -3.35586931364497e-13, + -4.9572901501163498e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9895071404412331e-09, + 1.485911945118378, + 0.71061459127733118, + -2.1965265363948063, + -2.0237660035480871e-12, + -2.9895071404412331e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 196130666, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7660790346911792, + -1.1395181647168058, + 1.7281468059450087, + -5.3017098324295775, + -4.7127826575459135, + -6.2142313668328111 + ], + "velocities": [ + -6.6744881479966306e-10, + 0.28298822359039133, + 0.2179257429228631, + -0.50091396651298947, + -4.5183374952590247e-13, + -6.6744881479966306e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.8571381980918197e-09, + -1.4804426505695232, + -1.4512696097921631, + 2.9317122603604187, + 2.6111144043405239e-12, + 3.8571381980918197e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 232240537, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7660790346649389, + -1.1282363959190158, + 1.7365244879309156, + -5.3213692832132642, + -4.7127826575459313, + -6.2142313668590514 + ], + "velocities": [ + -6.4730745927520167e-10, + 0.28196402300186485, + 0.202140725537304, + -0.48410474853891206, + -4.381989299182248e-13, + -6.4730745927520167e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.2164336284000713e-09, + -1.8307490894568212, + -1.3247285102248549, + 3.1554775996798909, + 2.8542761223194025e-12, + 4.2164336284000713e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 278443669, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7660790346386985, + -1.1166163498049253, + 1.7444841848748218, + -5.3409490262712502, + -4.712782657545949, + -6.2142313668852918 + ], + "velocities": [ + -3.9882837800855035e-10, + 0.17807436906384702, + 0.11914605964697275, + -0.29722042871066073, + -2.6999205655449023e-13, + -3.9882837800855035e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.0223705377820479e-09, + -1.8323833946366355, + -1.1559198643994812, + 2.988303259034585, + 2.7230616645445946e-12, + 4.0223705377820479e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 392666091, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7660790346124591, + -1.1046630150059111, + 1.7520246904155512, + -5.3604428666109838, + -4.7127826575459668, + -6.2142313669115312 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.40982266083147134, + "y": -0.107440217452378, + "z": 0.071891781824041573 + }, + "19": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36324642794703538, + -0.160540042830841, + 0.12189178182404158 + ], + "xaxis": [ + -0.66274894165761145, + 0.74884147975120674, + -0.00052776485208958998 + ], + "yaxis": [ + -0.74884124231741267, + -0.66274915179426919, + -0.00059632247243090748 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36324642794703538, + -0.160540042830841, + 0.071891781824041573 + ], + "xaxis": [ + -0.66274894165761145, + 0.74884147975120674, + -0.00052776485208958998 + ], + "yaxis": [ + -0.74884124231741267, + -0.66274915179426919, + -0.00059632247243090759 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9531595155831045, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0149051598009904, + -0.28898977571956519, + 0.38617691522110686, + -0.089306968527587002, + -0.0024533085314504756, + 3.2001447280941653 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 482204070, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7306522984676893, + -1.0721750195199766, + 1.5358199325234037, + -2.0336065650187298, + -1.5718673890679333, + -2.8481629904049988 + ], + "velocities": [ + 0.81285953160252311, + -0.11658518644744825, + 0.15579273540266306, + -0.036028504990948951, + -0.00098972163233067767, + 1.291012697091823 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9511545112481614, + -0.27984627557135194, + 0.37395845983539994, + -0.08648133818156914, + -0.0023756870070631183, + 3.0988936588383624 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 678838496, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9577273713663434, + -1.1047434876035898, + 1.5793411626662017, + -2.0436712503415682, + -1.572143871169789, + -2.4875142055808044 + ], + "velocities": [ + 1.324822518172027, + -0.19001398677870118, + 0.25391561026806114, + -0.058720323564370756, + -0.0016130776035170233, + 2.1041306964578892 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9666813803270418, + -0.28207323220548858, + 0.37693434104485735, + -0.087169538120603296, + -0.0023945922147005994, + 3.123553989864281 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 830744769, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1848024442649976, + -1.1373119556872027, + 1.622862392809, + -2.0537359356644069, + -1.5724203532716445, + -2.1268654207566096 + ], + "velocities": [ + 1.6325892221339382, + -0.23415573226943556, + 0.3129022061212961, + -0.072361517151509486, + -0.0019878082338164213, + 2.5929368272952855 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6837468680602268, + -0.24149306849623439, + 0.32270708542178173, + -0.074628985797561942, + -0.0020500967681222311, + 2.6741872375770726 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 959011006, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4118775171636515, + -1.1698804237708158, + 1.6663836229517981, + -2.0638006209872457, + -1.5726968353735002, + -1.7662166359324154 + ], + "velocities": [ + 1.8727279876801781, + -0.26859787345866981, + 0.35892722484367068, + -0.083005226644519786, + -0.00228019642855605, + 2.9743338378869604 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.34874734448157951, + -0.050019434599338358, + 0.066840949326252064, + -0.01545758517033413, + -0.00042462784484390204, + 0.55389305568595548 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 73979077, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6389525900623059, + -1.2024488918544289, + 1.7099048530945962, + -2.073865306310084, + -1.5729733174753557, + -1.4055678511082206 + ], + "velocities": [ + 1.9949641366425652, + -0.28612971464813436, + 0.38235501681947992, + -0.088423119320617943, + -0.0024290287374328255, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.9254480096645037e-15, + -6.403082412563855e-15, + 1.4776344028993511e-15, + 1.7523820496884492e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 186681822, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8660276629609598, + -1.2350173599380421, + 1.7534260832373942, + -2.0839299916329228, + -1.5732497995772114, + -1.0449190662840264 + ], + "velocities": [ + 2.0148140347399441, + -0.28897670601709008, + 0.38615945018321018, + -0.089302929576718301, + -0.0024531975793824221, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1821075223194812e-14, + -6.4030824125638566e-15, + 2.6104874451221875e-14, + 3.300050166475218e-14, + -1.7535364515657146e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 299384567, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0931027358596141, + -1.2675858280216552, + 1.7969473133801923, + -2.0939946769557616, + -1.5735262816790669, + -0.6842702814598316 + ], + "velocities": [ + 2.0148140347399446, + -0.28897670601709013, + 0.38615945018321129, + -0.089302929576716358, + -0.002453197579382423, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.7284300892779247e-14, + 6.4030824125638566e-15, + -2.6104874451221875e-14, + -3.300050166475218e-14, + 1.7535364515657146e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 412087313, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3201778087582681, + -1.3001542961052683, + 1.8404685435229906, + -2.1040593622785999, + -1.5738027637809227, + -0.32362149663563766 + ], + "velocities": [ + 2.0148140347399428, + -0.28897670601709013, + 0.38615945018321129, + -0.089302929576716358, + -0.002453197579382423, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.5463225669584393e-14, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 524790058, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.547252881656922, + -1.3327227641888815, + 1.8839897736657887, + -2.1141240476014387, + -1.5740792458827781, + 0.037027288188557161 + ], + "velocities": [ + 2.0148140347399419, + -0.2889767060170898, + 0.38615945018320985, + -0.089302929576718218, + -0.0024531975793814346, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3642150446389608e-14, + 1.4283799228027055e-14, + 2.1671971242523808e-14, + 3.3985591266685064e-14, + -1.7508428471854284e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 637492803, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7743279545555763, + -1.3652912322724946, + 1.9275110038085868, + -2.1241887329242775, + -1.5743557279846336, + 0.39767607301275198 + ], + "velocities": [ + 2.0148140347399455, + -0.28897670601708902, + 0.38615945018321107, + -0.089302929576716303, + -0.0024531975793824212, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.7284300892779272e-14, + -2.0686881640590934e-14, + -3.0537777659919947e-14, + -3.5955770470550907e-14, + 1.7454556384248601e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 750195548, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0014030274542307, + -1.3978597003561075, + 1.971032233951385, + -2.1342534182471158, + -1.5746322100864893, + 0.75832485783694636 + ], + "velocities": [ + 2.0148140347399441, + -0.28897670601708936, + 0.38615945018321057, + -0.089302929576716414, + -0.0024531975793824243, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.7284300892779272e-14, + 2.9552688057987045e-15, + 3.0537777659919947e-14, + 9.8508960193290157e-16, + -1.7454556384248601e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862898294, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.2284781003528842, + -1.4304281684397206, + 2.0145534640941829, + -2.1443181035699546, + -1.5749086921883448, + 1.1189736426611403 + ], + "velocities": [ + 2.0148140347399441, + -0.28897670601709036, + 0.38615945018321057, + -0.089302929576718384, + -0.0024531975793824243, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.34874734448162209, + 0.050019434599340259, + -0.066840949326253937, + 0.015457585170334602, + 0.00042462784484391305, + -0.55389305568595504 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 975601039, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.4555531732515385, + -1.4629966365233338, + 2.0580746942369812, + -2.1543827888927933, + -1.5751851742902006, + 1.4796224274853347 + ], + "velocities": [ + 1.9949641366425652, + -0.28612971464813408, + 0.38235501681948159, + -0.08842311932061786, + -0.0024290287374328233, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8182839240527979, + 0.2607891795058162, + -0.34849247041297526, + 0.080592093573072884, + 0.0022139064172550221, + -2.8878638210002707 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 90569109, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6826282461501929, + -1.4955651046069469, + 2.1015959243797795, + -2.1644474742156317, + -1.575461656392056, + 1.8402712123095299 + ], + "velocities": [ + 1.8639639196761426, + -0.26734087829214315, + 0.35724750273361305, + -0.082616775435487427, + -0.0022695254733004549, + 2.9604144303737341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7769453053930582, + 0.2548601470265513, + -0.34056950681541442, + 0.078759835266719591, + 0.0021635733356754295, + -2.8222083424149207 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 220118009, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.9097033190488473, + -1.5281335726905598, + 2.1451171545225773, + -2.1745121595384704, + -1.5757381384939118, + 2.2009199971337243 + ], + "velocities": [ + 1.6281711041331297, + -0.23352205930277223, + 0.31205542920361473, + -0.07216569219005653, + -0.0019824288210278759, + 2.5859198136360488 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0037694089466349, + 0.28739261958236123, + -0.38404263614963535, + 0.088813396834546685, + 0.0024397498622188772, + -3.1824585287132097 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 371146112, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.1367783919475007, + -1.560702040774173, + 2.1886383846653756, + -2.1845768448613092, + -1.5760146205957672, + 2.5615687819579178 + ], + "velocities": [ + 1.3294110964471741, + -0.19067210817968033, + 0.25479505761818921, + -0.058923703864238355, + -0.0016186645653523625, + 2.1114184412458918 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0165801778175849, + 0.28923001684386168, + -0.38649794933401865, + 0.089381210623083823, + 0.0024553480001423145, + -3.2028050518564077 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 567697945, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3638534648461551, + -1.5932705088577861, + 2.2321596148081735, + -2.1946415301841475, + -1.576291102697623, + 2.9222175667821131 + ], + "velocities": [ + 0.81310215987444456, + -0.11661998564856424, + 0.1558392375604144, + -0.036039259043237182, + -0.00099001705169896796, + 1.2913980480258369 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.953159515583105, + 0.28013384531143137, + -0.37434273915757699, + 0.086570206314216094, + 0.0023781282605532051, + -3.1020780787208726 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 49902016, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5909285377448095, + -1.6258389769413992, + 2.2756808449509718, + -2.2047062155069863, + -1.5765675847994784, + 3.2828663516063079 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.32938171122653764, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5909285377448095, + -1.6258389769413992, + 2.2756808449509718, + -2.2047062155069863, + -1.5765675847994784, + 3.2828663516063079 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.2099038527764206, + 2.4463903742263775, + 1.1731076806594112, + -2.2393744764960593, + -0.52398502593595864, + -0.85640529419553812 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 123604155, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5884123929917049, + -1.6265091674199252, + 2.2828698250400818, + -2.2277687243724027, + -1.5702865087431097, + 3.2931321920628598 + ], + "velocities": [ + -0.010178237830502352, + 0.1132033787610506, + 0.11504529638131612, + -0.29517085635956214, + 0.025408029695125567, + 0.041527084131589426 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2471156238363133e-08, + 1.9635217854214111, + 1.1123198057142982, + -3.0758415911293562, + 7.629176787917478e-12, + -1.2470640123225272e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 193959968, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5884123928722911, + -1.610198661650488, + 2.2949660492549184, + -2.2561754543566157, + -1.5702865087430367, + 3.2931321919434451 + ], + "velocities": [ + -2.0691600612404055e-09, + 0.29037883682958882, + 0.20509740239213897, + -0.49547623922067363, + 1.2658252140432441e-12, + -2.0691572953624664e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.2851408089295486e-09, + 1.2752568547698009, + 0.38989200321578216, + -1.6651488579825979, + 3.8452418424184968e-12, + -6.2853134439033087e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 242879650, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5884123927528764, + -1.593129173417893, + 2.3066219230917722, + -2.2849008164260036, + -1.5702865087429636, + 3.2931321918240313 + ], + "velocities": [ + -2.5865793604890739e-09, + 0.37845965552607097, + 0.2472941598902762, + -0.62575381541503439, + 1.5823619967637232e-12, + -2.5865652023046722e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2439735974967047e-08, + -1.5888227909064494, + -1.3307945957566154, + 2.9196173866570061, + -7.6101413478894431e-12, + 1.2439533488746469e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 286586987, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5884123926334626, + -1.5752969967664543, + 2.317825109723048, + -2.3139361797086577, + -1.5702865087428906, + 3.2931321917046179 + ], + "velocities": [ + -2.4200172179087895e-09, + 0.36812784306971919, + 0.22293394529016389, + -0.5910617883586532, + 1.4804713805560361e-12, + -2.4200121376494615e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2765939367876635e-08, + -1.9318802723240533, + -1.1831274011419544, + 3.1150076734594965, + -7.8096997575854849e-12, + 1.2765906687714586e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 343237281, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5884123925140488, + -1.5567006755711854, + 2.3285628951762822, + -2.3432702863570998, + -1.5702865087428175, + 3.2931321915852041 + ], + "velocities": [ + -1.4836634252677007e-09, + 0.23379722078778831, + 0.1316907464489637, + -0.36548796723599253, + 9.0764694698521649e-13, + -1.4836650233116274e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2370337069069355e-08, + -2.0054908854841869, + -1.0627937007766288, + 3.0682845862544674, + -7.5676858259769912e-12, + 1.2370383073238511e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 482185029, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5884123923946349, + -1.5373411940490245, + 2.3388222960845475, + -2.3728891687874647, + -1.5702865087427444, + 3.2931321914657898 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.36324642794703538, + "y": -0.160540042830841, + "z": 0.071891781824041573 + }, + "2": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36269106585110233, + 0.25478431538339003, + 0.10189178182404157 + ], + "xaxis": [ + -0.80032122335252787, + -0.59957112445320782, + -0.00063731736939538883 + ], + "yaxis": [ + 0.59957093434829145, + -0.80032147710899038, + 0.00047745450138646646 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36269106585110233, + 0.25478431538339003, + 0.051891781824041562 + ], + "xaxis": [ + -0.80032122335252787, + -0.59957112445320782, + -0.00063731736939538872 + ], + "yaxis": [ + 0.59957093434829145, + -0.80032147710899038, + 0.00047745450138646656 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0636266657457174, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0753994740990174, + -0.18236690487893259, + 0.29070326962213594, + -0.104359663742311, + -0.001555866601800405, + -0.085584365488472369 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 588308037, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.97340691029155935, + -1.0710449126216743, + 1.5424132469806739, + -2.0415325167804341, + -1.5718591239225264, + -3.2235657252171501 + ], + "velocities": [ + -1.5404967656251727, + -0.091349312337829308, + 0.1456160249688416, + -0.052274745382095547, + -0.00077934833767243539, + -0.042870020409852432 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9866047969953633, + -0.17710150421488896, + 0.28230992001781624, + -0.10134653236776063, + -0.0015109447392249497, + -0.083113325169101721 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 831526020, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44323659501408352, + -1.1024832738069854, + 1.5925277915807421, + -2.0595231538649776, + -1.5721273408789749, + -3.2383196752051071 + ], + "velocities": [ + -2.5016175735686939, + -0.14834243743769898, + 0.23646632384031008, + -0.084889124482262657, + -0.0012655862322831898, + -0.069616761832676052 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8342879944237762, + -0.10877072296359927, + 0.17338674923322583, + -0.062244166950277319, + -0.00092797942272650907, + -0.051045848010321415 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 19301969, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.086933720263392189, + -1.1339216349922965, + 1.6426423361808105, + -2.0775137909495207, + -1.5723955578354232, + -3.2530736251930641 + ], + "velocities": [ + -2.9867098550905431, + -0.17710773401358978, + 0.28231985067300769, + -0.10135009737699098, + -0.0015109978888720027, + -0.083116248799183279 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6385502370036746e-15, + 3.2981877962545932e-16, + 7.2560131517601052e-15, + 1.6490938981272966e-16, + 3.865063823735851e-18, + 1.6490938981272966e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 187610006, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.61710403554086812, + -1.1653599961776073, + 1.6927568807808786, + -2.0955044280340638, + -1.5726637747918717, + -3.2678275751810211 + ], + "velocities": [ + -3.1500000000000004, + -0.18679061214866255, + 0.29775491184864838, + -0.10689113513767919, + -0.0015936075417022316, + -0.087660401050067907 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6385502370036761e-15, + -9.7296539989510555e-15, + -4.9472816943818927e-15, + -1.673830306599207e-14, + -1.5460255294943416e-17, + -8.2454694906364884e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 355918042, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1472743508183443, + -1.1967983573629182, + 1.742871425380947, + -2.1134950651186069, + -1.5729319917483202, + -3.2825815251689781 + ], + "velocities": [ + -3.1500000000000004, + -0.18679061214866333, + 0.29775491184864855, + -0.10689113513768059, + -0.0015936075417022327, + -0.087660401050067963 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.4736408471909459e-15, + 4.2876441351309734e-15, + 1.7068121845617526e-14, + 7.8576747536549895e-15, + 1.0719110337827434e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 524226079, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6774446660958195, + -1.2282367185482292, + 1.7929859699810151, + -2.1314857022031504, + -1.5732002087047687, + -3.297335475156935 + ], + "velocities": [ + -3.1499999999999999, + -0.18679061214866394, + 0.29775491184864855, + -0.10689113513768056, + -0.0015936075417015728, + -0.087660401050067949 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 5.4420098638200813e-15, + -4.2876441351309734e-15, + -1.4017298134082028e-15, + -7.8576747536549895e-15, + 1.4594480998426581e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 692534116, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2076149813732959, + -1.2596750797335403, + 1.8431005145810835, + -2.1494763392876934, + -1.573468425661217, + -3.312089425144892 + ], + "velocities": [ + -3.1499999999999999, + -0.18679061214866327, + 0.29775491184864855, + -0.10689113513767923, + -0.0015936075417015728, + -0.087660401050066616 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6385502370036761e-15, + 1.8140032879400275e-15, + 4.9472816943818927e-15, + -1.4594480998426584e-14, + 1.5460255294943416e-17, + -1.484184508314568e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 860842152, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7377852966507712, + -1.2911134409188512, + 1.8932150591811516, + -2.1674669763722365, + -1.5737366426176655, + -3.3268433751328486 + ], + "velocities": [ + -3.1500000000000004, + -0.18679061214866266, + 0.29775491184864855, + -0.10689113513768059, + -0.0015936075417022327, + -0.087660401050066644 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -7.7507413211982931e-15, + 0.0, + 1.5666392032209314e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 29150189, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2679556119282474, + -1.322551802104162, + 1.94332960378122, + -2.18545761345678, + -1.5740048595741141, + -3.3415973251208055 + ], + "velocities": [ + -3.1500000000000004, + -0.18679061214866316, + 0.297754911848649, + -0.10689113513768049, + -0.0015936075417022314, + -0.087660401050067893 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6385502370036761e-15, + -1.9789126777527573e-15, + 2.9683690166291358e-15, + -1.0719110337827436e-15, + -1.5460255294943416e-17, + -8.2454694906364884e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 197458225, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.7981259272057235, + -1.3539901632894731, + 1.9934441483812884, + -2.2034482505413231, + -1.5742730765305626, + -3.3563512751087625 + ], + "velocities": [ + -3.1500000000000004, + -0.18679061214866399, + 0.29775491184864922, + -0.10689113513767926, + -0.0015936075417022327, + -0.087660401050067963 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8342879944237804, + 0.10877072296361417, + -0.17338674923324782, + 0.062244166950277846, + 0.00092797942272651482, + 0.051045848010321769 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 365766262, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3282962424831988, + -1.3854285244747842, + 2.0435586929813567, + -2.2214388876258662, + -1.5745412934870111, + -3.3711052250967195 + ], + "velocities": [ + -2.9867098550905427, + -0.17710773401359003, + 0.28231985067300747, + -0.10135009737699109, + -0.0015109978888720042, + -0.083116248799183362 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.986604796995358, + 0.17710150421488954, + -0.28230992001780381, + 0.10134653236776169, + 0.0015109447392249661, + 0.083113325169102567 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 553542211, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.858466557760674, + -1.416866885660095, + 2.0936732375814247, + -2.2394295247104092, + -1.5748095104434594, + -3.3858591750846765 + ], + "velocities": [ + -2.5016175735686934, + -0.14834243743769782, + 0.23646632384030922, + -0.084889124482262601, + -0.001265586232283189, + -0.069616761832676011 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0753994740990174, + 0.18236690487892859, + -0.29070326962213677, + 0.10435966374231045, + 0.001555866601800397, + 0.085584365488471939 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 796760194, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3886368730381511, + -1.4483052468454058, + 2.143787782181493, + -2.2574201617949528, + -1.5750777273999079, + -3.4006131250726335 + ], + "velocities": [ + -1.5404967656251722, + -0.091349312337828892, + 0.14561602496884182, + -0.052274745382095464, + -0.00077934833767243409, + -0.042870020409852362 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0636266657457152, + 0.18166879374273429, + -0.28959044057024996, + 0.10396016886972166, + 0.0015499106538071242, + 0.085256743551413369 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 385068231, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9188071883156264, + -1.4797436080307169, + 2.1939023267815614, + -2.2754107988794958, + -1.5753459443563564, + -3.4153670750605905 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.13793200682827958, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9188071883156264, + -1.4797436080307169, + 2.1939023267815614, + -2.2754107988794958, + -1.5753459443563564, + -3.4153670750605905 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.081560957993403946, + 2.4979053916570981, + 1.4305180386406011, + -2.7341072934768009, + -0.49525015241997838, + 0.640230849782781 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 100934537, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9195097988329248, + -1.4776115116160322, + 2.1960871840250813, + -2.2900162426347035, + -1.5710795896353551, + -3.4208823724971782 + ], + "velocities": [ + -0.0034805256744026868, + 0.12771897548323438, + 0.082692094571202288, + -0.261377223176392, + 0.021134266149091186, + -0.027321160805907709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9364837045383606e-09, + 2.0414278869400033, + 0.96002398313353154, + -3.0014518700731507, + -1.440910028008735e-12, + 1.9364340179856711e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 170695686, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9195097988156169, + -1.4612654701183894, + 2.2061145058008536, + -2.316389605908113, + -1.571079589635368, + -3.4208823724798707 + ], + "velocities": [ + 3.0502564520999951e-10, + 0.29432212408862246, + 0.17195779395777838, + -0.46627991804630997, + -2.2696525147765144e-13, + 3.0501781882201758e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1087416992536916e-09, + 1.3990774314406333, + 0.3674966055916174, + -1.7665740370318201, + -8.2499895515874856e-13, + 1.1089484134906585e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 218514453, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.919509798798309, + -1.4443218535679148, + 2.215686755481002, + -2.3429054721387312, + -1.5710795896353809, + -3.4208823724625632 + ], + "velocities": [ + 3.8685442064797618e-10, + 0.38575759883962968, + 0.20843282557712434, + -0.59419042441664216, + -2.8785288137710549e-13, + 3.8684977718639836e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9577591371532418e-09, + -1.7610687858834748, + -1.2095643907203768, + 2.9706331766032736, + 1.4564899818209454e-12, + -1.9574220879823974e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 260548454, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.919509798781001, + -1.4267858843356884, + 2.2247950179684337, + -2.3695497038583841, + -1.5710795896353937, + -3.4208823724452553 + ], + "velocities": [ + 3.6448286263976431e-10, + 0.37465773418771364, + 0.18747850450948253, + -0.56213623869708862, + -2.7121257907117738e-13, + 3.6449100195586438e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9945797759875336e-09, + -2.0427058048645486, + -1.0334957350783045, + 3.0762015399422649, + 1.4842671431982385e-12, + -1.9947526772071776e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 315109452, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.919509798763694, + -1.4086645332511136, + 2.2334303345687876, + -2.3963063715433077, + -1.5710795896354066, + -3.4208823724279473 + ], + "velocities": [ + 2.2331068578169331e-10, + 0.23596985305643109, + 0.1096172776200772, + -0.34558713067644237, + -1.6616836680443392e-13, + 2.2331882509779337e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9353537854716441e-09, + -2.0907856731841803, + -0.91171028122636455, + 3.0024959544099739, + 1.4400692712751493e-12, + -1.9353537854716441e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 448848250, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9195097987463861, + -1.3899665678777584, + 2.2415837897447743, + -2.4231577920926446, + -1.5710795896354195, + -3.4208823724106394 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.36269106585110233, + "y": 0.25478431538339003, + "z": 0.051891781824041562 + }, + "20": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.30529116199851436, + -0.201385628433432, + 0.12189178182404158 + ], + "xaxis": [ + -0.48908544780159213, + 0.87223578982998196, + -0.00038947192940449711 + ], + "yaxis": [ + -0.87223551327178039, + -0.48908560287506697, + -0.00069458465749913829 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.30529116199851436, + -0.201385628433432, + 0.071891781824041573 + ], + "xaxis": [ + -0.48908544780159213, + 0.87223578982998196, + -0.00038947192940449706 + ], + "yaxis": [ + -0.87223551327178039, + -0.48908560287506697, + -0.00069458465749913862 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1625034331120303, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1717070764434971, + -0.32866138371680026, + 0.42305021014135991, + -0.093498732129799589, + 0.00019586278644938786, + 3.1882198971441023 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 507091290, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.354113243155314, + -1.0815308858229242, + 1.5462633582574095, + -2.0354686599771634, + -1.5715659225372407, + -2.8021196486575728 + ], + "velocities": [ + -0.50457337247882694, + -0.1415317754066153, + 0.18217852870430798, + -0.040263451114782474, + 8.4344584656635921e-05, + 1.3729462747540842 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1430862987265511, + -0.32063331544221441, + 0.412716547171325, + -0.091214879379480945, + 0.00019107853159022566, + 3.1103426402567687 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 716307665, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2046492607415928, + -1.1234552202094852, + 1.6002280141342133, + -2.0473954402584358, + -1.5715409381084036, + -2.3954275220859524 + ], + "velocities": [ + -0.82030274716072493, + -0.23009320449515638, + 0.29617406649042577, + -0.065457714102845482, + 0.00013712196932245382, + 2.2320472349779386 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.069208886922594, + -0.29991085598364658, + 0.38604276904308332, + -0.085319682127905638, + 0.00017872916883352653, + 2.9093218911307686 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 877679879, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0551852783278717, + -1.1653795545960461, + 1.654192670011017, + -2.0593222205397081, + -1.5715159536795664, + -1.9887353955143319 + ], + "velocities": [ + -1.0061281573330971, + -0.28221684329946439, + 0.36326718251191747, + -0.080286027934792017, + 0.00016818458160942191, + 2.7376789598496538 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.67987997751593232, + -0.19070491137595058, + 0.24547378192171262, + -0.054252395650930159, + 0.00011364887139848148, + 1.8499562864855013 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 15301534, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.90572129591415051, + -1.2073038889826069, + 1.7081573258878209, + -2.0712490008209805, + -1.5714909692507293, + -1.5820432689427115 + ], + "velocities": [ + -1.1310431405169794, + -0.31725523475886275, + 0.40836830970332177, + -0.090253871252049228, + 0.00018906539488396172, + 3.0775731559716997 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.4942537085726943e-15, + -1.4850578261433951e-14, + -1.222988798000443e-14, + 2.718966166983128e-14, + 6.3981696323962911e-19, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 142392823, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.75625731350042935, + -1.2492282233691676, + 1.7621219817646248, + -2.0831757811022533, + -1.5714659848218921, + -1.175351142371091 + ], + "velocities": [ + -1.1760363982352127, + -0.32987574942237996, + 0.42461333161649262, + -0.093844199104137604, + 0.00019658647673564549, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 1.3540233120719194e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 269484113, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60679333108670819, + -1.2911525577557286, + 1.8160866376414284, + -2.0951025613835257, + -1.571441000393055, + -0.7686590157994706 + ], + "velocities": [ + -1.1760363982352129, + -0.3298757494223809, + 0.42461333161649273, + -0.09384419910413587, + 0.00019658647673564551, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.3540233120719194e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 396575403, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.45732934867298702, + -1.3330768921422895, + 1.8700512935182323, + -2.1070293416647981, + -1.5714160159642179, + -0.36196688922785025 + ], + "velocities": [ + -1.1760363982352129, + -0.32987574942238007, + 0.42461333161649356, + -0.09384419910413587, + 0.00019658647673564551, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 1.3747107272166674e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 523666692, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.30786536625926586, + -1.3750012265288503, + 1.9240159493950362, + -2.1189561219460704, + -1.5713910315353807, + 0.044725237343770097 + ], + "velocities": [ + -1.1760363982352129, + -0.32987574942237918, + 0.42461333161649356, + -0.09384419910413587, + 0.00019658647673651908, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0482761125718082e-14, + -1.0919542839289668e-14, + -3.4942537085726935e-15, + 7.6436799875027679e-16, + -1.3748813450735307e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 650757982, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.1584013838455447, + -1.416925560915411, + 1.9779806052718401, + -2.1308829022273428, + -1.5713660471065434, + 0.45141736391539045 + ], + "velocities": [ + -1.1760363982352122, + -0.32987574942237985, + 0.42461333161649334, + -0.093844199104135828, + 0.00019658647673651897, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0482761125718082e-14, + -2.6206902814295204e-15, + -1.0045979412146494e-14, + -7.6436799875027679e-16, + 1.7061785686390105e-18, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 777849271, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.0089374014318235329, + -1.458849895301972, + 2.0319452611486439, + -2.1428096825086151, + -1.5713410626777062, + 0.85810949048701124 + ], + "velocities": [ + -1.1760363982352122, + -0.32987574942238074, + 0.42461333161649251, + -0.093844199104135828, + 0.0001965864767356454, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.3540233120719194e-14, + 2.7517247955009974e-14, + -2.7517247955009974e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 904940561, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14052658098189763, + -1.5007742296885329, + 2.0859099170254476, + -2.1547364627898875, + -1.5713160782488691, + 1.2648016170586316 + ], + "velocities": [ + -1.1760363982352129, + -0.32987574942238007, + 0.42461333161649362, + -0.093844199104137618, + 0.00019658647673564551, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.67987997751593587, + 0.19070491137595189, + -0.24547378192173949, + 0.054252395650930485, + -0.00011364887139848212, + -1.8499562864855017 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 32031850, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.28999056339561879, + -1.5426985640750936, + 2.1398745729022517, + -2.1666632430711603, + -1.571291093820032, + 1.6714937436302519 + ], + "velocities": [ + -1.1310431405169796, + -0.31725523475886286, + 0.40836830970332194, + -0.090253871252049242, + 0.00018906539488396177, + 3.0775731559716997 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0692088869225922, + 0.29991085598364631, + -0.38604276904307194, + 0.085319682127905486, + -0.00017872916883352624, + -2.9093218911307726 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 169653505, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43945454580933996, + -1.5846228984616544, + 2.1938392287790554, + -2.1785900233524327, + -1.5712661093911948, + 2.0781858702018723 + ], + "velocities": [ + -1.0061281573330971, + -0.28221684329946445, + 0.3632671825119167, + -0.080286027934792031, + 0.00016818458160942193, + 2.7376789598496538 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1430862987265478, + 0.32063331544221479, + -0.41271654717132006, + 0.091214879379481126, + -0.00019107853159022601, + -3.1103426402567673 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 331025719, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.58891852822306112, + -1.6265472328482153, + 2.247803884655859, + -2.190516803633705, + -1.5712411249623577, + 2.4848779967734926 + ], + "velocities": [ + -0.8203027471607256, + -0.23009320449515641, + 0.29617406649042632, + -0.065457714102845482, + 0.00013712196932245385, + 2.2320472349779381 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1717070764435018, + 0.32866138371680026, + -0.42305021014136412, + 0.093498732129799589, + -0.00019586278644938786, + -3.1882198971441023 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 540242095, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.73838251063678251, + -1.6684715672347763, + 2.3017685405326631, + -2.2024435839149774, + -1.5712161405335205, + 2.891570123345113 + ], + "velocities": [ + -0.50457337247882716, + -0.1415317754066153, + 0.18217852870430828, + -0.040263451114782474, + 8.4344584656635921e-05, + 1.3729462747540842 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1625034331120276, + 0.32607978101645579, + -0.41972719253420887, + 0.092764308825743935, + -0.00019432430361128892, + -3.1631767448191486 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 47333384, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88784649305050334, + -1.710395901621337, + 2.3557331964094668, + -2.2143703641962498, + -1.5711911561046834, + 3.2982622499167333 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.23971135690423467, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88784649305050334, + -1.710395901621337, + 2.3557331964094668, + -2.2143703641962498, + -1.5711911561046834, + 3.2982622499167333 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.11879882498505853, + 1.442753233609255, + 1.11182213844722, + -2.3602543698798333, + -0.086746317604410109, + -1.4252631471682173 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 107525208, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88646076121439898, + -1.7102816423995624, + 2.3554957074810665, + -2.2165137966353061, + -1.57017930153318, + 3.3148872672166223 + ], + "velocities": [ + 0.0064437533485704468, + 0.079318839094396909, + 0.058097534993151331, + -0.14795651716050937, + 0.0047051970109493286, + 0.077307534006877968 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1297458537746068e-10, + 1.918136389234256, + 1.2065498007927369, + -3.1246861900268375, + 1.1128669225359816e-13, + -2.1296240822588535e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 216963539, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88646076121652251, + -1.6930368918068095, + 2.3684536164318506, + -2.2467164561788415, + -1.5701793015331789, + 3.3148872672144987 + ], + "velocities": [ + -2.8275251274743207e-11, + 0.23747463983297201, + 0.1686623428563202, + -0.40613698268927151, + 1.4780361414829171e-14, + -2.8275758511564798e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.062984875120244e-10, + 2.1664344042875556, + 1.0156753334095976, + -3.1821097376970009, + 1.0788019272463086e-13, + -2.0639638472076386e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 274144410, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88646076121864659, + -1.67488915679101, + 2.3809717062604694, + -2.2773822810232582, + -1.5701793015331778, + 3.3148872672123746 + ], + "velocities": [ + -4.2394866451528544e-11, + 0.37248798138717415, + 0.24475955602507027, + -0.61724753741221339, + 2.2160441637683617e-14, + -4.2397356941216296e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1924703905145076e-10, + -1.6612138975066073, + -1.401882071338856, + 3.0630959688451544, + -1.1460901152715663e-13, + 2.1941754535000687e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 318722914, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88646076122077044, + -1.6558273115330056, + 2.3930345679872258, + -2.3085069880080176, + -1.5701793015331766, + 3.3148872672102505 + ], + "velocities": [ + -4.1997223225405744e-11, + 0.38482370884922157, + 0.23449822301600376, + -0.61932193186519835, + 2.1953592904028095e-14, + -4.1997813486200448e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1337283158684863e-10, + -1.9450127880992274, + -1.197446871899037, + 3.1424596599981678, + -1.1153441460802335e-13, + 2.1334302826222706e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 377148666, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.8864607612228943, + -1.6358430351695381, + 2.4046261360506644, + -2.3400828324349225, + -1.5701793015331755, + 3.3148872672081269 + ], + "velocities": [ + -2.548114387922122e-11, + 0.24295740885255468, + 0.13739458466550847, + -0.38035199351804905, + 1.3320191209563854e-14, + -2.5478861745653737e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.010397671155831e-10, + -1.9795768439826753, + -1.051105644371483, + 3.0306824883540324, + -1.0509685143791265e-13, + 2.0102925743043928e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 522502088, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.88646076122501805, + -1.6149311642510955, + 2.4157298149119106, + -2.37209838221461, + -1.5701793015331744, + 3.3148872672060032 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.30529116199851436, + "y": -0.201385628433432, + "z": 0.071891781824041573 + }, + "21": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.31592797532142636, + 0.308697140470439, + 0.14189178182404155 + ], + "xaxis": [ + -0.7423161505239203, + -0.67004953790071975, + -0.00059112636589824343 + ], + "yaxis": [ + 0.67004932544934215, + -0.74231638588881499, + 0.00053357834454482252 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.31592797532142636, + 0.308697140470439, + 0.091891781824041563 + ], + "xaxis": [ + -0.7423161505239203, + -0.67004953790071975, + -0.00059112636589824343 + ], + "yaxis": [ + 0.67004932544934215, + -0.74231638588881499, + 0.00053357834454482262 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1097117225350019, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1439470702973322, + -1.6445406899614889, + 2.0858275389725178, + -0.4048278292773973, + 0.011161358482882888, + -0.41993915968932544 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 264544300, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3947626800272652, + -1.0965254320033269, + 1.5644908769487156, + -2.0375532975984569, + -1.571204603340798, + -3.2233462084734725 + ], + "velocities": [ + -0.70491218433407843, + -0.36872655425378753, + 0.46766857512720145, + -0.090767453469938475, + 0.0025025159178524571, + -0.094155602408413086 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9750885605417574, + -1.5562139198441294, + 1.9737996574711147, + -0.38308489835944654, + 0.0105618921693202, + -0.3973846130930182 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 373522737, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2859481344854953, + -1.1534443125702902, + 1.6366830515168256, + -2.0515647155010224, + -1.5708182997155182, + -3.2378806417177524 + ], + "velocities": [ + -1.1424641731037812, + -0.5976019244225661, + 0.75795908177422699, + -0.14710848525229112, + 0.0040558736851303706, + -0.15259972070171351 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8331554136296324, + -1.481971310114337, + 1.8796352011673232, + -0.36480899024694863, + 0.010058013860344833, + -0.37842650562063257 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 458109039, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1771335889437253, + -1.2103631931372536, + 1.7088752260849358, + -2.0655761334035883, + -1.5704319960902384, + -3.2524150749620317 + ], + "velocities": [ + -1.3974375990249535, + -0.7309738179088634, + 0.92711924306226567, + -0.1799399344564695, + 0.004961057438763304, + -0.1866566955267725 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8101566345394149, + -1.4699410732217839, + 1.8643768378054, + -0.36184757085709918, + 0.00997636566074225, + -0.37535454297342513 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 530246036, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0683190434019556, + -1.267282073704217, + 1.7810674006530458, + -2.0795875513061537, + -1.5700456924649586, + -3.2669495082063111 + ], + "velocities": [ + -1.604097127056201, + -0.83907360305680023, + 1.0642259198352519, + -0.20655028325107355, + 0.0056947215319210296, + -0.21426034997857385 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0135738613277607, + 1.5763448704272378, + -1.9993324347189561, + 0.38804042732607774, + -0.010698519227266296, + 0.40252512103145699 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 594263958, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.95950449786018555, + -1.3242009542711806, + 1.8532595752211558, + -2.0935989692087196, + -1.5696593888396786, + -3.281483941450591 + ], + "velocities": [ + -1.596629587626383, + -0.83516747099680111, + 1.0592716381495852, + -0.20558873151059495, + 0.0056682109442114884, + -0.21326290563139266 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8171267185993782, + 1.4735869955585106, + -1.8690010865463218, + 0.36274506815470092, + -0.010001110227031257, + 0.3762855418666578 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 667122325, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85068995231841571, + -1.3811198348381439, + 1.9254517497892658, + -2.107610387111285, + -1.5692730852143988, + -3.2960183746948704 + ], + "velocities": [ + -1.3818619569838533, + -0.72282648701043195, + 0.91678570296757345, + -0.17793434936991626, + 0.0049057621934761892, + -0.18457624637031042 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8796019558310282, + 1.5062666391546198, + -1.910449802891713, + 0.370789642095329, + -0.010222904202391971, + 0.38463040201782228 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 752788498, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.74187540677664565, + -1.4380387154051073, + 1.997643924357376, + -2.1216218050138509, + -1.568886781589119, + -3.3105528079391497 + ], + "velocities": [ + -1.129286447008061, + -0.59070889910088664, + 0.74921642059803517, + -0.14541166589405735, + 0.0040090913056389545, + -0.15083956281752584 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0804847014279937, + 1.6113446960234949, + -2.043723917723077, + 0.39665614812128147, + -0.010936060081451275, + 0.41146244769036644 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862884910, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63306086123487582, + -1.4949575959720707, + 2.069836098925486, + -2.1356332229164163, + -1.5685004779638392, + -3.3250872411834296 + ], + "velocities": [ + -0.69903201327594766, + -0.36565074529364672, + 0.46376742079709454, + -0.090010297947909407, + 0.0024816406627501957, + -0.093370183939918611 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0852485127232869, + 1.6138365577944564, + -2.0468844317419217, + 0.39726955647158307, + -0.010952972136400884, + 0.4120987532220638 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 128475937, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52424631569310587, + -1.551876476539034, + 2.142028273493596, + -2.1496446408189822, + -1.5681141743385594, + -3.339621674427709 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0038526998192457808, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52424631569310587, + -1.551876476539034, + 2.142028273493596, + -2.1496446408189822, + -1.5681141743385594, + -3.339621674427709 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.0024404249250085815, + 2.5452777468666237, + 1.9232775808657361, + -3.0995500362427753, + 0.35167604637570021, + 1.3674168769097543 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105347700, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52426769459005607, + -1.5508260729683137, + 2.1460976527208233, + -2.1667572809658093, + -1.5711949518078234, + -3.3516006167211994 + ], + "velocities": [ + 0.00010146880378826756, + 0.11579811402820391, + 0.11859390975415202, + -0.29131238057994324, + -0.014621949354376657, + -0.056854312789990868 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.434906720426514e-09, + 1.789556361096452, + 1.1974437743938595, + -2.9870001354872193, + -5.1130393336883544e-12, + 7.434812564128708e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 166311576, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52426769465559919, + -1.5373149295026374, + 2.1582026240848409, + -2.1923733957954767, + -1.5711949518078685, + -3.3516006166556562 + ], + "velocities": [ + 1.271432027948048e-09, + 0.26887843280074675, + 0.23017810661775756, + -0.49905653941798922, + -8.7438240049340983e-13, + 1.2714295417617967e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9389859035491011e-09, + 0.97765209490807825, + 0.28473906531570325, + -1.2623911602230904, + -2.0215270065473584e-12, + 2.9389759452879802e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 210967242, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52426769472114254, + -1.5231978685108389, + 2.1698933198675427, + -2.2181811525699504, + -1.5711949518079136, + -3.3516006165901131 + ], + "velocities": [ + 1.5307757179645516e-09, + 0.33709697225063934, + 0.26790263149124449, + -0.60499960374127237, + -1.0527427677751584e-12, + 1.5307705320395873e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8162331510673998e-09, + -1.5162148259272208, + -1.513853528404002, + 3.0300683543283262, + 5.2880695644280403e-12, + -7.8160315213880307e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 252090592, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.524267694786685, + -1.5084731394527195, + 2.1811614795220442, + -2.2441740412825455, + -1.5711949518079587, + -3.3516006165245709 + ], + "velocities": [ + 1.4087879673146945e-09, + 0.32217302784298951, + 0.23817523041228528, + -0.56034825825471701, + -9.7092304974208506e-13, + 1.408787340497996e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8395101696255495e-09, + -1.7838343062212711, + -1.3324755522070819, + 3.1163098584252369, + 5.4361870231038439e-12, + -7.8395733597139292e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 305648952, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52426769485222835, + -1.4931402608482229, + 2.191998567428258, + -2.2703440077932298, + -1.5711949518080039, + -3.3516006164590273 + ], + "velocities": [ + 8.6163500660250642e-10, + 0.20388089439310192, + 0.14078911644958286, + -0.3446700108423395, + -5.946322325820171e-13, + 8.6163623343515359e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.613207969315383e-09, + -1.8515455569078281, + -1.2077071333992078, + 3.0592526903039667, + 5.2357424402515851e-12, + -7.6131821774807029e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 436867127, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52426769491777125, + -1.4772001113098698, + 2.2023958445749621, + -2.2966814344782605, + -1.571194951808049, + -3.3516006163934846 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.31592797532142636, + "y": 0.308697140470439, + "z": 0.091891781824041563 + }, + "22": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36111762559272237, + 0.25362284578041699, + 0.14189178182404155 + ], + "xaxis": [ + -0.80455061637464365, + -0.59388373880201872, + -0.00064068534909696737 + ], + "yaxis": [ + 0.59388355050039132, + -0.80455087147211257, + 0.00047292548427818392 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36111762559272237, + 0.25362284578041699, + 0.091891781824041563 + ], + "xaxis": [ + -0.80455061637464365, + -0.59388373880201872, + -0.00064068534909696737 + ], + "yaxis": [ + 0.59388355050039132, + -0.80455087147211257, + 0.00047292548427818392 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5399790794769252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5530574176924157, + -0.03620317086909907, + 0.047261216024205029, + -1.0890580585714242, + 1.0867780469663759, + 3.1663892172139438 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 414613862, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.28526011259946, + -1.0427023579347656, + 1.4963401047268015, + -2.1166694410095985, + -1.4786583140646374, + -2.9380474173069362 + ], + "velocities": [ + -0.90052182473920905, + -0.012769687538736842, + 0.016670113331010185, + -0.38413572031533494, + 0.38333150800237115, + 1.1168579977716691 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4125270196846778, + -0.034210404871703418, + 0.044659771398550645, + -1.0291119871027972, + 1.0269574763721128, + 2.9920986063335047 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 585911707, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0669429996298847, + -1.0457981644331678, + 1.5003815070729976, + -2.2097970023233056, + -1.3857257211631968, + -2.6672830593846792 + ], + "velocities": [ + -1.4580169715645344, + -0.020675147055371323, + 0.026990248861048428, + -0.62194650281365971, + 0.62064441865664, + 1.8082825655561015 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5426204860902368, + -0.036055171840356434, + 0.047068011564456752, + -1.0846059752029429, + 1.0823352843147016, + 3.1534449773167488 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 718906561, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84862588666030958, + -1.0488939709315699, + 1.5044229094191934, + -2.302924563637013, + -1.2927931282617564, + -2.3965187014624223 + ], + "velocities": [ + -1.7971503662700057, + -0.025484167076173306, + 0.033268155702125657, + -0.7666106822697214, + 0.76500573454596932, + 2.2288874124158129 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3472940938973337, + -0.033285381116967029, + 0.043452204590165862, + -1.0012855688559308, + 0.99918931448363058, + 2.9111944984238805 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 830706092, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63030877369073446, + -1.051989777429972, + 1.5084643117653893, + -2.3960521249507205, + -1.1998605353603158, + -2.1257543435401653 + ], + "velocities": [ + -2.0765842880291716, + -0.029446629473596879, + 0.038440928883500508, + -0.88580884922873082, + 0.88395435263857225, + 2.5754509290255374 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.170716318600507, + -0.030781451778576711, + 0.040183464793921424, + -0.92596276263188382, + 0.92402420129623364, + 2.6921966960929335 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 929922500, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.41199166072115911, + -1.0550855839283741, + 1.5125057141115852, + -2.489179686264428, + -1.1069279424588752, + -1.8549899856179084 + ], + "velocities": [ + -2.3034865696711062, + -0.032664176410044619, + 0.042641256566988035, + -0.98259858713981096, + 0.98054145514013524, + 2.8568629070615215 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.980227833112908, + -0.028080264119845016, + 0.036657215285977492, + -0.84470606282268168, + 0.84293761750334895, + 2.4559463547290519 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 20640012, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.19367454775158399, + -1.0581813904267763, + 1.5165471164577813, + -2.582307247578135, + -1.0139953495574348, + -1.5842256276956515 + ], + "velocities": [ + -2.4933587515029494, + -0.035356624685790788, + 0.046156097298870942, + -1.0635923902127598, + 1.061365692587549, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 1.5745264433159575e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 105253874, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.02464256521799113, + -1.0612771969251784, + 1.5205885188039772, + -2.6754348088918425, + -0.92106275665599435, + -1.3134612697733945 + ], + "velocities": [ + -2.5801577684136321, + -0.036587462511337043, + 0.047762887283488174, + -1.100618258956481, + 1.0983140453441651, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1490528866319151e-14, + 0.0, + 3.0998489352782915e-14, + 0.0, + 1.5745264433159575e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 189867736, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.24295967818756625, + -1.0643730034235805, + 1.524629921150173, + -2.76856237020555, + -0.82813016375455384, + -1.0426969118511376 + ], + "velocities": [ + -2.5801577684136334, + -0.036587462511337043, + 0.047762887283489486, + -1.100618258956481, + 1.0983140453441664, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -3.0998489352782915e-14, + 6.2981057732638302e-14, + -1.5745264433159575e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 274481598, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.4612767911571416, + -1.0674688099219827, + 1.5286713234963691, + -2.8616899315192574, + -0.73519757085311321, + -0.7719325539288806 + ], + "velocities": [ + -2.5801577684136348, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564784, + 1.0983140453441664, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.2981057732638302e-14, + 0.0, + 0.0, + -6.2981057732638302e-14, + -1.5745264433159575e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 359095460, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.67959390412671694, + -1.0705646164203848, + 1.532712725842565, + -2.9548174928329645, + -0.6422649779516727, + -0.50116819600662366 + ], + "velocities": [ + -2.5801577684136321, + -0.036587462511337043, + 0.047762887283488174, + -1.1006182589564784, + 1.0983140453441651, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.2981057732638302e-14, + 0.0, + 3.0998489352782915e-14, + 6.2981057732638302e-14, + 3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 443709322, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.89791101709629184, + -1.0736604229187869, + 1.5367541281887609, + -3.0479450541466719, + -0.5493323850502323, + -0.23040383808436671 + ], + "velocities": [ + -2.5801577684136321, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564784, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5745264433159588e-14, + -7.3805927030435569e-16, + -3.0096416911299837e-14, + -8.3974743643517795e-14, + -1.0496842955439724e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 528323184, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1162281300658672, + -1.0767562294171891, + 1.540795530534957, + -3.141072615460379, + -0.45639979214879167, + 0.040360519837890241 + ], + "velocities": [ + -2.5801577684136339, + -0.036587462511337071, + 0.047762887283489527, + -1.1006182589564792, + 1.0983140453441667, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.6738950344039005e-14, + 1.47611854060871e-15, + -1.8861514685555738e-15, + 4.1987371821758866e-14, + -4.1987371821758866e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 612937045, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3345452430354421, + -1.0798520359155912, + 1.5448369328811529, + -3.2342001767740864, + -0.36346719924735127, + 0.31112487776014675 + ], + "velocities": [ + -2.5801577684136321, + -0.036587462511337043, + 0.047762887283488167, + -1.100618258956481, + 1.0983140453441644, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0496842955439707e-14, + -7.3805927030435441e-16, + 9.8407902707247268e-16, + -2.0993685910879414e-14, + 5.2484214777198536e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 697550907, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5528623560050174, + -1.0829478424139933, + 1.5488783352273487, + -3.3273277380877939, + -0.27053460634591087, + 0.58188923568240414 + ], + "velocities": [ + -2.5801577684136299, + -0.036587462511337016, + 0.047762887283488133, + -1.1006182589564801, + 1.0983140453441649, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.2981057732638302e-14, + 0.0, + 3.0998489352782915e-14, + 6.2981057732638302e-14, + -3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 782164769, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7711794689745923, + -1.0860436489123955, + 1.5529197375735446, + -3.4204552994015014, + -0.17760201344447024, + 0.85265359360466109 + ], + "velocities": [ + -2.5801577684136321, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564784, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.624210738859929e-14, + 0.0, + -3.0998489352782915e-14, + -6.2981057732638302e-14, + 3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 866778631, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9894965819441677, + -1.0891394554107976, + 1.5569611399197407, + -3.5135828607152084, + -0.084669420543029839, + 1.123417951526918 + ], + "velocities": [ + -2.5801577684136356, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564784, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.9223165121237586e-14, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 951392493, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2078136949137432, + -1.0922352619091997, + 1.5610025422659366, + -3.6067104220289159, + 0.0082631723584107863, + 1.394182309449175 + ], + "velocities": [ + -2.580157768413633, + -0.036587462511337043, + 0.047762887283488174, + -1.100618258956481, + 1.0983140453441671, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 3.0998489352782915e-14, + 6.2981057732638302e-14, + -3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 36006355, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4261308078833181, + -1.0953310684076019, + 1.5650439446121325, + -3.6998379833426234, + 0.10119576525985141, + 1.6649466673714319 + ], + "velocities": [ + -2.5801577684136294, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564784, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2071369398755672e-13, + 0.0, + -3.0998489352782915e-14, + -6.2981057732638302e-14, + 3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 120620216, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.644447920852893, + -1.098426874906004, + 1.5690853469583286, + -3.7929655446563304, + 0.19412835816129181, + 1.9357110252936889 + ], + "velocities": [ + -2.5801577684136348, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564784, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2071369398755672e-13, + 0.0, + 0.0, + 0.0, + -3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 205234078, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.8627650338224688, + -1.1015226814044061, + 1.5731267493045245, + -3.8860931059700379, + 0.28706095106273244, + 2.2064753832159458 + ], + "velocities": [ + -2.5801577684136348, + -0.036587462511337043, + 0.047762887283488174, + -1.100618258956481, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 289847940, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.0810821467920437, + -1.1046184879028083, + 1.5771681516507203, + -3.9792206672837453, + 0.37999354396417284, + 2.4772397411382028 + ], + "velocities": [ + -2.5801577684136294, + -0.036587462511337043, + 0.047762887283488174, + -1.100618258956481, + 1.0983140453441644, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2071369398755672e-13, + 0.0, + 3.0998489352782915e-14, + 0.0, + 3.1490528866319151e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 374461802, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2993992597616186, + -1.1077142944012104, + 1.5812095539969162, + -4.0723482285974528, + 0.47292613686561324, + 2.7480040990604597 + ], + "velocities": [ + -2.5801577684136348, + -0.036587462511337043, + 0.047762887283489486, + -1.100618258956481, + 1.0983140453441658, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2071369398755672e-13, + 0.0, + -3.0998489352782915e-14, + 1.2333790472641668e-13, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 459075664, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.5177163727311944, + -1.1108101008996125, + 1.5852509563431123, + -4.1654757899111603, + 0.56585872976705387, + 3.0187684569827167 + ], + "velocities": [ + -2.5801577684136348, + -0.036587462511337043, + 0.047762887283489486, + -1.1006182589564757, + 1.0983140453441671, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0993685910879398e-14, + 1.3941119550193351e-15, + -1.8861514685555711e-15, + -8.1350532904657666e-14, + -4.1987371821758796e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 543689526, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.7360334857007693, + -1.1139059073980146, + 1.5892923586893082, + -4.2586033512248669, + 0.65879132266849449, + 3.2895328149049736 + ], + "velocities": [ + -2.5801577684136303, + -0.036587462511336988, + 0.047762887283488098, + -1.1006182589564739, + 1.0983140453441653, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.2484214777198669e-14, + -4.2643424506473919e-15, + 3.6574937172860323e-14, + -1.2858632620413673e-13, + 6.560526847149833e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 628303388, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9543505986703451, + -1.1170017138964168, + 1.5933337610355041, + -4.3517309125385744, + 0.75172391556993512, + 3.5602971728272315 + ], + "velocities": [ + -2.5801577684136334, + -0.036587462511337106, + 0.047762887283489562, + -1.1006182589564828, + 1.0983140453441664, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2596211546527691e-13, + 3.6082897659324116e-15, + -3.5672864731377245e-14, + 1.0759264029325735e-13, + -4.46115825606189e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 712917249, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1726677116399191, + -1.1200975203948189, + 1.5973751633817002, + -4.4448584738522818, + 0.8446565084713753, + 3.8310615307494866 + ], + "velocities": [ + -2.5801577684136303, + -0.036587462511337134, + 0.047762887283489597, + -1.1006182589564837, + 1.0983140453441673, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7319790876475517e-13, + -7.3805927030435441e-16, + 9.8407902707247268e-16, + -2.0993685910879414e-14, + -4.1987371821758828e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 797531111, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.390984824609494, + -1.123193326893221, + 1.601416565727896, + -4.5379860351659893, + 0.93758910137281593, + 4.101825888671744 + ], + "velocities": [ + -2.5801577684136321, + -0.036587462511337016, + 0.047762887283488133, + -1.1006182589564801, + 1.0983140453441635, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.495182432485517, + 0.035382485065491243, + -0.046189856579124777, + 1.0643703180636754, + -1.0621419917974777, + -3.0946106791223431 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 882144973, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.6093019375790698, + -1.1262891333916232, + 1.6054579680740919, + -4.6311135964796968, + 1.0305216942742561, + 4.372590246594001 + ], + "velocities": [ + -2.4696493844481022, + -0.035020418276668686, + 0.045717198623731761, + -1.0534786822029947, + 1.0512731582621877, + 3.0629437187838611 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0860157156232044, + 0.029580370133857871, + -0.038615519840128266, + 0.88983201461229822, + -0.88796909527213708, + -2.5871481084268857 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 974685908, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.8276190505486447, + -1.1293849398900253, + 1.6094993704202878, + -4.7242411577934043, + 1.1234542871756967, + 4.6433546045162579 + ], + "velocities": [ + -2.2580987841104823, + -0.032020563091897478, + 0.041801055354365194, + -0.96323751312598116, + 0.96122091475358939, + 2.8005714214895807 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2285000500269101, + 0.03160084357438557, + -0.04125313498413774, + 0.95061157700179999, + -0.94862141182152493, + -2.7638620581216808 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 75896565, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.0459361635182196, + -1.1324807463884274, + 1.6135407727664839, + -4.8173687191071117, + 1.2163868800771374, + 4.9141189624385149 + ], + "velocities": [ + -2.0372352176093904, + -0.02888864706784465, + 0.037712514040743515, + -0.86902371077434704, + 0.86720435492821712, + 2.5266488647158338 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2888788845069827, + 0.032457034761628853, + -0.042370844722986085, + 0.97636738484301189, + -0.97432329825759012, + -2.8387459558046508 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 189756758, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.2642532764877954, + -1.1355765528868296, + 1.6175821751126798, + -4.9104962804208192, + 1.309319472978578, + 5.1848833203607718 + ], + "velocities": [ + -1.7758174533133055, + -0.025181659546356303, + 0.032873249030350341, + -0.75751069861588438, + 0.75592480228078518, + 2.2024296034022894 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3563167169837329, + 0.03341332479853984, + -0.043619227915147545, + 1.0051343504436665, + -1.0030300384048407, + -2.9223846644788853 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 323347691, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.4825703894573703, + -1.1386723593852317, + 1.6216235774588756, + -5.0036238417345258, + 1.4022520658800182, + 5.4556476782830288 + ], + "velocities": [ + -1.4546668043833662, + -0.020627640613072221, + 0.026928231855959085, + -0.62051742153215983, + 0.61921832924676912, + 1.8041275735199629 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5555538113949412, + 0.036238570530361051, + -0.047307428303348623, + 1.0901229455811219, + -1.0878407045680705, + -3.1694853301516264 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 494561682, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7008875024269461, + -1.1417681658836338, + 1.6256649798050717, + -5.0967514030482333, + 1.4951846587814588, + 5.7264120362052857 + ], + "velocities": [ + -0.90083391860073259, + -0.012774113129527554, + 0.01667589069242283, + -0.38426885023735302, + 0.38346435920851563, + 1.117245067263736 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5399790794769226, + 0.036017715849631836, + -0.047019114862136537, + 1.0834792300156806, + -1.0812108980394071, + -3.1501690144023593 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 909175544, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.919204615396521, + -1.144863972382036, + 1.6297063821512676, + -5.1898789643619407, + 1.5881172516828994, + 5.9971763941275427 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.27444301383832015, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.919204615396521, + -1.144863972382036, + 1.6297063821512676, + -5.1898789643619407, + 1.5881172516828994, + 5.9971763941275427 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.16103564409556079, + 1.6131742953891537, + 1.4543247065704916, + -2.2180776515341694, + 1.7874398964279257, + -1.3193897802230334 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105767176, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9207396706086204, + -1.1469291711512031, + 1.6302478199006958, + -5.1964522224645044, + 1.5710786700483679, + 6.0097533375882497 + ], + "velocities": [ + -0.0072567655238285492, + 0.05316874355473232, + 0.070655530520656665, + -0.16210183541480519, + -0.08054758718006727, + 0.059455797045361809 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3888690707441495e-09, + 1.6022172756758108, + 1.4306078651263927, + -3.0328251408014921, + 1.7756707661626486e-12, + 2.3888690707441495e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 180252410, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9207396705933855, + -1.1375542076879543, + 1.6403921064619178, + -5.2159714724889703, + 1.5710786700483792, + 6.0097533376034846 + ], + "velocities": [ + 2.7531007263351147e-10, + 0.17333152164358806, + 0.17857586181869706, + -0.35190738346221034, + 2.0464078738863589e-13, + 2.7531007263351147e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9474901143072016e-09, + 1.4802431548530832, + 0.95322524660963004, + -2.4334684014624832, + 1.4480488425027102e-12, + 1.9474901143072016e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 224273299, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9207396705781505, + -1.1278344102174835, + 1.6501189538197116, + -5.2354181173172307, + 1.5710786700483905, + 6.0097533376187195 + ], + "velocities": [ + 3.8501201524570126e-10, + 0.25038798280353475, + 0.2400136626588148, + -0.49040164546224907, + 2.8619254725435124e-13, + 3.8501201524570126e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.263635620772512e-09, + -1.3164538654386917, + -1.605185778231337, + 2.9216396436699386, + -1.6830319342369444e-12, + -2.263635620772512e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 260207710, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9207396705629165, + -1.1177736265635236, + 1.659428392452813, + -5.2547883396042883, + 1.5710786700484018, + 6.0097533376339536 + ], + "velocities": [ + 3.7757368796282969e-10, + 0.2530111948064061, + 0.22618826947272008, + -0.47919946427902299, + 2.8066356265360429e-13, + 3.7757368796282969e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4688792229882476e-09, + -1.6489735159973142, + -1.4862109075906627, + 3.1351844235872215, + -1.8351431290794702e-12, + -2.4688792229882476e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 306205862, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9207396705476816, + -1.1073759245654018, + 1.6683202501380663, + -5.2740778992876587, + 1.5710786700484132, + 6.0097533376491885 + ], + "velocities": [ + 2.3193358919303789e-10, + 0.15974079430245625, + 0.13354842358418617, + -0.29328921788657147, + 1.7239860445468622e-13, + 2.3193358919303789e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3103019334205696e-09, + -1.6272007892938098, + -1.2850319261734278, + 2.9122327154665304, + -1.7172710109667264e-12, + -2.3103019334205696e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 421047870, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9207396705324467, + -1.0966456036909806, + 1.676794192009555, + -5.2932821620335639, + 1.5710786700484245, + 6.0097533376644234 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.36111762559272237, + "y": 0.25362284578041699, + "z": 0.091891781824041563 + }, + "23": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39978640591459436, + 0.19395335654454299, + 0.14189178182404155 + ], + "xaxis": [ + -0.87359607942944262, + -0.48665121601757416, + -0.00069566811301573445 + ], + "yaxis": [ + 0.48665106171596595, + -0.87359635641903666, + 0.00038753336212561727 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39978640591459436, + 0.19395335654454299, + 0.091891781824041563 + ], + "xaxis": [ + -0.87359607942944262, + -0.48665121601757416, + -0.00069566811301573445 + ], + "yaxis": [ + 0.48665106171596595, + -0.87359635641903666, + 0.00038753336212561733 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.44131721655802891, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.45053814007946513, + -0.034050908434528231, + 0.044037090429129101, + -1.0994225503750163, + 1.0941174499289388, + 3.1919030513459772 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 484836346, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4517078268116634, + -1.043526752614736, + 1.4973685892567312, + -2.1501158178272779, + -1.4456277325991904, + -2.8413354675942069 + ], + "velocities": [ + -0.18397903159634502, + -0.013904823146949047, + 0.017982720064593966, + -0.44895354719026265, + 0.44678718843888471, + 1.3034262365278879 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.44027509731766706, + -0.033275245070534212, + 0.043033946628474186, + -1.0743782319388593, + 1.0691939791367138, + 3.1191930306101101 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 683588903, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3998384280542917, + -1.0474469537931086, + 1.5024384761328569, + -2.2766897559586647, + -1.319664558232303, + -2.4738591599592206 + ], + "velocities": [ + -0.29971919015610426, + -0.022652268015037287, + 0.02929554660549211, + -0.73138766094173235, + 0.72785845826620521, + 2.1234042415087826 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.41143035233208686, + -0.031095208170332903, + 0.040214565691921847, + -1.0039900444007959, + 0.99914543935737565, + 2.914838234990516 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 836838452, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.34796902929692, + -1.0513671549714811, + 1.5075083630089825, + -2.4032636940900516, + -1.1937013838654158, + -2.1063828523242343 + ], + "velocities": [ + -0.36766942785486129, + -0.027787831724641776, + 0.035937227955030203, + -0.89720275401283067, + 0.8928734352000478, + 2.6048075939798796 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.44642706578914237, + -0.033740200412777498, + 0.043635260408127693, + -1.0893905300443141, + 1.0841338376243215, + 3.1627775469674213 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 967532926, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2960996305395482, + -1.0552873561498537, + 1.5125782498851084, + -2.5298376322214384, + -1.0677382094985284, + -1.738906544689248 + ], + "velocities": [ + -0.42427812609465609, + -0.032066221119202487, + 0.041470349663708259, + -1.0353417346132932, + 1.0303458466389488, + 3.0058601588358869 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6918774921610625e-14, + 0.0, + 0.0, + 3.28707627048435e-14, + -1.5468594214043999e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 82369272, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2442302317821765, + -1.0592075573282262, + 1.517648136761234, + -2.6564115703528257, + -0.94177503513164096, + -1.3714302370542617 + ], + "velocities": [ + -0.45168102698054668, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549912, + 1.0968929141805255, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6918774921610625e-14, + 0.0, + 0.0, + 0.0, + 2.5136465597821497e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 197205618, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1923608330248046, + -1.0631277585065988, + 1.5227180236373596, + -2.7829855084842126, + -0.81581186076475376, + -1.0039539294192754 + ], + "velocities": [ + -0.45168102698054668, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549892, + 1.0968929141805259, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.7402168490799498e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 312041964, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1404914342674328, + -1.0670479596849713, + 1.5277879105134853, + -2.9095594466155994, + -0.68984868639786623, + -0.63647762178428913 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549892, + 1.0968929141805264, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.8339356918887529e-15, + -3.6254517689165643e-16, + 4.8339356918887527e-16, + -1.1601445660533006e-14, + 3.8671485535110022e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 426878310, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0886220355100611, + -1.0709681608633439, + 1.5328577973896109, + -3.0361333847469862, + -0.56388551203097892, + -0.26900131414930284 + ], + "velocities": [ + -0.45168102698054596, + -0.034137285887972803, + 0.044148799981186745, + -1.1022114721549898, + 1.0968929141805257, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.6678713837774995e-15, + 7.2509035378331246e-16, + 1.5891563587084266e-14, + -9.6678713837774995e-15, + 9.6678713837774995e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 541714656, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0367526367526894, + -1.0748883620417164, + 1.5379276842657366, + -3.1627073228783731, + -0.43792233766409172, + 0.098474993485683004 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981187689, + -1.1022114721549912, + 1.0968929141805264, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.6678713837774995e-15, + -7.2509035378331246e-16, + -1.5891563587084266e-14, + 4.4472208365376496e-14, + -9.6678713837774995e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 656551003, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.98488323799531763, + -1.078808563220089, + 1.5429975711418624, + -3.2892812610097604, + -0.31195916329720408, + 0.46595130112066974 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981187689, + -1.1022114721549889, + 1.0968929141805264, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.6678713837774995e-15, + 7.2509035378331246e-16, + -9.0636294222914053e-16, + -4.4472208365376496e-14, + -2.3202891321065999e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 771387349, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.9330138392379459, + -1.0827287643984616, + 1.5480674580179881, + -3.4158551991411468, + -0.18599598893031688, + 0.83342760875565558 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549889, + 1.0968929141805246, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.6678713837774995e-15, + -7.2509035378331246e-16, + 9.0636294222914053e-16, + 4.4472208365376496e-14, + 5.6073654025909499e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 886223695, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88114444048057416, + -1.0866489655768341, + 1.5531373448941137, + -3.5424291372725341, + -0.060032814563429682, + 1.2009039163906423 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549889, + 1.0968929141805264, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4501807075666249e-15, + 7.2509035378331246e-16, + -9.0636294222914053e-16, + -4.4472208365376496e-14, + -4.0605059811865499e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 1060041, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.82927504172320243, + -1.0905691667552067, + 1.5582072317702393, + -3.6690030754039205, + 0.065930359803457961, + 1.5683802240256282 + ], + "velocities": [ + -0.45168102698054613, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549889, + 1.0968929141805273, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.2509035378331242e-15, + -7.2509035378331246e-16, + 9.0636294222914053e-16, + 4.4472208365376496e-14, + -9.6678713837774995e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 115896387, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.77740564296583059, + -1.0944893679335792, + 1.563277118646365, + -3.7955770135353077, + 0.19189353417034538, + 1.9358565316606149 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981186718, + -1.1022114721549889, + 1.0968929141805246, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.2509035378331242e-15, + 7.2509035378331246e-16, + 1.5891563587084266e-14, + -4.4472208365376496e-14, + 2.7070039874576999e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 230732733, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.72553624420845897, + -1.0984095691119518, + 1.5683470055224906, + -3.9221509516666941, + 0.31785670853723236, + 2.3033328392956007 + ], + "velocities": [ + -0.45168102698054569, + -0.034137285887972782, + 0.044148799981187689, + -1.1022114721549889, + 1.0968929141805255, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.2176906762108639e-15, + 0.0, + -1.6797926529313386e-14, + 0.0, + -3.2870762704843456e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 345569079, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67366684545108713, + -1.1023297702903243, + 1.5734168923986165, + -4.0487248897980814, + 0.44381988290412, + 2.6708091469305875 + ], + "velocities": [ + -0.45168102698054557, + -0.03413728588797274, + 0.044148799981187634, + -1.1022114721549916, + 1.096892914180525, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8852349198366146e-14, + -1.4501807075666267e-15, + 1.8127258844582834e-15, + 2.1269317044310526e-14, + 4.6405782642132054e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 460405426, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.62179744669371539, + -1.1062499714686969, + 1.5784867792747421, + -4.1752988279294687, + 0.5697830572710072, + 3.0382854545655742 + ], + "velocities": [ + -0.45168102698054624, + -0.034137285887972824, + 0.044148799981186773, + -1.1022114721549903, + 1.0968929141805259, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8852349198366146e-14, + 1.4501807075666267e-15, + -1.8127258844582834e-15, + 4.6405782642132054e-14, + -1.3535019937288515e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 575241772, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.56992804793634366, + -1.1101701726470694, + 1.5835566661508678, + -4.3018727660608551, + 0.6957462316378944, + 3.4057617622005592 + ], + "velocities": [ + -0.45168102698054624, + -0.034137285887972824, + 0.044148799981186773, + -1.1022114721549865, + 1.0968929141805277, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3051626368099616e-14, + -3.6254517689165598e-16, + 4.2296937304026536e-16, + -1.4695164503341791e-13, + 1.1601445660532992e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 690078118, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51805864917897193, + -1.114090373825442, + 1.5886265530269934, + -4.4284467041922415, + 0.82170940600478204, + 3.7732380698355459 + ], + "velocities": [ + -0.45168102698054591, + -0.034137285887972761, + 0.04414879998118669, + -1.1022114721549923, + 1.0968929141805277, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0302529905932762e-14, + -3.6254517689165643e-16, + 4.8339356918887527e-16, + 1.2374875371235207e-13, + -5.607365402590953e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 804914464, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.46618925042160009, + -1.1180105750038145, + 1.593696439903119, + -4.5550206423236297, + 0.94767258037166968, + 4.1407143774705322 + ], + "velocities": [ + -0.45168102698054546, + -0.034137285887972803, + 0.044148799981186745, + -1.1022114721549936, + 1.096892914180525, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.44642706578911351, + 0.033740200412777567, + -0.043635260408127804, + 1.089390530044281, + -1.0841338376242631, + -3.1627775469674253 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 919750810, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.41431985166422858, + -1.1219307761821871, + 1.5987663267792447, + -4.6815945804550161, + 1.0736357547385564, + 4.508190685105518 + ], + "velocities": [ + -0.42427812609465654, + -0.032066221119202522, + 0.041470349663708314, + -1.0353417346132889, + 1.0303458466389479, + 3.0058601588358869 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.41143035233210906, + 0.031095208170333673, + -0.040214565691922881, + 1.0039900444007765, + -0.99914543935739175, + -2.9148382349905031 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 50445284, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.36245045290685662, + -1.1258509773605596, + 1.6038362136553705, + -4.8081685185864025, + 1.1995989291054441, + 4.8756669927405039 + ], + "velocities": [ + -0.3676694278548619, + -0.027787831724641755, + 0.035937227955030175, + -0.89720275401282967, + 0.89287343520004947, + 2.60480759397988 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.44027509731765968, + 0.033275245070533671, + -0.043033946628473436, + 1.0743782319388451, + -1.0691939791367311, + -3.1191930306101181 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 203694833, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.31058105414948489, + -1.1297711785389322, + 1.6089061005314962, + -4.9347424567177898, + 1.3255621034723317, + 5.2431433003754915 + ], + "velocities": [ + -0.29971919015610382, + -0.022652268015037259, + 0.029295546605492068, + -0.7313876609417338, + 0.72785845826620399, + 2.123404241508783 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.45053814007946541, + 0.034050908434528279, + -0.044037090429129178, + 1.099422550375027, + -1.0941174499289297, + -3.191903051345979 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 402447390, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.25871165539211316, + -1.1336913797173047, + 1.6139759874076218, + -5.0613163948491771, + 1.4515252778392185, + 5.6106196080104773 + ], + "velocities": [ + -0.18397903159634521, + -0.013904823146949054, + 0.01798272006459398, + -0.44895354719026359, + 0.4467871884388836, + 1.3034262365278872 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.44131721655802991, + 0.033354006675101543, + -0.043135806815533285, + 1.0769212561383867, + -1.0717247323501715, + -3.1265760761000863 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 887283736, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20684225663474134, + -1.1376115808956773, + 1.6190458742837475, + -5.1878903329805635, + 1.5774884522061061, + 5.9780959156454632 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4798378859245045, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20684225663474134, + -1.1376115808956773, + 1.6190458742837475, + -5.1878903329805635, + 1.5774884522061061, + 5.9780959156454632 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.69030473165203865, + 2.2926983304449964, + 1.6008982316262252, + -2.478110932779761, + 1.3771741839380021, + -0.085517774859325296 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 66516328, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20356854308676792, + -1.140344224851497, + 1.6203179953232276, + -5.1931426345142935, + 1.5709573166420017, + 5.9785014766749578 + ], + "velocities": [ + -0.024608345479538111, + 0.040649010356079207, + 0.076194604529884816, + -0.16730358969943926, + -0.049094228296809678, + 0.0030485825232434063 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2145231738397051e-10, + 1.6165535868824019, + 1.460572910259009, + -3.0771264971411938, + -1.0636762398921272e-13, + -1.2140091484635478e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 142594100, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20356854308600777, + -1.1310338024451263, + 1.6304564437181834, + -5.2125915053156202, + 1.570957316642001, + 5.9785014766741975 + ], + "velocities": [ + -1.3637364107317457e-11, + 0.17090556792160466, + 0.17710732559123685, + -0.34801289351283793, + -1.194887144740949e-14, + -1.3637645278643365e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.9149598319563383e-11, + 1.4973139772766504, + 0.97581503025745309, + -2.473129007534669, + -8.6933500083723502e-14, + -9.9220101428889769e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 186587185, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20356854308524744, + -1.1213803639976123, + 1.6401767329263131, + -5.2319652329712634, + 1.5709573166420003, + 5.9785014766734372 + ], + "velocities": [ + -1.9260814370550746e-11, + 0.24929761666175176, + 0.24041489219383225, + -0.48971250885558515, + -1.6875840135976968e-14, + -1.9260958875195045e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1418689371940307e-10, + -1.3217521033973325, + -1.6203230907568003, + 2.9420751941544365, + 1.0004124382749053e-13, + 1.1418040628844259e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 222381787, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20356854308448721, + -1.111387784652057, + 1.6494790125428023, + -5.2512600919333083, + 1.5709573166419997, + 5.978501476672677 + ], + "velocities": [ + -1.8907583487920591e-11, + 0.25218276533896566, + 0.22680284755346986, + -0.47898561289244168, + -1.6567698665966644e-14, + -1.8909266744089931e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2391481904190785e-10, + -1.6476867035532583, + -1.4936351097611287, + 3.1413218133144118, + 1.0859003335916454e-13, + 1.2393742474059308e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 268241396, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20356854308372702, + -1.1010601498856853, + 1.658363224727009, + -5.2704719388838868, + 1.570957316641999, + 5.9785014766719167 + ], + "velocities": [ + -1.1600209762725252e-11, + 0.15903008530083934, + 0.13374197800599005, + -0.29277206330682842, + -1.0164530613230233e-14, + -1.1601117606566773e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1541704172709134e-10, + -1.6180325955479227, + -1.2851981803470411, + 2.9032307758949303, + 1.0112474450387676e-13, + 1.1541704172709134e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 383021607, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20356854308296674, + -1.0904017672060489, + 1.6668291444266505, + -5.2895962412631645, + 1.5709573166419983, + 5.9785014766711564 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.39978640591459436, + "y": 0.19395335654454299, + "z": 0.091891781824041563 + }, + "24": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42920363759031133, + 0.129496781716919, + 0.14189178182404155 + ], + "xaxis": [ + -0.9427622728498134, + -0.33346474066978882, + -0.00075074701777988646 + ], + "yaxis": [ + 0.33346463493873529, + -0.94276257176981249, + 0.0002655468800830935 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42920363759031133, + 0.129496781716919, + 0.091891781824041563 + ], + "xaxis": [ + -0.9427622728498134, + -0.33346474066978882, + -0.00075074701777988636 + ], + "yaxis": [ + 0.33346463493873529, + -0.94276257176981249, + 0.00026554688008309345 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1177654495717415, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0691846320686387, + -0.19554317019527392, + 0.25056627227806111, + -0.049088422934119136, + -0.0013726799478077038, + -0.083378735878807828 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 595489471, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.95078539275463414, + -1.0748258948141278, + 1.5374282744000982, + -2.032383211364305, + -1.5718381407936843, + -3.2238291462086415 + ], + "velocities": [ + -1.5759639879796883, + -0.10040744734063983, + 0.1286606930018365, + -0.025205908423548352, + -0.00070484328057861994, + -0.042813287846977716 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9806915954450681, + -0.18990512263672127, + 0.24334175731156032, + -0.047673068653001159, + -0.0013331018085176078, + -0.080974697538911788 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 844088339, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39799355994023311, + -1.1100452381918924, + 1.5825578464195909, + -2.0412245430327194, + -1.5720853746212906, + -3.2388465171880894 + ], + "velocities": [ + -2.5519000867974246, + -0.16258605877927557, + 0.20833549252588313, + -0.040814993479844117, + -0.0011413266055612305, + -0.069325970520967617 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4687810080470327, + -0.093578630505042046, + 0.11991034300569503, + -0.023491627895991067, + -0.00065690614255748336, + -0.039901510796770519 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 36018588, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.15479827287416792, + -1.1452645815696569, + 1.6276874184390835, + -2.0500658747011333, + -1.5723326084488971, + -3.2538638881675377 + ], + "velocities": [ + -3.0150852231778629, + -0.19209640136629438, + 0.24614963110353788, + -0.048223159034262053, + -0.0013484842141942045, + -0.081909049018669147 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5305746720345791e-15, + 7.9080458501080603e-16, + -1.2652873360172896e-15, + 1.4669425051950452e-14, + -7.2037355165828106e-15, + 3.9540229250540301e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 211508059, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.70759010568856895, + -1.1804839249474213, + 1.6728169904585761, + -2.0589072063695477, + -1.5725798422765034, + -3.268881259146986 + ], + "velocities": [ + -3.1500000000000004, + -0.20069205992991912, + 0.25716398727824752, + -0.050380980872514566, + -0.0014088242819998227, + -0.085574199503675924 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5305746720345799e-15, + -9.0151722691231911e-15, + 2.2142528380302576e-15, + -1.4867126198203158e-14, + 7.1975573557624158e-15, + 1.3680919320686948e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 386997530, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2603819385029704, + -1.2157032683251856, + 1.7179465624780688, + -2.0677485380379617, + -1.5728270761041099, + -3.2838986301264343 + ], + "velocities": [ + -3.1500000000000004, + -0.20069205992991984, + 0.25716398727824763, + -0.050380980872514587, + -0.0014088242819998232, + -0.085574199503674703 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.4234482530194515e-15, + -1.5816091700216128e-15, + 1.474850551045154e-14, + -7.2000286200905768e-15, + -1.3839080237689112e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 562487000, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.813173771317371, + -1.2509226117029502, + 1.7630761344975614, + -2.076589869706376, + -1.5730743099317162, + -3.2989160011058822 + ], + "velocities": [ + -3.1499999999999999, + -0.20069205992992051, + 0.25716398727824763, + -0.050380980872514594, + -0.0014088242819998236, + -0.085574199503674703 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 5.8519539290799673e-15, + 1.5816091700216128e-15, + -3.5586206325486288e-16, + -1.1120689476714465e-17, + -6.3264366800864508e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 737976471, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3659656041317723, + -1.2861419550807147, + 1.808205706517054, + -2.08543120137479, + -1.5733215437593226, + -3.3139333720853306 + ], + "velocities": [ + -3.1499999999999999, + -0.2006920599299199, + 0.25716398727824763, + -0.050380980872513331, + -0.0014088242820004563, + -0.085574199503675979 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.7958620080518667e-15, + -4.7448275100648332e-15, + -1.3443677945183694e-14, + 7.2370975850129504e-15, + 1.6053333075719352e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 913465942, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9187574369461728, + -1.321361298458479, + 1.8533352785365467, + -2.0942725330432039, + -1.5735687775869291, + -3.3289507430647789 + ], + "velocities": [ + -3.1499999999999999, + -0.20069205992991904, + 0.25716398727824741, + -0.050380980872514546, + -0.0014088242819998223, + -0.085574199503674619 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -1.1071264190151277e-14, + 4.7448275100648332e-15, + 1.3443677945183694e-14, + -7.2370975850129504e-15, + -1.6053333075719352e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 88955413, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4715492697605752, + -1.3565806418362434, + 1.8984648505560393, + -2.1031138647116183, + -1.5738160114145354, + -3.3439681140442268 + ], + "velocities": [ + -3.1499999999999999, + -0.20069205992991968, + 0.25716398727824741, + -0.050380980872514546, + -0.0014088242819998223, + -0.085574199503674619 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + -1.4392643447196686e-14, + 7.2111493095672954e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 264444883, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.0243411025749758, + -1.3917999852140079, + 1.9435944225755319, + -2.1119551963800323, + -1.5740632452421419, + -3.3589854850236751 + ], + "velocities": [ + -3.1499999999999999, + -0.20069205992992065, + 0.2571639872782478, + -0.050380980872514629, + -0.0014088242819998245, + -0.085574199503676035 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4687810080470336, + 0.093578630505055549, + -0.1199103430056951, + 0.023491627895991081, + 0.00065690614255748368, + 0.039901510796770616 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 439934354, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5771329353893764, + -1.4270193285917725, + 1.9887239945950246, + -2.1207965280484466, + -1.5743104790697482, + -3.3740028560031234 + ], + "velocities": [ + -3.0150852231778629, + -0.19209640136629458, + 0.24614963110353805, + -0.048223159034262088, + -0.0013484842141942056, + -0.081909049018669217 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9806915954450655, + 0.18990512263672196, + -0.2433417573115588, + 0.04767306865300168, + 0.0013331018085176224, + 0.080974697538912621 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 631864604, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.129924768203777, + -1.4622386719695368, + 2.0338535666145172, + -2.1296378597168606, + -1.5745577128973547, + -3.3890202269825718 + ], + "velocities": [ + -2.5519000867974246, + -0.16258605877927443, + 0.20833549252588346, + -0.040814993479844089, + -0.0011413266055612299, + -0.069325970520967575 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0691846320686378, + 0.19554317019526998, + -0.25056627227806288, + 0.049088422934118879, + 0.0013726799478076973, + 0.083378735878807411 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 880463472, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.6827166010181793, + -1.4974580153473012, + 2.0789831386340101, + -2.138479191385275, + -1.574804946724961, + -3.4040375979620197 + ], + "velocities": [ + -1.5759639879796881, + -0.10040744734063942, + 0.12866069300183652, + -0.025205908423548307, + -0.00070484328057861874, + -0.042813287846977646 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1177654495717402, + 0.19863833982631351, + -0.25453237917784877, + 0.049865422692018053, + 0.0013944075145837266, + 0.08469850240867309 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 475952942, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2355084338325799, + -1.5326773587250657, + 2.1241127106535025, + -2.1473205230536889, + -1.5750521805525675, + -3.419054968941468 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.089127067193865289, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2355084338325799, + -1.5326773587250657, + 2.1241127106535025, + -2.1473205230536889, + -1.5750521805525675, + -3.419054968941468 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.059027650131934041, + 2.941640630047178, + 1.8211814234649515, + -3.1501269685452526, + -0.43312538893681307, + 1.5824472911733223 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 113580245, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2360833244551932, + -1.5351334363173565, + 2.1298648933776323, + -2.1663232284238938, + -1.5708338212357933, + -3.4344669750983035 + ], + "velocities": [ + -0.0025307673858354258, + 0.10449664658242584, + 0.12872611264581846, + -0.30236594605624895, + 0.018569951606759023, + -0.067846331276365815 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5420596131995586e-08, + 1.812147085538891, + 1.1945472375101696, + -3.0066943230485719, + -1.2261373346359569e-11, + 1.5420038861057984e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 171497235, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2360833243217124, + -1.5217767676468299, + 2.1418425905150729, + -2.1916575942318559, + -1.5708338212358994, + -3.4344669749648222 + ], + "velocities": [ + 2.6947813416601344e-09, + 0.27645877695286236, + 0.23702609760385607, + -0.51348487455661784, + -2.1427487847698169e-12, + 2.6947749122349328e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.9925250602523079e-09, + 0.75852183483667812, + 0.1019399210009031, + -0.86046175583769191, + -3.1750458400245095e-12, + 3.9930120427943431e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 214767003, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2360833241882307, + -1.5078309169756736, + 2.1534061846667183, + -2.2171670390546527, + -1.5708338212360056, + -3.4344669748313414 + ], + "velocities": [ + 3.1690147443784796e-09, + 0.33828611872794456, + 0.26939259506414459, + -0.60767871379197858, + -2.5198357497887962e-12, + 3.1690044811109542e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5579306599855722e-08, + -1.459328713679199, + -1.4732749499371312, + 2.9326036636161681, + 1.2387894672043696e-11, + -1.5579306599855722e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 255798142, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.23608332405475, + -1.4932947277117357, + 2.1645478211942182, + -2.2428448648460861, + -1.5708338212361117, + -3.4344669746978607 + ], + "velocities": [ + 2.8871368567525221e-09, + 0.31998657319828694, + 0.2369277829852377, + -0.55691435618342022, + -2.2957085449205275e-12, + 2.8871368567525221e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6339556939387133e-08, + -1.8003171369769739, + -1.3494263678128293, + 3.1497435047891122, + 1.2992408170134025e-11, + -1.6339518230955965e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 308743267, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2360833239212692, + -1.478168251961492, + 2.1752593911931166, + -2.2686829105952229, + -1.5708338212362178, + -3.4344669745643799 + ], + "velocities": [ + 1.7848323199660392e-09, + 0.20457620096988061, + 0.14150752535291958, + -0.34608372632273066, + -1.4192104536413351e-12, + 1.7848340642220612e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6473608816619101e-08, + -1.9395277577394054, + -1.2678741736251871, + 3.2074019313639899, + 1.3098999598006354e-11, + -1.6473663624148801e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 436043734, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2360833237877884, + -1.4624528319425514, + 2.1855326007876577, + -2.2946715402086997, + -1.570833821236324, + -3.4344669744308987 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42920363759031133, + "y": 0.129496781716919, + "z": 0.091891781824041563 + }, + "25": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44561053945547136, + 0.060999601742838, + 0.14189178182404155 + ], + "xaxis": [ + -0.99272331736278718, + -0.12041507473250671, + -0.00079053234463636137 + ], + "yaxis": [ + 0.12041503655271987, + -0.99272363212384795, + 9.5889740384437098e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44561053945547136, + 0.060999601742838, + 0.091891781824041563 + ], + "xaxis": [ + -0.99272331736278718, + -0.12041507473250671, + -0.00079053234463636137 + ], + "yaxis": [ + 0.12041503655271987, + -0.99272363212384795, + 9.5889740384437125e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3885744466290353, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4087286015427067, + -0.25487717960928019, + 0.32579393773646514, + -0.065302842312283865, + 0.0082140766614981712, + 3.1489278514619721 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 465910333, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7628240651257463, + -1.0670384934353561, + 1.5273632790418454, + -2.0305702993662047, + -1.5707068416492103, + -2.8698987100707614 + ], + "velocities": [ + 0.95271866832564001, + -0.1008109618445293, + 0.12886049773729563, + -0.025829077184449756, + 0.0032488941151182882, + 1.2454879090059991 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4504505694755232, + -0.25929194742814082, + 0.33143706590551658, + -0.066433963141392077, + 0.0083563539786164556, + 3.2034709273225279 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 658086445, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0220709046824572, + -1.0944704354343486, + 1.5624278557030851, + -2.0375987190365183, + -1.5698227763323429, + -2.53098564491233 + ], + "velocities": [ + 1.5567443161947918, + -0.16472532456765057, + 0.21055832545731201, + -0.042204766670642324, + 0.0053086998457982596, + 2.0351298737978594 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3831360192991684, + -0.25216912641600564, + 0.32233239867365726, + -0.06460900392733504, + 0.0081268026396750011, + 3.1154707010940457 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 805011623, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2813177442391686, + -1.1219023774333412, + 1.5974924323643249, + -2.044627138706832, + -1.5689387110154753, + -2.1920725797538982 + ], + "velocities": [ + 1.9260070642918108, + -0.20379848860508604, + 0.26050316552143099, + -0.05221581855724005, + 0.006567933666977748, + 2.5178665969161793 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0506185911946782, + -0.21698413123144589, + 0.27735756747064888, + -0.055594151378336079, + 0.0069928751212659556, + 2.6807710882840019 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 929199817, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.540564583795879, + -1.1493343194323338, + 1.6325570090255648, + -2.0516555583771452, + -1.568054645698608, + -1.8531595145954665 + ], + "velocities": [ + 2.208262766966711, + -0.23366509017254405, + 0.29867981886632494, + -0.059868029616517021, + 0.007530462188635503, + 2.8868591197009028 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0938251206608489, + -0.11574199831447048, + 0.14794593007571391, + -0.029654602567504532, + 0.0037300854025771389, + 1.4299561955097859 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 40512642, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7998114233525904, + -1.1767662614313266, + 1.6676215856868044, + -2.0586839780474588, + -1.5671705803817404, + -1.5142464494370347 + ], + "velocities": [ + 2.3883944953443019, + -0.2527255467377294, + 0.32304363679991194, + -0.064751566037411917, + 0.0081447347244109347, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.6440560146848746e-14, + 6.2896017487075271e-15, + -8.3861356649433695e-15, + 1.5724004371768818e-15, + -1.9998968060343463e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 146422975, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0590582629093017, + -1.2041982034303191, + 1.7026861623480443, + -2.0657123977177725, + -1.5662865150648728, + -1.1753333842786033 + ], + "velocities": [ + 2.4477955318531821, + -0.25901100730873461, + 0.33107795730304546, + -0.066361982635546435, + 0.008347299956268768, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.870294965460358e-14, + -6.2896017487075271e-15, + -1.1530936539297132e-14, + -1.5724004371768818e-15, + 1.9998968060343463e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 252333307, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3183051024660126, + -1.2316301454293117, + 1.7377507390092841, + -2.0727408173880861, + -1.5654024497480055, + -0.83642031912017112 + ], + "velocities": [ + 2.4477955318531799, + -0.25901100730873461, + 0.3310779573030444, + -0.066361982635546435, + 0.008347299956268768, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.3861356649433742e-15, + 3.1448008743537655e-15, + 1.5724004371768826e-14, + 4.0358277887539988e-14, + -1.9884313861799331e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 358243640, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5775519420227235, + -1.2590620874283043, + 1.7728153156705238, + -2.0797692370583998, + -1.5645183844311379, + -0.49750725396173978 + ], + "velocities": [ + 2.4477955318531834, + -0.25901100730873478, + 0.33107795730304462, + -0.066361982635544381, + 0.0083472999562687732, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + -3.9572077668951524e-14, + 1.9786038834475762e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 464153973, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8367987815794349, + -1.2864940294272968, + 1.8078798923317636, + -2.086797656728713, + -1.5636343191142705, + -0.158594188803308 + ], + "velocities": [ + 2.4477955318531839, + -0.25901100730873461, + 0.33107795730304546, + -0.066361982635544339, + 0.008347299956268768, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.9668288816962007e-14, + 0.0, + -1.9917072204240502e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 570064306, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0960456211361462, + -1.3139259714262894, + 1.8429444689930035, + -2.0938260763990266, + -1.562750253797403, + 0.18031887635512378 + ], + "velocities": [ + 2.4477955318531794, + -0.25901100730873461, + 0.3310779573030444, + -0.066361982635546435, + 0.0083472999562698158, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4256430630403746e-13, + -6.289601748707535e-15, + 2.7779074390124946e-14, + -1.5724004371768837e-15, + -1.9589488779828677e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 675974639, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3552924606928567, + -1.341357913425282, + 1.8780090456542431, + -2.1008544960693403, + -1.5618661884805354, + 0.51923194151355556 + ], + "velocities": [ + 2.447795531853183, + -0.25901100730873494, + 0.33107795730304479, + -0.066361982635546518, + 0.0083472999562687784, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7191578113133919e-13, + 9.4344026230612962e-15, + -1.2055070018356101e-14, + 2.358600655765324e-15, + 1.9491213752505108e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 781884972, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.614539300249568, + -1.3687898554242746, + 1.9130736223154829, + -2.1078829157396539, + -1.560982123163668, + 0.85814500667198645 + ], + "velocities": [ + 2.4477955318531812, + -0.25901100730873478, + 0.33107795730304568, + -0.066361982635546476, + 0.0083472999562687732, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2994763006589405, + 0.13750276983008555, + -0.17576139574870142, + 0.035229994735038329, + -0.0044313825752645784, + -1.6988037227769073 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 887795305, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8737861398062785, + -1.3962217974232671, + 1.9481381989767228, + -2.1149113354099676, + -1.5600980578468004, + 1.1970580718304187 + ], + "velocities": [ + 2.3768648247559989, + -0.25150554631115996, + 0.32148418473903617, + -0.06443898608969259, + 0.008105417053655712, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1543674235393175, + 0.22796220894379612, + -0.291390173968337, + 0.058406877409104663, + -0.0073466720836442012, + -2.8164018054672448 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 221257, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.1330329793629899, + -1.4236537394222597, + 1.9832027756379624, + -2.1219397550802812, + -1.5592139925299329, + 1.5359711369888509 + ], + "velocities": [ + 2.1772215020315668, + -0.23038049013370698, + 0.29448131517061271, + -0.059026472444849293, + 0.0074246074527869136, + 2.8462789133479367 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1605193634004261, + 0.2286131702351496, + -0.29222225804403762, + 0.058573662142950199, + -0.0073676509957297, + -2.8244442286594933 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 126775182, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3922798189197012, + -1.4510856814212525, + 2.0182673522992021, + -2.1289681747505949, + -1.5583299272130655, + 1.8748842021472822 + ], + "velocities": [ + 1.9002267475732864, + -0.20107057047830285, + 0.25701623432692267, + -0.05151689051845991, + 0.0064800194462772132, + 2.4841640215066922 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4328207653133593, + 0.25742646754010956, + -0.32905253685735569, + 0.065956002975809308, + -0.0082962340619008815, + -3.1804235066598645 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 274751801, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6515266584764117, + -1.4785176234202451, + 2.0533319289604419, + -2.1359965944209081, + -1.5574458618961979, + 2.2137972673057136 + ], + "velocities": [ + 1.5439136897998158, + -0.16336766481882004, + 0.20882291188927227, + -0.041856916617420969, + 0.0052649457471605418, + 2.0183564121546653 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3620674280744645, + 0.24993977475460732, + -0.31948275455298814, + 0.064037815089560843, + -0.0080549560134773723, + -3.0879277584577354 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 468815865, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.910773498033123, + -1.5059495654192376, + 2.0883965056216818, + -2.1430250140912217, + -1.5565617965793306, + 2.5527103324641449 + ], + "velocities": [ + 0.94615676430234008, + -0.10011662061021395, + 0.1279729637289273, + -0.02565117794606004, + 0.0032265171720877294, + 1.2369095401833934 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3885744466290362, + 0.25274458810083206, + -0.32306797621184036, + 0.064756444681840081, + -0.0081453483816105038, + -3.1225803502575276 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 934726198, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1700203375898344, + -1.5333815074182302, + 2.1234610822829216, + -2.1500534337615353, + -1.555677731262463, + 2.8916233976225771 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.58340834836209232, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1700203375898344, + -1.5333815074182302, + 2.1234610822829216, + -2.1500534337615353, + -1.555677731262463, + 2.8916233976225771 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.33641573755696103, + 1.3680118787912212, + 1.1189808464756004, + -1.522250424494735, + 1.2486493726790771, + -1.6734852463405239 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 117829250, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.174070280244325, + -1.5317045561098102, + 2.1262672865082135, + -2.1661506450187726, + -1.5707096039001058, + 2.911769659230663 + ], + "velocities": [ + 0.017185641537637908, + 0.084116301309853064, + 0.080978474009533757, + -0.21437819042364006, + -0.063786676818689172, + 0.08548922019486184 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1860867982980599e-08, + 1.7954305365298131, + 1.3371588901866309, + -3.1325894267154415, + 9.3981354978295338e-12, + -1.1860588597432634e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 204338154, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740702801470873, + -1.5183821368738448, + 2.1382177210278313, + -2.1914234987743475, + -1.5707096039000288, + 2.9117696591334243 + ], + "velocities": [ + -1.5295427552522659e-09, + 0.21538621491819454, + 0.18385847322919896, + -0.39924468814726422, + 1.2119754052758278e-12, + -1.529543469979651e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.6769868456340211e-09, + 1.6986388159110617, + 0.92201105696652896, + -2.6206498728766543, + 7.6681790645681563e-12, + -9.6771807080557491e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 254589001, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740702800498486, + -1.5044741155866768, + 2.1497541022575706, + -2.2168679012912467, + -1.5707096038999517, + 2.9117696590361861 + ], + "velocities": [ + -2.1556335215914499e-09, + 0.31548909994747409, + 0.2505913330887648, + -0.56608043303605404, + 1.7080785654870462e-12, + -2.1556291028678969e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1734586542594858e-08, + -1.5159346638673876, + -1.512343965644247, + 3.0282786295107038, + -9.2985571418941683e-12, + 1.1734939895038307e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 295510512, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740702799526108, + -1.4899794576181575, + 2.1608686633769083, + -2.2424771203790952, + -1.5707096038998747, + 2.9117696589389483 + ], + "velocities": [ + -2.0996870099544856e-09, + 0.31848469466304663, + 0.23596979325422932, + -0.55445448791709162, + 1.6637479520974478e-12, + -2.0996786835230965e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1719791202480238e-08, + -1.7706965043457046, + -1.3229412816825021, + 3.0936377860271627, + -9.286412272120562e-12, + 1.1719612859386276e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 348845391, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740702798553722, + -1.474898323915325, + 2.1715533875527986, + -2.2682429782578093, + -1.5707096038997976, + 2.9117696588417106 + ], + "velocities": [ + -1.2760018084615761e-09, + 0.2000932903929499, + 0.13856766838593748, + -0.33866095877877378, + 1.0110744845279385e-12, + -1.2759934820301867e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0925701102867303e-08, + -1.76026170547668, + -1.1513248317277882, + 2.9115865372034953, + -8.6573307514956018e-12, + 1.0925701102867303e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 482261369, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740702797581344, + -1.4592321504395422, + 2.1818000767153851, + -2.29415584089617, + -1.5707096038997206, + 2.9117696587444728 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44561053945547136, + "y": 0.060999601742838, + "z": 0.091891781824041563 + }, + "26": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44493785965964833, + -0.0089235497669439296, + 0.14189178182404155 + ], + "xaxis": [ + -0.98915693978104724, + 0.14686023295558276, + -0.00078769234200698718 + ], + "yaxis": [ + -0.14686018639087814, + -0.98915725341132288, + -0.00011694872624703978 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44493785965964833, + -0.0089235497669439296, + 0.091891781824041563 + ], + "xaxis": [ + -0.98915693978104724, + 0.14686023295558276, + -0.00078769234200698718 + ], + "yaxis": [ + -0.14686018639087814, + -0.98915725341132288, + -0.00011694872624703981 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0586232963725362, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0944279857919716, + -0.39317060719297786, + -2.5371461379414098, + 0.72589201948899162, + -2.1851561894552631, + 0.29764294583679185 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 380167350, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2825500740846001, + -1.0676897318348983, + 1.311076781449263, + -1.9716932517460397, + -1.727671077621679, + -3.1875518936679472 + ], + "velocities": [ + -0.99660646351188897, + -0.12662642988963735, + -0.81712557266040176, + 0.23378429931348893, + -0.7037619851530541, + 0.095860328629928396 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8861660993283835, + -0.36670935078890016, + -2.3663905594152492, + 0.67703787195614928, + -2.0380903174029794, + 0.27761091352672884 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 536722275, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.061522922600165, + -1.095772912233433, + 1.1298548605179206, + -1.9198446237961884, + -1.8837512482772802, + -3.1662920121067013 + ], + "velocities": [ + -1.6127146736392728, + -0.20490766318528608, + -1.3222775985132906, + 0.37831118277193654, + -1.1388319479751157, + 0.15512176998792285 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9140424627097872, + -0.37025125474248577, + -2.3892466116542113, + 0.68357711921083963, + -2.0577754444319121, + 0.28029225009491904 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 658593602, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84049577111573004, + -1.1238560926319678, + 0.94863293958657813, + -1.867995995846337, + -2.0398314189328817, + -3.1450321305454554 + ], + "velocities": [ + -1.9775839085305904, + -0.251267074128742, + -1.6214367886474961, + 0.46390233790003876, + -1.3964874082493055, + 0.19021735289271186 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7314087590537883, + -0.3470462538537844, + -2.2395037842184697, + 0.64073483993263369, + -1.9288071279032086, + 0.26272530918868814 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 761802224, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.61946861963129496, + -1.1519392730305027, + 0.76741101865523553, + -1.8161473678964857, + -2.1959115895884826, + -3.1237722489842099 + ], + "velocities": [ + -2.274714700829592, + -0.28901980082340817, + -1.8650566904859756, + 0.53360338502881377, + -1.6063088010401709, + 0.21879739570668616 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5674593921705391, + -0.32621524003718733, + -2.1050803932345037, + 0.60227553903202502, + -1.8130329119747706, + 0.24695555376008937 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 853595774, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39844146814685999, + -1.1800224534290376, + 0.58618909772389305, + -1.7642987399466343, + -2.3519917602440836, + -3.102512367422964 + ], + "velocities": [ + -2.5206634503383554, + -0.32026945976738985, + -2.0667120280193747, + 0.5912981303230771, + -1.7799875664680616, + 0.24245440458354148 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0710600708728255, + -0.39020153590107898, + -2.5179865984850442, + 0.72041036568099615, + -2.1686547409954513, + 0.29539526223693979 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 937526272, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.17741431666242491, + -1.2081056338275722, + 0.40496717679255068, + -1.712450111996783, + -2.5080719308996851, + -3.0812524858617181 + ], + "velocities": [ + -2.7568124930288063, + -0.35027399143817095, + -2.2603325079244199, + 0.64669405690014758, + -1.946746187007397, + 0.26516881159047501 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3778190213776402, + -0.30211998880651592, + -1.9495927436384286, + 0.55778963328026565, + -1.6791167788761976, + 0.22871466437065521 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 14267269, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.043612834822009949, + -1.236188814226107, + 0.22374525586120808, + -1.6606014840469316, + -2.6641521015552865, + -3.0599926043004722 + ], + "velocities": [ + -2.9687647061639035, + -0.37720413190899471, + -2.4341138146644492, + 0.69641388257850112, + -2.0964180140873703, + 0.28555580439942591 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3005824461838158, + -0.16524889007544691, + -1.0663579005750796, + 0.30509109363898912, + -0.91841716634690629, + 0.125098788003213 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 86560760, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.26463998630644525, + -1.2642719946246419, + 0.042523334929865486, + -1.6087528560970803, + -2.8202322722108875, + -3.0387327227392262 + ], + "velocities": [ + -3.1036794829860401, + -0.39434608026455958, + -2.5447315141349724, + 0.7280622389971958, + -2.1916892115350004, + 0.29853281720910574 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.9556254786818806e-14, + 8.2277009956583127e-14, + -9.4935011488365137e-15, + -5.6961006893019082e-14, + -4.7467505744182569e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 156728109, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.48566713779088011, + -1.2923551750231765, + -0.13869858600147711, + -1.556904228147229, + -2.9763124428664884, + -3.0174728411779803 + ], + "velocities": [ + -3.1499999999999999, + -0.40023145419586181, + -2.5827100747571672, + 0.73892812238288819, + -2.2243988318320547, + 0.30298823682139642 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -4.4303005361237047e-14, + 0.0, + 0.0, + -9.0188260913946846e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 226895459, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.70669428927531519, + -1.3204383554217114, + -0.31992050693281948, + -1.5050556001973776, + -3.1323926135220899, + -2.9962129596167344 + ], + "velocities": [ + -3.1499999999999999, + -0.4002314541958632, + -2.5827100747571663, + 0.73892812238288785, + -2.2243988318320569, + 0.30298823682139309 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.5094130456973423e-14, + 8.8606010722474094e-14, + 0.0, + 8.8606010722474094e-14, + 9.0188260913946846e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 297062809, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92772144075975027, + -1.3485215358202463, + -0.50114242786416208, + -1.4532069722475263, + -3.2884727841776913, + -2.9749530780554889 + ], + "velocities": [ + -3.1499999999999999, + -0.40023145419586159, + -2.5827100747571645, + 0.73892812238288785, + -2.2243988318320538, + 0.30298823682139309 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.300582446183822, + 0.165248890075436, + 1.0663579005748303, + -0.30509109363897041, + 0.91841716634675663, + -0.12509878800320443 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 367230159, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1487485922441854, + -1.3766047162187809, + -0.68236434879550423, + -1.4013583442976749, + -3.4445529548332923, + -2.953693196494243 + ], + "velocities": [ + -3.1036794829860401, + -0.39434608026455958, + -2.5447315141349724, + 0.7280622389971958, + -2.1916892115350031, + 0.29853281720910574 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3778190213776429, + 0.30211998880651697, + 1.9495927436385976, + -0.55778963328026632, + 1.6791167788763663, + -0.22871466437065621 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 439523649, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3697757437286204, + -1.4046878966173157, + -0.86358626972684727, + -1.3495097163478236, + -3.6006331254888937, + -2.9324333149329971 + ], + "velocities": [ + -2.9687647061639026, + -0.3772041319089951, + -2.4341138146644519, + 0.69641388257850179, + -2.0964180140873725, + 0.28555580439942618 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7575159122040898, + 0.35036336619359021, + 2.2609092469056096, + -0.64685906522093972, + 1.9472429123381034, + -0.26523647118910593 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 516264646, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5908028952130551, + -1.4327710770158506, + -1.0448081906581894, + -1.2976610883979722, + -3.7567132961444947, + -2.9111734333717512 + ], + "velocities": [ + -2.7699797657273155, + -0.35194699356512915, + -2.2711284596245829, + 0.64978284042142187, + -1.9560443666927849, + 0.26643532865036967 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6190653259531618, + 0.33277216636194684, + 2.1473925091386037, + -0.61438127736658843, + 1.8494748735055295, + -0.25191936039067547 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 599364149, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8118300466974901, + -1.4608542574143852, + -1.226030111589532, + -1.2458124604481209, + -3.9127934668000961, + -2.8899135518105052 + ], + "velocities": [ + -2.5458700848417388, + -0.32347215436506327, + -2.0873791482995667, + 0.59721111162630702, + -1.7977874421327391, + 0.24487894862937648 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.856092730870317, + 0.3628883006331417, + 2.3417331652251443, + -0.66998325046771345, + 2.0168537568735183, + -0.2747182541983797 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 690248852, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0328571981819259, + -1.4889374378129201, + -1.4072520325208746, + -1.1939638324982695, + -4.0688736374556971, + -2.8686536702492593 + ], + "velocities": [ + -2.2938490280754564, + -0.29145096260711351, + -1.8807450777087027, + 0.53809192233193959, + -1.6198206661746446, + 0.22063786430192045 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8362321109426727, + 0.36036485784114869, + 2.3254492848512367, + -0.6653243391685657, + 2.002829014090667, + -0.2728079258763963 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 792778116, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2538843496663601, + -1.517020618211455, + -1.5884739534522168, + -1.1421152045484182, + -4.2249538081112981, + -2.8473937886880138 + ], + "velocities": [ + -1.9978732541518718, + -0.25384498978038944, + -1.638072184630456, + 0.46866181982521771, + -1.4108148992647398, + 0.19216891894225252 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.143464863411384, + 0.39940111539580048, + 2.577351864246952, + -0.73739510771338246, + 2.2197839905007553, + -0.30235964332540521 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 912901599, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4749115011507952, + -1.5451037986099898, + -1.7696958743835598, + -1.0902665765985669, + -4.381033978766899, + -2.8261339071267679 + ], + "velocities": [ + -1.621857028418201, + -0.2060692688830463, + -1.3297734879718766, + 0.38045579961350834, + -1.1452878982260468, + 0.15600114330692694 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0590732932333586, + 0.38867852464841285, + 2.5081585440807497, + -0.71759850311129092, + 2.1601901777640915, + -0.29424229315053924 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 70360361, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6959386526352302, + -1.5731869790085244, + -1.9509177953149019, + -1.0384179486487155, + -4.5371141494225, + -2.804874025565522 + ], + "velocities": [ + -0.99301519884692468, + -0.12617013240415761, + -0.81418106617426633, + 0.23294185916877069, + -0.70122598358938837, + 0.095514896582691355 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0683269365025523, + 0.38985427039515941, + 2.5157456798583877, + -0.71976922604656013, + 2.1667247153127356, + -0.29513237094682626 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 449926092, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9169658041196658, + -1.6012701594070593, + -2.1321397162462445, + -0.98656932069886416, + -4.6931943200781019, + -2.7836141440042761 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.47235838563325849, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9169658041196658, + -1.6012701594070593, + -2.1321397162462445, + -0.98656932069886416, + -4.6931943200781019, + -2.7836141440042761 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.27354211375294551, + -1.8181961246459655, + -0.92077753982172106, + 2.018769594779068, + 1.6678993927949302, + -1.4823460939185846 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 115990278, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9137883095593691, + -1.5986333593112421, + -2.1380100124270522, + -0.97496985678821313, + -4.7125688185623762, + -2.7663950525810712 + ], + "velocities": [ + 0.013697245111751759, + -0.06831073038700565, + -0.09671691225255212, + 0.20109087112833143, + -0.083517768685426444, + 0.074226442278988392 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0780321512662151e-09, + -1.7934719271419088, + -1.325585510729749, + 3.1190574378718252, + 8.5479525842107379e-13, + -1.0780321512662151e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 200294500, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9137883095683312, + -1.612067608047997, + -2.1500506432707471, + -0.94949497720776166, + -4.7125688185623691, + -2.7663950525900334 + ], + "velocities": [ + -1.4253852248400927e-10, + -0.21963039929818937, + -0.18737459363102094, + 0.40700499292923564, + 1.1301160644981206e-13, + -1.4253852248400927e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.3855287238487413e-10, + -1.6299975167757239, + -0.86379366439458394, + 2.4937911811706881, + 6.6467196028360444e-13, + -8.3855287238487413e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 250424494, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.913788309577293, + -1.626099314169984, + -2.161677072583057, + -0.92383684177346326, + -4.712568818562362, + -2.7663950525989951 + ], + "velocities": [ + -1.9793305914908098e-10, + -0.31715670365824483, + -0.25166586813855507, + 0.56882257179683959, + 1.5692977634432409e-13, + -1.9793305914908098e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0358296118155016e-09, + 1.4530749815458333, + 1.4655096346565502, + -2.9185846162028337, + -8.2109190221808216e-13, + 1.0358296118155016e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 291706434, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9137883095862551, + -1.6407299229296548, + -2.1728812440532108, + -0.8980020615436366, + -4.7125688185623549, + -2.7663950526079573 + ], + "velocities": [ + -1.9260122356252151e-10, + -0.32004473228356856, + -0.23674979844585287, + 0.55679453072945906, + 1.5270235467014414e-13, + -1.9260122356252151e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0810626268583911e-09, + 1.7892335813013212, + 1.3349232103608488, + -3.124156791662335, + -8.57164144598052e-13, + 1.0810626268583911e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 345016386, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9137883095952168, + -1.6559596408156443, + -2.1836548370079831, + -0.87199875070287336, + -4.7125688185623478, + -2.766395052616919 + ], + "velocities": [ + -1.1763928534063371e-10, + -0.20215662145307176, + -0.13977596103847612, + 0.34193258249156722, + 9.3270660921063098e-14, + -1.1763928534063371e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0069354651044715e-09, + 1.7783071763585923, + 1.161122922067283, + -2.9394300984260502, + -7.9832354401028401e-13, + 1.0069354651044715e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 478436292, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.913788309604179, + -1.6717873494632471, + -2.1939893368957732, + -0.84583654216747883, + -4.7125688185623407, + -2.7663950526258811 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44493785965964833, + "y": -0.0089235497669439296, + "z": 0.091891781824041563 + }, + "27": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42483465181466634, + -0.075603796187560204, + 0.14189178182404155 + ], + "xaxis": [ + -0.90514155462351165, + 0.42510968767776858, + -0.00072078862548046027 + ], + "yaxis": [ + -0.42510955288901986, + -0.90514184161517486, + -0.00033852619928928187 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42483465181466634, + -0.075603796187560204, + 0.091891781824041563 + ], + "xaxis": [ + -0.90514155462351165, + 0.42510968767776858, + -0.00072078862548046016 + ], + "yaxis": [ + -0.42510955288901986, + -0.90514184161517486, + -0.00033852619928928209 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0470707823637908, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.059030335858993, + -0.84809688043596121, + 1.063355720906872, + -0.18977973901068679, + 0.010750421925150312, + 0.099680724296872414 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 375654460, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2885815889156591, + -1.0992127366433733, + 1.5670337703939754, + -2.0368800330754837, + -1.5708353427668624, + -3.2018059863257431 + ], + "velocities": [ + -0.97837163434357877, + -0.27124736922912035, + 0.34009374224140038, + -0.060697375650262925, + 0.0034383143395130046, + 0.031880949985905675 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0599087450413762, + -0.84834041384543202, + 1.0636610664990598, + -0.18983423479761025, + 0.010753508939088805, + 0.099709347897821474 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 530950955, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0735859522622833, + -1.1588189218503828, + 1.641768838407345, + -2.0502181864550764, + -1.5700797785676468, + -3.1948001974222935 + ], + "velocities": [ + -1.5943703243182554, + -0.44202912356352597, + 0.55422229251345212, + -0.098913430340512226, + 0.0056031329570128355, + 0.051953714503085446 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8208573357740137, + -0.78206491729774286, + 0.98056392272261328, + -0.17500368096848126, + 0.0099134049750099328, + 0.091919684179611119 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 650106985, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85859031560890731, + -1.2184251070573926, + 1.7165039064207148, + -2.063556339834669, + -1.5693242143684314, + -3.1877944085188434 + ], + "velocities": [ + -1.9600138160004632, + -0.54340147708754483, + 0.68132436604795998, + -0.1215976533797453, + 0.0068881224400154477, + 0.063868473130376649 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2865183932065465, + -0.63392281325427924, + 0.79482128237618876, + -0.14185373018996839, + 0.0080355651196078737, + 0.074507861815338639 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 751725781, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.64359467895553135, + -1.2780312922644024, + 1.7912389744340844, + -2.0768944932142617, + -1.568568650169216, + -3.1807886196153938 + ], + "velocities": [ + -2.2263822892199094, + -0.61725045744440921, + 0.77391724966432807, + -0.13812293550450278, + 0.0078242274014803971, + 0.072548283209119574 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.883414439629477, + 0.79940848006240373, + -1.0023095240945477, + 0.17888467250484522, + -0.010133250869655915, + -0.093958152824194799 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 843719951, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42859904230215529, + -1.3376374774714122, + 1.8659740424474545, + -2.0902326465938543, + -1.5678130859700004, + -3.1737828307119438 + ], + "velocities": [ + -2.195270968573845, + -0.60862503988091721, + 0.76310258058237845, + -0.13619281462819904, + 0.0077148921589778943, + 0.071534498239588962 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8064776424782365, + 0.77807823796251152, + -0.97556536845800346, + 0.17411157656247606, + -0.0098628700822135217, + -0.091451111434163596 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 948417897, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.21360340564877944, + -1.3972436626784217, + 1.9407091104608241, + -2.103570799973447, + -1.5670575217707849, + -3.1667770418084942 + ], + "velocities": [ + -1.8929549913183967, + -0.5248098405967625, + 0.65801391239633056, + -0.11743737876679272, + 0.0066524560425019041, + 0.061683312644569027 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.886705865123584, + 0.80032100703573605, + -1.0034536631662909, + 0.17908886984931899, + -0.010144818003292384, + -0.094065406313414202 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 72518858, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.0013922310045966224, + -1.4568498478854315, + 2.0154441784741937, + -2.1169089533530396, + -1.5663019575715695, + -3.1597712529050441 + ], + "velocities": [ + -1.5251275212802557, + -0.42283199283854422, + 0.53015266172915709, + -0.094617663497379573, + 0.005359791353233256, + 0.049697387497019359 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7672957717277802, + 0.76721531124892339, + -0.96194527913429984, + 0.17168076536135518, + -0.009725172316542189, + -0.090174341730428598 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 235662563, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.21638786765797247, + -1.516456033092441, + 2.0901792464875637, + -2.1302471067326323, + -1.5655463933723539, + -3.1527654640015945 + ], + "velocities": [ + -0.9450763353415812, + -0.26201645743142887, + 0.32851989602678477, + -0.058631762543779123, + 0.0033213038907444654, + 0.030795998496116597 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0470707823637908, + 0.84478116960701677, + -1.0591984363322344, + 0.18903777809764871, + -0.01070839218630818, + -0.099291013563813577 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 611317023, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43138350431134859, + -1.5760622182994508, + 2.1649143145009333, + -2.1435852601122249, + -1.5647908291731385, + -3.1457596750981445 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.07451008454290578, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43138350431134859, + -1.5760622182994508, + 2.1649143145009333, + -2.1435852601122249, + -1.5647908291731385, + -3.1457596750981445 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.051331613597109096, + 2.6397258721077153, + 1.8597922837003156, + -3.0198203019214276, + 0.49999032563931567, + -0.99470524342457423 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 125023484, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43196583308878989, + -1.5755540573591047, + 2.1710816312521173, + -2.1670470799779107, + -1.5704629389673985, + -3.1344753024657219 + ], + "velocities": [ + -0.0023288792389543787, + 0.12382686171275603, + 0.13370661574513407, + -0.32466623395877192, + -0.022684177511503728, + 0.045129010512043786 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2146298675881726e-08, + 1.9327392882011019, + 1.2622292153831898, + -3.1949685035771038, + 1.6008076181588901e-11, + -2.2146172892466902e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 181476931, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43196583327555821, + -1.5618026072065825, + 2.1833932229774975, + -2.1931101218557507, + -1.5704629389672635, + -3.1344753026524903 + ], + "velocities": [ + -3.8557629067411717e-09, + 0.29136184568529672, + 0.24928322191342817, + -0.54064506759744202, + 2.7870870790964188e-12, + -3.8557607809874519e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3099682611057537e-09, + 0.54336635505028408, + -0.095916462626376153, + -0.44744989242275829, + 1.6699131851171735e-12, + -2.3102205220355328e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 223893821, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43196583346232681, + -1.5474175770371892, + 2.1952904172100745, + -2.219392346257659, + -1.5704629389671285, + -3.1344753028392587 + ], + "velocities": [ + -4.451629086317895e-09, + 0.35053432792100986, + 0.27847014974530393, + -0.62900447766482914, + 3.2178028598624336e-12, + -4.4516291439409359e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1654449050656528e-08, + -1.4932833968637775, + -1.4987411668104029, + 2.9920245636668321, + -1.5652736655542915e-11, + 2.1654582866902643e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 265397005, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43196583364909497, + -1.5323961568899229, + 2.2067642969641859, + -2.2458876461589741, + -1.5704629389669935, + -3.1344753030260271 + ], + "velocities": [ + -3.9838237331273282e-09, + 0.32633246283548822, + 0.24072599956341539, + -0.56705846239757007, + 2.8796572977430764e-12, + -3.9838258928464372e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2077132453232979e-08, + -1.8003810751489433, + -1.3402418233260067, + 3.1406228984675391, + -1.5958163259625882e-11, + 2.207712148448868e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 319258709, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.4319658338358634, + -1.5167369024861386, + 2.2178056328517002, + -2.2725882364502104, + -1.5704629389668585, + -3.1344753032127954 + ], + "velocities": [ + -2.4303709958893128e-09, + 0.20614881596574891, + 0.14202958578283426, + -0.34817840174777293, + 1.7567620370110283e-12, + -2.4303704805774447e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0784775686775781e-08, + -1.8136406045927749, + -1.1795605292300242, + 2.993201133815905, + -1.5024007724798397e-11, + 2.0784775686775781e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 453317100, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43196583402263178, + -1.5004398435195274, + 2.2284049585675385, + -2.2994846211325979, + -1.5704629389667235, + -3.1344753033995638 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42483465181466634, + "y": -0.075603796187560204, + "z": 0.091891781824041563 + }, + "28": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38653454438925333, + -0.13399013014160999, + 0.14189178182404155 + ], + "xaxis": [ + -0.75431478997215617, + 0.65651263263653259, + -0.00060068120601286697 + ], + "yaxis": [ + -0.65651242447727665, + -0.75431502914143855, + -0.00052279854530228531 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38653454438925333, + -0.13399013014160999, + 0.091891781824041563 + ], + "xaxis": [ + -0.75431478997215617, + 0.65651263263653259, + -0.00060068120601286697 + ], + "yaxis": [ + -0.65651242447727665, + -0.75431502914143855, + -0.00052279854530228509 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0014213668189895, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0483564322337955, + -0.28992831666531321, + 0.35770917461109014, + -0.063133968586211564, + 0.0044047265808972351, + 3.1629353040866297 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 481384540, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7354729884497946, + -1.0724295245848974, + 1.5327951905066612, + -2.0306893173090925, + -1.5710922450073075, + -2.850733813922536 + ], + "velocities": [ + 0.82916554875754023, + -0.11736168959910015, + 0.14479907861473112, + -0.025556348926511291, + 0.0017830136762829382, + 1.2803421054203756 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9216251648596587, + -0.27199052886605074, + 0.33557780316788899, + -0.059227886750366818, + 0.0041322073194694506, + 2.9672453385115443 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 678473514, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9673687513305542, + -1.1052524977334315, + 1.5732916786327169, + -2.0378367549222935, + -1.5705935830485369, + -2.4926558526158784 + ], + "velocities": [ + 1.3449082295615891, + -0.19036090249238888, + 0.23486440404295178, + -0.041452450647901248, + 0.002892051858940297, + 2.0767175346519302 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0552847680172563, + -0.29090896666322441, + 0.35891908575524484, + -0.063347512150642937, + 0.004419625074306357, + 3.1736335778359273 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 831720885, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1992645142113139, + -1.1380754708819654, + 1.6137881667587723, + -2.0449841925354946, + -1.5700949210897666, + -2.1345778913092213 + ], + "velocities": [ + 1.6580442334249628, + -0.23468277590208803, + 0.28954806149646983, + -0.051103856194331124, + 0.003565410488301681, + 2.5602412544568773 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8836439374426404, + -0.26661459274644606, + 0.32894505444493044, + -0.058057238136251604, + 0.0040505335837063335, + 2.9085972618391867 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 960346317, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4311602770920731, + -1.1708984440304993, + 1.654284654884828, + -2.052131630148696, + -1.569596259130996, + -1.7764999300025639 + ], + "velocities": [ + 1.9172013833791974, + -0.27136437831054816, + 0.33480526807725874, + -0.059091537979900299, + 0.0041226945473983988, + 2.9604144303737332 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.36128341258589031, + -0.051136750421840196, + 0.063091749698985275, + -0.011135393851341428, + 0.00077689342813935076, + 0.55786973520168071 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 74494857, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6630560399728331, + -1.2037214171790334, + 1.6947811430108837, + -2.0592790677618975, + -1.5690975971722256, + -1.4184219686959063 + ], + "velocities": [ + 2.0519431530775289, + -0.29043598804525639, + 0.35833553188582168, + -0.063244517667183031, + 0.0044124393619275589, + 3.1684736790510732 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.9608103020866509e-15, + -2.3811889450015926e-14, + 9.9216206041733025e-16, + -1.7804658224832872e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 186394220, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8949518028535923, + -1.2365443903275672, + 1.7352776311369393, + -2.0664265053750985, + -1.5685989352134551, + -1.0603440073892494 + ], + "velocities": [ + 2.0723599925294645, + -0.29332582684517111, + 0.36190097131500981, + -0.063873800774507633, + 0.0044563431445000679, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3811889450015917e-14, + -2.1331484298972591e-14, + 2.1827565329181258e-14, + -3.6089894947680373e-14, + 1.7781404426541835e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 298293583, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.126847565734352, + -1.2693673634761011, + 1.7757741192629948, + -2.0735739429882996, + -1.5681002732546847, + -0.7022660460825918 + ], + "velocities": [ + 2.0723599925294658, + -0.29332582684517206, + 0.3619009713150097, + -0.063873800774509604, + 0.0044563431445000662, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9529723625039795e-14, + 2.1331484298972591e-14, + -3.9686482416693194e-15, + 7.4412154531299739e-16, + -1.7781404426541835e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 410192946, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3587433286151116, + -1.3021903366246352, + 1.8162706073890504, + -2.080721380601501, + -1.5676016112959141, + -0.34418808477593466 + ], + "velocities": [ + 2.0723599925294636, + -0.29332582684517206, + 0.3619009713150107, + -0.063873800774511574, + 0.0044563431445000662, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.1435668350047706e-14, + 0.0, + 0.0, + 3.5345773402367352e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 522092309, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5906390914958708, + -1.3350133097731691, + 1.8567670955151061, + -2.0878688182147025, + -1.5671029493371438, + 0.013889876530722933 + ], + "velocities": [ + 2.0723599925294645, + -0.29332582684517083, + 0.36190097131501048, + -0.063873800774509548, + 0.0044563431444990713, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.1435668350047706e-14, + -1.7858917087511926e-14, + 0.0, + 0.0, + 1.7727145563862749e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 633991672, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8225348543766309, + -1.367836282921703, + 1.8972635836411618, + -2.0950162558279035, + -1.5666042873783734, + 0.37196783783738052 + ], + "velocities": [ + 2.0723599925294645, + -0.29332582684517183, + 0.36190097131501048, + -0.063873800774507578, + 0.0044563431445000627, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.1435668350047845e-14, + 7.9372964833386483e-15, + -5.4568913322953209e-15, + -3.7578138038306413e-14, + -1.7579871508019586e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 745891035, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0544306172573901, + -1.4006592560702371, + 1.9377600717672174, + -2.1021636934411045, + -1.5661056254196029, + 0.73004579914403811 + ], + "velocities": [ + 2.0723599925294645, + -0.29332582684517239, + 0.3619009713150102, + -0.063873800774509687, + 0.0044563431445000714, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.984324120834661e-14, + 1.2898106785425297e-14, + -1.6370673996885952e-14, + 2.852465923699825e-15, + 1.7533363911437513e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 857790398, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.2863263801381493, + -1.433482229218771, + 1.9782565598932729, + -2.109311131054306, + -1.5656069634608325, + 1.0881237604506944 + ], + "velocities": [ + 2.0723599925294671, + -0.29332582684517122, + 0.36190097131500898, + -0.06387380077451163, + 0.0044563431445000688, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.53653739064957173, + 0.075942536196853566, + -0.093696753229522728, + 0.016537031462696274, + -0.0011537545268407443, + -0.82848523242475747 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 969689761, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.5182221430189093, + -1.4663052023673049, + 2.0187530480193283, + -2.1164585686675075, + -1.5651083015020619, + 1.4462017217573524 + ], + "velocities": [ + 2.0418860921189852, + -0.28901249225691289, + 0.35657924429940324, + -0.062934541258470866, + 0.0043908129481683763, + 3.1529442366842311 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.846528710364244, + 0.26136123198358263, + -0.32246353734437694, + 0.056913281184442194, + -0.0039707220700974785, + -2.8512864050967446 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 84979786, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.7501179058996685, + -1.499128175515839, + 2.0592495361453844, + -2.1236060062807085, + -1.5646096395432916, + 1.8042796830640095 + ], + "velocities": [ + 1.8982191914645514, + -0.26867760228767146, + 0.33149036443292962, + -0.058506473247422405, + 0.0040818757895033642, + 2.9311033964096378 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8152547822745468, + 0.25693465993589848, + -0.31700209966293763, + 0.055949363400134247, + -0.0039034715173494523, + -2.8029952924291432 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 214891473, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.9820136687804286, + -1.5319511486643729, + 2.0997460242714396, + -2.1307534438939095, + -1.564110977584521, + 2.1623576443706676 + ], + "velocities": [ + 1.6572655631722562, + -0.23457256141399774, + 0.28941208052704015, + -0.05107985619974989, + 0.0035637360582533258, + 2.5590388838177751 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0383625026282388, + 0.28851375661031853, + -0.3559639117974181, + 0.062825937997478501, + -0.0043832359229685576, + -3.1475033449418932 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 366506389, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.2139094316611878, + -1.5647741218129068, + 2.1402425123974953, + -2.137900881507111, + -1.5636123156257506, + 2.5204356056773238 + ], + "velocities": [ + 1.3515514035637555, + -0.19130119014226002, + 0.23602451673218902, + -0.041657205021784119, + 0.0029063371486722908, + 2.0869754806089884 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0380545257999092, + 0.28847016497656647, + -0.35591012909860403, + 0.062816445606850999, + -0.0043825736584911998, + -3.1470277876767248 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 564100274, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.445805194541947, + -1.5975970949614409, + 2.180739000523551, + -2.1450483191203125, + -1.5631136536669801, + 2.8785135669839819 + ], + "velocities": [ + 0.82857081914564845, + -0.11727751042377049, + 0.14469521962064269, + -0.025538018307854203, + 0.0017817347868822843, + 1.2794237636434114 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0165489098299765, + 0.28542621865018203, + -0.35215455413271612, + 0.062153604481292243, + -0.0043363286023000679, + -3.1138202506889807 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 43675814, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6777009574227071, + -1.6304200681099748, + 2.2212354886496066, + -2.1521957567335135, + -1.5626149917082097, + 3.2365915282906395 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.26873402719154382, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6777009574227071, + -1.6304200681099748, + 2.2212354886496066, + -2.1521957567335135, + -1.5626149917082097, + 3.2365915282906395 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.15692243326816629, + 2.128867521393782, + 1.4840945705932092, + -2.5934629825075075, + 0.78239192175565386, + -1.7464941751685625 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 107411016, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.679251166629645, + -1.6314294896410442, + 2.2245490128395344, + -2.1645713129523614, + -1.5703441047916606, + 3.2538448389814643 + ], + "velocities": [ + 0.0072162482810673055, + 0.088500546526811025, + 0.099096722858482769, + -0.23448004714251044, + -0.03597914529339187, + 0.080314437394093663 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.1786148568857473e-09, + 1.7944154898780156, + 1.2802848433252301, + -3.0747003332000609, + 4.698046372307425e-12, + -7.1787984098973529e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 183944360, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6792511665645025, + -1.6171637630947147, + 2.2373564416245082, + -2.1916444682836351, + -1.570344104791618, + 3.2538448389163226 + ], + "velocities": [ + -1.0780992390123364e-09, + 0.24312469169837025, + 0.20781735694877046, + -0.45094204864665416, + 7.0556232919655524e-13, + -1.0780934364537884e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.9693981392191062e-09, + 1.5028242510437091, + 0.72920783882708229, + -2.2320320898684423, + 3.252520402570279e-12, + -4.9693981392191062e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 233860775, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6792511664993599, + -1.6021962987671206, + 2.2497502026432921, + -2.2190056936299838, + -1.5703441047915754, + 3.25384483885118 + ], + "velocities": [ + -1.4197846257755125e-09, + 0.33455331180448739, + 0.26512893400234505, + -0.59968224580619101, + 9.2918526645631752e-13, + -1.4197846257755125e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.354880328070333e-09, + -1.5077347736939619, + -1.5116946188644991, + 3.0194293925550437, + -4.8136830407442317e-12, + 7.354880328070333e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 276311164, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6792511664342182, + -1.5865212347078852, + 2.2617198361055686, + -2.2466503911514661, + -1.5703441047915327, + 3.2538448387860384 + ], + "velocities": [ + -1.3544951841834232e-09, + 0.33234799823273969, + 0.24496256785688381, + -0.57731056608901143, + 8.8645657431489784e-13, + -1.3544951841834232e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.260804989300482e-09, + -1.7731163477669225, + -1.3189905964073372, + 3.0921069441710425, + -4.7518357259819915e-12, + 7.2607386312526163e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 331777418, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6792511663690757, + -1.5701342891554446, + 2.2732544626002933, + -2.2745719631986021, + -1.5703441047914901, + 3.2538448387208958 + ], + "velocities": [ + -8.228855073812078e-10, + 0.20958557359550078, + 0.14409199102300463, + -0.35367756461813277, + 5.3853763572068573e-13, + -8.2288872043972789e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.8201139809995289e-09, + -1.7904316363891646, + -1.1609028449417833, + 2.9513344813278097, + -4.463425380235293e-12, + 6.8202069690282831e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 469991275, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6792511663039331, + -1.5530329185523453, + 2.2843428668610559, + -2.3027617380624341, + -1.5703441047914475, + 3.2538448386557524 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.38653454438925333, + "y": -0.13399013014160999, + "z": 0.091891781824041563 + }, + "29": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33426879497277534, + -0.180962835632137, + 0.14189178182404155 + ], + "xaxis": [ + -0.57921253000896744, + 0.81517644245642695, + -0.00046124255508286314 + ], + "yaxis": [ + -0.81517618398992797, + -0.57921271365887994, + -0.00064914677508856979 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33426879497277534, + -0.180962835632137, + 0.091891781824041563 + ], + "xaxis": [ + -0.57921253000896744, + 0.81517644245642695, + -0.00046124255508286314 + ], + "yaxis": [ + -0.81517618398992797, + -0.57921271365887994, + -0.00064914677508856968 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1945468374641166, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.170824170739821, + -0.17792949965919974, + -1.6896689291779716, + 0.45353050226983532, + 1.4073659082629471, + 3.175139926595548 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 383926261, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3418398110335705, + -1.0528632018976762, + 1.3664097945134077, + -1.9897515562607619, + -1.4667350064394913, + -2.9722477414222208 + ], + "velocities": [ + -0.71640572981333772, + -0.05871950145793095, + -0.55761701876487157, + 0.14967211755363036, + 0.46445263242112977, + 1.0478455450387443 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0561297319841056, + -0.16852868112373243, + -1.6003960934839512, + 0.42956843886664797, + 1.3330084153126411, + 3.0073829535710233 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 543818617, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1801023964981061, + -1.0661198523589892, + 1.2405208866462099, + -1.9559612328256331, + -1.3618791059129047, + -2.7356837076152485 + ], + "velocities": [ + -1.1575108991756757, + -0.094874259240537037, + -0.90095283988635866, + 0.24182819896788088, + 0.75042529924819013, + 1.6930247603561832 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1623527937584992, + -0.17723515145355592, + -1.6830752019357467, + 0.45176065471193766, + 1.4018738341833028, + 3.1627493296742242 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 667899626, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0183649819626415, + -1.079376502820302, + 1.114631978779012, + -1.9221709093905042, + -1.257023205386318, + -2.4991196738082762 + ], + "velocities": [ + -1.4269523870614838, + -0.11695876971040642, + -1.1106736069796121, + 0.29812015249424073, + 0.92510677250306728, + 2.087121360900285 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9712185727537117, + -0.1615690202350657, + -1.5343051822872324, + 0.41182872451615848, + 1.2779597050842002, + 2.8831882741862218 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 772217920, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85662756742717694, + -1.0926331532816147, + 0.98874307091181413, + -1.8883805859553751, + -1.1521673048597314, + -2.2625556400013043 + ], + "velocities": [ + -1.6475172380434739, + -0.13503715399717164, + -1.2823510650604422, + 0.34420075588776433, + 1.0681010582758104, + 2.4097289097732286 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7864498673651201, + -0.14642463233589334, + -1.3904897849890061, + 0.37322668346271431, + 1.1581724001597502, + 2.6129376930602168 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 864924724, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69489015289171241, + -1.1058898037429277, + 0.86285416304461626, + -1.8545902625202459, + -1.0473114043331448, + -2.0259916061943319 + ], + "velocities": [ + -1.8239676241848644, + -0.14949973891951912, + -1.4196918681633277, + 0.38106492634019484, + 1.1824955179019876, + 2.6678127627412911 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1922841291160426, + -0.17968844435316711, + -1.7063723662312884, + 0.45801393571979548, + 1.4212786029060842, + 3.2065281760824753 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 949901054, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.53315273835624777, + -1.1191464542042404, + 0.73696525517741829, + -1.8207999390851171, + -0.94245550380655818, + -1.7894275723873596 + ], + "velocities": [ + -1.9924798002998232, + -0.16331167614905479, + -1.5508539364724236, + 0.41627063894562999, + 1.2917435606444687, + 2.914285851493458 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4006322031530023, + -0.11480146134016318, + -1.0901871956156857, + 0.29262131643525452, + 0.90804314752995585, + 2.0486243384653831 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 27598297, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.37141532382078335, + -1.1324031046655534, + 0.61107634731022042, + -1.7870096156499882, + -0.83759960327997163, + -1.5528635385803875 + ], + "velocities": [ + -2.1347286637881853, + -0.17497096640790036, + -1.6615738593878053, + 0.44598939709047181, + 1.3839648486055482, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8021574733711487e-14, + -2.2526968417139359e-15, + -4.2050341045326802e-14, + 5.2562926306658503e-15, + 1.8021574733711487e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 101524558, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20967790928531871, + -1.1456597551268661, + 0.48518743944302267, + -1.7532192922148591, + -0.73274370275338507, + -1.3162995047734152 + ], + "velocities": [ + -2.1878208541869757, + -0.17932261634841345, + -1.7028983598738414, + 0.45708146438119401, + 1.4183850194187366, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8021574733711487e-14, + -3.8295846309136914e-14, + 2.1025170522663401e-14, + -4.6555734728754675e-14, + 3.0035957889519148e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 175450818, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.04794049474985429, + -1.1589164055881789, + 0.35929853157582481, + -1.7194289687797299, + -0.62788780222679852, + -1.0797354709664431 + ], + "velocities": [ + -2.1878208541869757, + -0.17932261634841495, + -1.7028983598738421, + 0.45708146438119251, + 1.4183850194187375, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2014383155807665e-14, + 3.6043149467422993e-14, + -4.5053936834278744e-14, + 1.2014383155807665e-14, + 1.5017978944759583e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 249377079, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11379691978561035, + -1.1721730560494918, + 0.23340962370862695, + -1.6856386453446011, + -0.52303190170021185, + -0.84317143715947074 + ], + "velocities": [ + -2.1878208541869766, + -0.17932261634841504, + -1.702898359873843, + 0.45708146438119124, + 1.418385019418738, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0035957889519134e-14, + -3.1537755783995089e-14, + 4.8057532623230617e-14, + 1.7270675786473503e-14, + -3.0035957889519134e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 323303339, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27553433432107477, + -1.1854297065108046, + 0.10752071584142908, + -1.6518483219094722, + -0.4181760011736253, + -0.60660740335249885 + ], + "velocities": [ + -2.1878208541869757, + -0.17932261634841487, + -1.702898359873843, + 0.45708146438119235, + 1.4183850194187375, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8021574733711465e-14, + 3.604314946742293e-14, + -3.0035957889519108e-15, + 1.2014383155807643e-14, + -6.0071915779038217e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 397229600, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43727174885653963, + -1.1986863569721176, + -0.018368192025769003, + -1.6180579984743431, + -0.31332010064703852, + -0.37004336954552608 + ], + "velocities": [ + -2.1878208541869757, + -0.1793226163484147, + -1.7028983598738412, + 0.4570814643811934, + 1.4183850194187362, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0035957889519165e-14, + -4.5053936834278741e-15, + -4.5053936834278744e-14, + -2.9285058942281181e-14, + 3.6043149467422993e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 471155861, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.59900916339200427, + -1.2119430074334303, + -0.14425709989296687, + -1.584267675039214, + -0.20846420012045197, + -0.13347933573855375 + ], + "velocities": [ + -2.1878208541869748, + -0.17932261634841354, + -1.702898359873843, + 0.45708146438119279, + 1.4183850194187373, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0035957889519165e-14, + -3.6043149467422993e-14, + 4.5053936834278744e-14, + -1.2014383155807665e-14, + -3.6043149467422993e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 545082121, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.76074657792746847, + -1.2251996578947431, + -0.27014600776016473, + -1.5504773516040851, + -0.10360829959386542, + 0.10308469806841813 + ], + "velocities": [ + -2.1878208541869748, + -0.17932261634841504, + -1.702898359873843, + 0.45708146438119124, + 1.4183850194187373, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.0548543150850834e-14, + 3.9046745256374872e-14, + 4.1299442098088812e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 619008382, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92248399246293311, + -1.238456308356056, + -0.39603491562736259, + -1.5166870281689562, + 0.0012476009327211379, + 0.33964873187539046 + ], + "velocities": [ + -2.1878208541869761, + -0.17932261634841487, + -1.7028983598738399, + 0.45708146438119235, + 1.418385019418736, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.4100682090653579e-14, + 0.0, + -8.1097086301701668e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 692934642, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0842214069983978, + -1.2517129588173688, + -0.52192382349456024, + -1.4828967047338271, + 0.10610350145930769, + 0.57621276568236279 + ], + "velocities": [ + -2.187820854186973, + -0.17932261634841337, + -1.7028983598738416, + 0.45708146438119385, + 1.418385019418736, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3816540629178815e-13, + -4.5053936834278744e-14, + 3.904674525637491e-14, + -2.9285058942281181e-14, + 3.6043149467422993e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 766860903, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2459588215338619, + -1.2649696092786815, + -0.64781273136175832, + -1.449106381298698, + 0.21095940198589425, + 0.81277679948933512 + ], + "velocities": [ + -2.1878208541869748, + -0.17932261634841504, + -1.702898359873843, + 0.45708146438119279, + 1.4183850194187373, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.054854315085091e-14, + -8.109708630170182e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 840787163, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4076962360693266, + -1.2782262597399945, + -0.77370163922895596, + -1.4153160578635691, + 0.3158153025124808, + 1.049340833296307 + ], + "velocities": [ + -2.1878208541869801, + -0.1793226163484152, + -1.7028983598738447, + 0.45708146438119168, + 1.4183850194187386, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1413663998017271e-13, + 9.0107873668557404e-15, + 1.6820136418130716e-13, + 1.7270675786473503e-14, + -3.0035957889519134e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 914713424, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5694336506047912, + -1.2914829102013072, + -0.89959054709615405, + -1.3815257344284402, + 0.42067120303906735, + 1.2859048671032789 + ], + "velocities": [ + -2.1878208541869757, + -0.17932261634841337, + -1.7028983598738414, + 0.45708146438119235, + 1.4183850194187375, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0035957889519134e-14, + -4.9559330517706573e-14, + -1.6820136418130716e-13, + 2.3277867364377331e-14, + -9.0107873668557404e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 988639685, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7311710651402559, + -1.30473956066262, + -1.0254794549633517, + -1.3477354109933111, + 0.52552710356565413, + 1.5224689009102517 + ], + "velocities": [ + -2.187820854186973, + -0.17932261634841487, + -1.7028983598738414, + 0.45708146438119379, + 1.4183850194187362, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2615102313598061e-13, + 4.054854315085091e-14, + 8.109708630170182e-14, + -4.054854315085091e-14, + 8.109708630170182e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 62565945, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8929084796757201, + -1.3179962111239329, + -1.1513683628305498, + -1.313945087558182, + 0.63038300409224046, + 1.7590329347172236 + ], + "velocities": [ + -2.1878208541869784, + -0.1793226163484152, + -1.7028983598738447, + 0.45708146438119318, + 1.4183850194187388, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8622293891501829e-13, + 1.8021574733711446e-14, + 9.010787366855723e-15, + -4.6555734728754574e-14, + -1.4417259786969157e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 136492206, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0546458942111849, + -1.3312528615852457, + -1.2772572706977474, + -1.2801547641230531, + 0.73523890461882724, + 1.9955969685241954 + ], + "velocities": [ + -2.1878208541869766, + -0.17932261634841304, + -1.7028983598738412, + 0.45708146438118996, + 1.4183850194187364, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.663966496616468, + 0.13638540153697593, + 1.2951544056043296, + -0.34763734951104225, + -1.0787652686912192, + -2.4337882962321564 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 210418466, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.21638330874665, + -1.3445095120465584, + -1.4031461785649459, + -1.2463644406879242, + 0.84009480514541401, + 2.2321610023311691 + ], + "velocities": [ + -2.1244235327317984, + -0.17412631632637821, + -1.6535528229575984, + 0.44383644001225403, + 1.3772839343590511, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1490874709499561, + 0.17614787212348332, + 1.6727500894336038, + -0.44898925175942861, + -1.3932737995354889, + -3.1433469033256261 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 288892681, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3781207232821142, + -1.3577661625078714, + -1.5290350864321436, + -1.2125741172527951, + 0.94495070567200079, + 2.468725036138141 + ], + "velocities": [ + -1.9727522775245765, + -0.16169472886045055, + -1.5354989470024012, + 0.41214914747092413, + 1.2789540204400696, + 2.885431536132137 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8894737718575338, + 0.15486888683905978, + 1.4706788176753354, + -0.39475052854432591, + -1.2249637750085833, + -2.7636248454131858 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 374718775, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5398581378175784, + -1.3710228129691842, + -1.6549239942993417, + -1.178783793817666, + 1.0498066061985871, + 2.7052890699451129 + ], + "velocities": [ + -1.79936970177127, + -0.14748359404389907, + -1.4005459853300728, + 0.37592590667319448, + 1.1665484513981197, + 2.6318347933509436 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8759940314819563, + 0.15376403298080094, + 1.4601868124758577, + -0.39193432928435912, + -1.2162247314173977, + -2.743908802795024 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 469066957, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7015955523530435, + -1.3842794634304969, + -1.7808129021665393, + -1.1449934703825371, + 1.1546625067251739, + 2.9418531037520856 + ], + "velocities": [ + -1.6203158432814679, + -0.13280761803324001, + -1.2611787600072859, + 0.3385178164792475, + 1.050466135944812, + 2.3699429907973508 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0080475083267117, + 0.16458766825262422, + 1.562971118926064, + -0.41952305825059216, + -1.3018362534761034, + -2.9370558445624559 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 575029042, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.8633329668885077, + -1.3975361138918099, + -1.9067018100337374, + -1.1112031469474082, + 1.2595184072517602, + 3.1784171375590575 + ], + "velocities": [ + -1.4104560441083076, + -0.11560666294495525, + -1.097833618136324, + 0.29467372196061603, + 0.91441203683712002, + 2.0629931068208283 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0248646648891522, + 0.16596607019467205, + 1.5760608142148984, + -0.42303651344672299, + -1.3127389756491339, + -2.9616533342960691 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 699967037, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.0250703814239719, + -1.4107927643531226, + -2.032590717900935, + -1.0774128235122791, + 1.364374307778347, + 3.4149811713660294 + ], + "velocities": [ + -1.1498403545536298, + -0.094245550483231702, + -0.89498244343857625, + 0.24022566201348039, + 0.74545241238596216, + 1.6818054949654295 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1432739373993197, + 0.17567137147919995, + 1.6682251043419905, + -0.4477746831975325, + -1.3895048305714595, + -3.1348437814514454 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 860877493, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.186807795959437, + -1.4240494148144356, + -2.1584796257681331, + -1.04362250007715, + 1.4692302083049333, + 3.6515452051730022 + ], + "velocities": [ + -0.71320566407719332, + -0.058457211170682567, + -0.55512623590066101, + 0.14900355699484705, + 0.46237799943981395, + 1.0431649925446629 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1945468374641197, + 0.17987390505034931, + 1.7081335535457829, + -0.45848666274550703, + -1.4227455381983722, + -3.2098377097218198 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 244803754, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3485452104949016, + -1.4373060652757483, + -2.2843685336353308, + -1.0098321766420211, + 1.5740861088315199, + 3.8881092389799736 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.2550920493559109, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3485452104949016, + -1.4373060652757483, + -2.2843685336353308, + -1.0098321766420211, + 1.5740861088315199, + 3.8881092389799736 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.15605675565054591, + -2.1615460307347716, + -1.1677426984189183, + 1.7340807721113469, + 0.25075007569218166, + -0.12115610982052595 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 123537220, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3465986738903353, + -1.4337993106792666, + -2.2911394698146879, + -0.98667054854243785, + 1.5709584374843977, + 3.88962045069117 + ], + "velocities": [ + 0.0078783399712406225, + -0.080736884012078569, + -0.11376098956186761, + 0.27503006671277735, + -0.012658821963888067, + 0.0061164220104801548 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0950268242142233e-08, + -1.7650974682979463, + -1.2639038786283878, + 3.0290013469245376, + 8.5476508840691056e-12, + -1.0950268242142233e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 201935284, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3465986739972915, + -1.4486839661937487, + -2.3046798428039921, + -0.95824552003866903, + 1.5709584374844812, + 3.8896204505842138 + ], + "velocities": [ + -1.719955955090007e-09, + -0.24719358331253566, + -0.21376701416255972, + 0.46096059747481327, + 1.3425774341769831e-12, + -1.719955955090007e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.0003436777804126e-09, + -1.5694979261206636, + -0.7782052062414444, + 2.3477031323609041, + 6.2449743876647013e-12, + -8.0003436777804126e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 253464541, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3465986741042477, + -1.4643760252189486, + -2.3178105755259235, + -0.92942272829155526, + 1.5709584374845647, + 3.8896204504772576 + ], + "velocities": [ + -2.2658062876221166e-09, + -0.34183363711134973, + -0.27331861110983663, + 0.61515224822081738, + 1.7686617979810911e-12, + -2.2658062876221166e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1551309578182077e-08, + 1.4941721868302298, + 1.5243294606912103, + -3.0185016475195696, + -9.0168166975230004e-12, + 1.1551309578182077e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 297013990, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3465986742112039, + -1.480887367452733, + -2.3305190144777055, + -0.90020294710600623, + 1.5709584374846481, + 3.8896204503703014 + ], + "velocities": [ + -2.1654754814862818e-09, + -0.3415641284297668, + -0.25348192492535243, + 0.59504605335476857, + 1.6903447481333185e-12, + -2.1654754814862818e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1278181180993234e-08, + 1.7670647588132877, + 1.3271144352888515, + -3.0941791941003047, + -8.8036158759476182e-12, + 1.1278181180993234e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 354057944, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3465986743181602, + -1.4982280542466284, + -2.3427918816297355, + -0.87058939316009809, + 1.5709584374847316, + 3.8896204502633451 + ], + "velocities": [ + -1.3222172552077281e-09, + -0.2173814696745868, + -0.15010353504784918, + 0.36748500472222229, + 1.0321072726704958e-12, + -1.3222172552077281e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1071102282703053e-08, + 1.8816177098418381, + 1.2238559859863893, + -3.1054736958264466, + -8.6419725180954225e-12, + 1.1071102282703053e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 493060438, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3465986744251164, + -1.5164060744390935, + -2.3546153666604965, + -0.84058788793688921, + 1.5709584374848151, + 3.8896204501563889 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.33426879497277534, + "y": -0.180962835632137, + "z": 0.091891781824041563 + }, + "3": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40202401222504736, + 0.19519984012075001, + 0.10189178182404157 + ], + "xaxis": [ + -0.86864642433481254, + -0.49543204478989677, + -0.00069172656920522563 + ], + "yaxis": [ + 0.4954318877041673, + -0.86864669975502806, + 0.00039452577061939285 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40202401222504736, + 0.19519984012075001, + 0.051891781824041562 + ], + "xaxis": [ + -0.86864642433481254, + -0.49543204478989677, + -0.00069172656920522563 + ], + "yaxis": [ + 0.4954318877041673, + -0.86864669975502806, + 0.0003945257706193929 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0942835984715931, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0412986872918477, + -0.17257937038329557, + 0.27627273713152917, + -0.097042318808143999, + 2.522527478769113, + 2.4139553022824294 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 397673498, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.258905706108985, + -1.0534905073120484, + 1.5145247568821945, + -2.0313489036143006, + -1.3686543674906502, + -3.0146098330832158 + ], + "velocities": [ + -1.0439432082918039, + -0.059238858174545765, + 0.094832200720630117, + -0.033310332214314425, + 0.86587201717282714, + 0.82860399521683281 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.871109779774093, + -0.16292195178498203, + 0.26081271161486874, + -0.091611899793411986, + 2.3813686384391204, + 2.2788720835874861 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 563819553, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0142341866489351, + -1.0673744631877335, + 1.5367508113837831, + -2.0391559275327102, + -1.1657178280152227, + -2.820407890937239 + ], + "velocities": [ + -1.6844939178348732, + -0.095587092767034754, + 0.15302007241388732, + -0.053749142262140628, + 1.3971604345581823, + 1.3370252128181694 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9374705637540175, + -0.16668761359430548, + 0.26684095063817215, + -0.093729351914194889, + 2.4364098949265318, + 2.3315443077992413 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 692841303, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.76956266718888489, + -1.0812584190634185, + 1.558976865885372, + -2.0469629514511198, + -0.96278128853979517, + -2.6262059487912617 + ], + "velocities": [ + -2.0711123675875349, + -0.1175258681052416, + 0.18814064040842021, + -0.066085434983003469, + 1.7178312280502315, + 1.6438940056271074 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7704094743428831, + -0.1572076839357332, + 0.25166505731584327, + -0.088398735895842392, + 2.2978453433967609, + 2.1989437170468915 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 801784364, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.52489114772883483, + -1.0951423749391036, + 1.5812029203869606, + -2.0547699753695294, + -0.75984474906436761, + -2.4320040066452844 + ], + "velocities": [ + -2.3882820376270346, + -0.1355237524264406, + 0.21695245466496232, + -0.076205743246331045, + 1.9808995059046515, + 1.8956395543015065 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5620023800156542, + -0.14538156331412125, + 0.23273327707733332, + -0.081748843935512669, + 2.124987404645883, + 2.0335257617219464 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 898465799, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28021962826878477, + -1.1090263308147885, + 1.6034289748885495, + -2.062576999287939, + -0.55690820958893994, + -2.2378020644993075 + ], + "velocities": [ + -2.6492426192253538, + -0.15033203582697657, + 0.24065821380754959, + -0.084532521560358731, + 2.1973465917196577, + 2.1027705349803263 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6974364709390168, + -0.15306680982985574, + 0.24503616174846868, + -0.086070299859521679, + 2.2373197504769751, + 2.141023207882085 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 986865486, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.035548108808734602, + -1.1229102866904737, + 1.6256550293901384, + -2.0703840232063486, + -0.35397167011351249, + -2.0436001223533302 + ], + "velocities": [ + -2.8824520518347052, + -0.1635655722814327, + 0.26184304795129659, + -0.091973811099892624, + 2.3907761961591607, + 2.2878747303498757 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9193261345247816, + -0.10891271457176048, + 0.17435232088484284, + -0.061242211895009238, + 1.5919360157846378, + 1.5234174527497912 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 68501113, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.20912341065131557, + -1.1367942425661586, + 1.647881083891727, + -2.0781910471247582, + -0.15103513063808482, + -1.8493981802073531 + ], + "velocities": [ + -3.0735584579806292, + -0.17440996036691919, + 0.27920322705173195, + -0.098071669514449317, + 2.5492845212001227, + 2.439560694094161 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.7173839199380341e-15, + -3.0373602074670805e-14, + -1.0720094849883814e-14, + -6.9859284771742858e-14, + -5.7173839199380335e-14, + -5.7173839199380335e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 146174611, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.45379493011136551, + -1.1506781984418435, + 1.6701071383933159, + -2.0859980710431674, + 0.051901408837342622, + -1.6551962380613761 + ], + "velocities": [ + -3.1500000000000004, + -0.17874765769601048, + 0.28614720599483778, + -0.10051078031991745, + 2.6126870048394535, + 2.5002342696437614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.6085564134717304e-14, + -2.0010843719783137e-14, + -6.0747204149341666e-15, + 1.5436936583832706e-13, + 1.1434767839876077e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 223848110, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.69846644957141613, + -1.1645621543175286, + 1.6923331928949048, + -2.093805094961577, + 0.25483794831277029, + -1.4609942959153988 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601064, + 0.28614720599483656, + -0.1005107803199204, + 2.612687004839457, + 2.5002342696437636 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.717383919938042e-15, + -2.8229583104694081e-14, + 2.3584208669744425e-14, + 4.8240426824477231e-15, + -1.2578244623863693e-13, + -1.2006506231869888e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 301521608, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.94313796903146563, + -1.1784461101932135, + 1.7145592473964935, + -2.1016121188799866, + 0.45777448778819796, + -1.2667923537694217 + ], + "velocities": [ + -3.1499999999999995, + -0.17874765769601075, + 0.28614720599483667, + -0.10051078031992045, + 2.6126870048394584, + 2.5002342696437632 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1434767839876071e-14, + 3.2517621044647579e-14, + -3.0016265579674688e-14, + -2.5013554649728909e-15, + -5.7173839199380357e-15, + 9.7195526638946614e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 379195106, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.187809488491516, + -1.1923300660688987, + 1.7367853018980823, + -2.1094191427983962, + 0.66071102726362563, + -1.0725904116234446 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601059, + 0.28614720599483645, + -0.10051078031992036, + 2.6126870048394535, + 2.5002342696437623 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1434767839876071e-14, + -3.2517621044647579e-14, + 3.0016265579674688e-14, + 2.5013554649728909e-15, + 5.7173839199380357e-15, + -6.2891223119318391e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 456868604, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.432481007951566, + -1.2062140219445836, + 1.759011356399671, + -2.1172261667168057, + 0.86364756673905285, + -0.87838846947746729 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601059, + 0.28614720599483645, + -0.10051078031992036, + 2.6126870048394535, + 2.5002342696437641 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1434767839876071e-14, + 3.2517621044647579e-14, + -3.0016265579674688e-14, + -2.5013554649728909e-15, + 6.2891223119318391e-14, + -1.1434767839876071e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 534542102, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6771525274116164, + -1.2200979778202687, + 1.7812374109012599, + -2.1250331906352153, + 1.0665841062144805, + -0.68418652733148999 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601059, + 0.28614720599483645, + -0.10051078031992036, + 2.6126870048394562, + 2.5002342696437609 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.7173839199380341e-15, + 6.432056909930288e-15, + 2.6442900629713406e-14, + 3.7520331974593344e-15, + -9.1478142719008546e-14, + -1.7152151759814102e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 612215601, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9218240468716663, + -1.2339819336959537, + 1.8034634654028485, + -2.1328402145536249, + 1.2695206456899082, + -0.48998458518551313 + ], + "velocities": [ + -3.1500000000000004, + -0.17874765769600906, + 0.28614720599483634, + -0.10051078031992031, + 2.6126870048394548, + 2.5002342696437596 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -4.7525753834484948e-14, + 1.7152151759814118e-14, + -6.0747204149341666e-15, + 8.0043374879132547e-14, + 7.4325990959194503e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 689889099, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1664955663317169, + -1.2478658895716386, + 1.8256895199044374, + -2.1406472384720345, + 1.4724571851653359, + -0.29578264303953583 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601064, + 0.28614720599483801, + -0.1005107803199204, + 2.6126870048394544, + 2.5002342696437623 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.680565898460121e-14, + -3.716299547959734e-14, + 0.0, + 7.432599095919468e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 767562597, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4111670857917664, + -1.2617498454473237, + 1.8479155744060263, + -2.1484542623904441, + 1.6753937246407631, + -0.10158070089355897 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601109, + 0.28614720599483723, + -0.10051078031992064, + 2.6126870048394606, + 2.5002342696437649 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.0010843719783111e-14, + 1.0005421859891556e-14, + 9.4694171173973653e-15, + -2.4584750855733538e-13, + -8.5760758799070477e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 845236095, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6558386052518159, + -1.2756338013230086, + 1.8701416289076149, + -2.1562612863088537, + 1.8783302641161908, + 0.092621241252417885 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601042, + 0.28614720599483617, + -0.10051078031992028, + 2.6126870048394535, + 2.5002342696437614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.0010843719783111e-14, + 2.715757361970565e-14, + -9.4694171173973653e-15, + 2.4584750855733538e-13, + 8.5760758799070477e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 922909594, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9005101247118672, + -1.2895177571986938, + 1.8923676834092038, + -2.1640683102272633, + 2.0812668035916184, + 0.28682318339839563 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769601042, + 0.28614720599483762, + -0.10051078031992028, + 2.6126870048394535, + 2.5002342696437614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -3.716299547959734e-14, + 0.0, + 0.0, + 7.432599095919468e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 583092, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1451816441719167, + -1.3034017130743787, + 1.9145937379107927, + -2.1718753341456729, + 2.2842033430670461, + 0.48102512554437249 + ], + "velocities": [ + -3.1499999999999999, + -0.17874765769600964, + 0.28614720599483723, + -0.10051078031992064, + 2.6126870048394633, + 2.5002342696437676 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.717383919938042e-15, + -2.8229583104694081e-14, + 2.3584208669744425e-14, + 4.8240426824477231e-15, + -2.0010843719783146e-13, + -2.6871704423708796e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 78256590, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3898531636319662, + -1.3172856689500636, + 1.9368197924123813, + -2.1796823580640825, + 2.4871398825424738, + 0.67522706769034979 + ], + "velocities": [ + -3.1499999999999995, + -0.17874765769601075, + 0.28614720599483667, + -0.10051078031992045, + 2.6126870048394553, + 2.5002342696437605 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.6805658984601071e-14, + 0.0, + 0.0, + 1.486519819183888e-13, + 2.2297797287758321e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 155930088, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.6345246830920166, + -1.3311696248257487, + 1.9590458469139702, + -2.1874893819824921, + 2.690076422017901, + 0.86942900983632621 + ], + "velocities": [ + -3.1499999999999995, + -0.17874765769601042, + 0.28614720599483762, + -0.10051078031992026, + 2.6126870048394535, + 2.5002342696437587 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.6805658984601071e-14, + -7.3611317969202142e-14, + 0.0, + -1.486519819183888e-13, + -1.486519819183888e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 233603587, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.879196202552067, + -1.3450535807014337, + 1.9812719014155591, + -2.1952964059009017, + 2.8930129614933291, + 1.063630951982304 + ], + "velocities": [ + -3.1499999999999995, + -0.17874765769601042, + 0.28614720599483479, + -0.10051078031992026, + 2.6126870048394535, + 2.5002342696437614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.717383919938042e-15, + 2.8229583104694081e-14, + 8.7190104779055136e-14, + 6.8787275286754569e-14, + 1.2578244623863693e-13, + 2.6871704423708796e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 311277085, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1238677220121174, + -1.3589375365771188, + 2.0034979559171475, + -2.2031034298193113, + 3.0959495009687563, + 1.2578328941282808 + ], + "velocities": [ + -3.1499999999999995, + -0.17874765769601075, + 0.28614720599483529, + -0.10051078031991759, + 2.6126870048394526, + 2.5002342696437658 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5509306523244237, + 0.088008006778400275, + -0.14088713423950108, + 0.049487380979999461, + -1.2863797970589128, + -1.2310126878677112 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 388950583, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3685392414721669, + -1.3728214924528037, + 2.0257240104187364, + -2.2109104537377204, + 3.2988860404441835, + 1.4520348362742586 + ], + "velocities": [ + -3.0885440425604354, + -0.17526032168210842, + 0.28056452329227655, + -0.098549832307994273, + 2.5617139313879234, + 2.4514551296868876 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0645326795589418, + 0.17389778996950478, + -0.27838332188433695, + 0.097783673313766709, + -2.5417983199330383, + -2.4323967066273293 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 469777937, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.6132107609322173, + -1.3867054483284886, + 2.0479500649203253, + -2.21871747765613, + 3.5018225799196108, + 1.6462367784202354 + ], + "velocities": [ + -2.8974376364145114, + -0.16441593359662171, + 0.2632043441918408, + -0.092451973893437456, + 2.4032056063469636, + 2.2997691659425978 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5620023800156506, + 0.14538156331411653, + -0.23273327707732566, + 0.081748843935509866, + -2.1249874046459416, + -2.033525761721938 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 558177623, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.8578822803922677, + -1.4005894042041738, + 2.0701761194219142, + -2.2265245015745396, + 3.7047591193950389, + 1.8404387205662132 + ], + "velocities": [ + -2.6492426192253533, + -0.15033203582697668, + 0.24065821380754976, + -0.084532521560358787, + 2.1973465917196604, + 2.1027705349803298 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.845345799310885, + 0.1614599672895087, + -0.25847230176570879, + 0.090789817958334393, + -2.3599993632171588, + -2.2584225639441895 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 654859058, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1025537998523172, + -1.4144733600798587, + 2.092402173923503, + -2.2343315254929492, + 3.9076956588704661, + 2.03464066271219 + ], + "velocities": [ + -2.3841431656337475, + -0.13528889094253471, + 0.21657647794850332, + -0.076073679356270907, + 1.9774666242946348, + 1.8923544274458588 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8190372417335197, + 0.15996708060880246, + -0.2560824223230207, + 0.089950359656363763, + -2.3381784024240226, + -2.2375407997409544 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 764205144, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3472253193123676, + -1.4283573159555438, + 2.1146282284250919, + -2.2421385494113588, + 4.1106321983458942, + 2.2288426048581669 + ], + "velocities": [ + -2.0698735974333373, + -0.11745557373588086, + 0.18802811005334233, + -0.066045908076706544, + 1.7168037618013909, + 1.6429107625821087 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8826259189476109, + 0.16357543842084987, + -0.2618588421063841, + 0.0919793588837651, + -2.3909204057929831, + -2.2880127330527724 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 892833471, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5918968387724171, + -1.4422412718312287, + 2.1368542829266803, + -2.2499455733297684, + 4.3135687378213214, + 2.4230445470041437 + ], + "velocities": [ + -1.6901790154235967, + -0.0959096952679101, + 0.1535365088554167, + -0.053930543403358844, + 1.4018757934760555, + 1.3415376178396285 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0641721641267035, + 0.17387733241745057, + -0.27835057252444556, + 0.097772169920936847, + -2.5414992996205066, + -2.4321105564565197 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 58353472, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.8365683582324683, + -1.4561252277069139, + 2.1590803374282692, + -2.257752597248178, + 4.5165052772967496, + 2.6172464891501215 + ], + "velocities": [ + -1.0490757953908394, + -0.059530108308473634, + 0.095298446897746109, + -0.033474103749039405, + 0.87012911038389151, + 0.8326778587587188 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1416903055115344, + 0.17827612168776116, + -0.28539235016609416, + 0.10024563305729975, + -2.6057947410920925, + -2.493638656015094 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 453015208, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812398776925178, + -1.4700091835825988, + 2.1813063919298581, + -2.2655596211665876, + 4.7194418167721768, + 2.8114484312960988 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.42958080076714433, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812398776925178, + -1.4700091835825988, + 2.1813063919298581, + -2.2655596211665876, + 4.7194418167721768, + 2.8114484312960988 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.27732339074568169, + 2.3595666857007682, + 1.0390737798337755, + -1.9852008435054451, + 0.58903493236000104, + -1.4004529398269436 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 125759188, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0778428872977237, + -1.4693815470143134, + 2.1867184134720454, + -2.2889127907344493, + 4.7122266072290699, + 2.8286028655979218 + ], + "velocities": [ + 0.013505930720524393, + 0.119904116762363, + 0.093638766959826994, + -0.28237885383693251, + -0.028686609857674704, + 0.068203500301640255 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.8722220445060087e-08, + 2.0417560061356417, + 0.95985682956069351, + -3.0016128357028973, + 3.0168733120989514e-11, + -3.8722059942379313e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 194804133, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0778428876408626, + -1.4531685889386017, + 2.1966776450772056, + -2.3150849804153766, + 4.7122266072293373, + 2.828602865254783 + ], + "velocities": [ + -6.0978821807332983e-09, + 0.29429983065724175, + 0.17220619592037278, + -0.4665060265786064, + 4.7508995610103091e-12, + -6.097877504816528e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1990657825537926e-08, + 1.3883116634668633, + 0.36141294105661387, + -1.7497246045269579, + 1.7133064154596781e-11, + -2.1990391441952443e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 242290993, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0778428879840014, + -1.436368582728184, + 2.2061830736033352, + -2.34139041515198, + 4.7122266072296046, + 2.8286028649116446 + ], + "velocities": [ + -7.7168797373130605e-09, + 0.3847739662267225, + 0.20823760315975459, + -0.5930115693877378, + 6.0122710589926791e-12, + -7.7168644389073768e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.9257953910334864e-08, + -1.7682186963266611, + -1.2152503664752512, + 2.983469062808485, + -3.0585861179285966e-11, + 3.9257171106773079e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 284097505, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0778428883271403, + -1.4189868680293134, + 2.2152260540913389, + -2.3678151103389102, + 4.712226607229872, + 2.8286028645685066 + ], + "velocities": [ + -7.2647525642478177e-09, + 0.37329058299556667, + 0.18711349726140786, + -0.56040408025815514, + 5.660022220043615e-12, + -7.2647501233305206e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.9962703494496895e-08, + -2.0453545952453633, + -1.0372090117802635, + 3.0825636070320916, + -3.1135338220620765e-11, + 3.9962878963968856e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 338376711, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0778428886702782, + -1.4010304685423038, + 2.2237979047816014, + -2.3943433605162379, + 4.7122266072301393, + 2.8286028642253678 + ], + "velocities": [ + -4.4583893143993534e-09, + 0.23544720011978243, + 0.10955975857722559, + -0.34500695869772924, + 3.4735664085708501e-12, + -4.4583974959709706e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.9251324811246939e-08, + -2.1187519426434358, + -0.92564603136386525, + 3.0443979740136511, + -3.0580961764728811e-11, + 3.9251324811246939e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 470604515, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0778428890134171, + -1.3825081356033986, + 2.2318899912743255, + -2.4209577799479227, + 4.7122266072304066, + 2.8286028638822289 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.40202401222504736, + "y": 0.19519984012075001, + "z": 0.051891781824041562 + }, + "30": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33852280045707434, + 0.281159993125428, + 0.16189178182404157 + ], + "xaxis": [ + -0.77437039308627731, + -0.63273226095378299, + -0.00061665202353634462 + ], + "yaxis": [ + 0.63273206033452578, + -0.77437063861455502, + 0.00050386160014014643 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33852280045707434, + 0.281159993125428, + 0.11189178182404158 + ], + "xaxis": [ + -0.77437039308627731, + -0.63273226095378299, + -0.00061665202353634462 + ], + "yaxis": [ + 0.63273206033452578, + -0.77437063861455502, + 0.00050386160014014643 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0640047789384619, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0470096773785391, + -1.5668759521491953, + 1.7868065497765104, + -0.17696259801356193, + 0.015595686713475245, + -0.46418252917827202 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 277434238, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3856593744390429, + -1.1002439188318136, + 1.5614472811655318, + -2.0303902495724491, + -1.5709873611756586, + -3.226775422269486 + ], + "velocities": [ + -0.72414798862160645, + -0.372381511483938, + 0.42464990468615055, + -0.042056679492736289, + 0.0037064487351572751, + -0.11031696005209927 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8816854867213104, + -1.4818606335000852, + 1.6898582699938962, + -0.16736098811045119, + 0.014749498300331515, + -0.43899698365029899 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 392670984, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2677415233090503, + -1.1608812862272637, + 1.630595859950458, + -2.0372386194490071, + -1.5703838153852392, + -3.2447390693097793 + ], + "velocities": [ + -1.1707297452295855, + -0.60202903124488727, + 0.68653132030552877, + -0.067993015849501418, + 0.0059922140938020044, + -0.17834938239921272 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8544261172635021, + -1.4678429391056755, + 1.6738730172224536, + -0.16577783303376339, + 0.014609975085433664, + -0.43484428169062905 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 482125118, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1498236721790578, + -1.2215186536227141, + 1.6997444387353842, + -2.0440869893255651, + -1.56978026959482, + -3.2627027163500721 + ], + "velocities": [ + -1.4361718622741448, + -0.73852839091955769, + 0.84219006889533254, + -0.083409221122219324, + 0.007350841908054519, + -0.21878692815265535 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7527461673442137, + -1.4155556524826269, + 1.6142465572719487, + -0.15987251929708354, + 0.014089540688517917, + -0.41935432224902924 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 557997993, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0319058210490655, + -1.2821560210181642, + 1.7688930175203104, + -2.0509353592021231, + -1.5691767238044008, + -3.2806663633903654 + ], + "velocities": [ + -1.6527028741031309, + -0.84987599767256994, + 0.96916670209678246, + -0.0959847933917269, + 0.0084591251699392966, + -0.25177333888265924 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5490671047124818, + 1.3108169548791062, + -1.4948064761115158, + 0.14804335565777141, + -0.013047038305122494, + 0.38832578199365481 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 625331317, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.91398796991907294, + -1.3427933884136143, + 1.8380415963052363, + -2.0577837290786811, + -1.5685731780139813, + -3.2986300104306583 + ], + "velocities": [ + -1.6604736255786325, + -0.85387198222998251, + 0.9737235729647008, + -0.096436098938877488, + 0.008498898658825747, + -0.2529571379038088 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9079150476417461, + 1.495348765338548, + -1.7052396294947887, + 0.16888433451781645, + -0.014883750586381582, + 0.44299280421431764 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 700452976, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.79607011878908063, + -1.4034307558090644, + 1.9071901750901625, + -2.0646320989552391, + -1.5679696322235621, + -3.3165936574709516 + ], + "velocities": [ + -1.4507095855457299, + -0.74600418240205935, + 0.85071518102522081, + -0.084253535237281574, + 0.0074252511819580258, + -0.2210016100444778 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8937170129635081, + 1.4880476532776994, + -1.6969137152236882, + 0.16805974865515555, + -0.014811079960327286, + 0.44082987060252221 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 788998014, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67815226765908809, + -1.4640681232045147, + 1.9763387538750887, + -2.0714804688317972, + -1.5673660864331429, + -3.3345573045112444 + ], + "velocities": [ + -1.1856064535602049, + -0.60967914036775717, + 0.6952552177324427, + -0.068857017357478761, + 0.0060683584146338353, + -0.18061570539451599 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1440174677476649, + 1.6167606555122993, + -1.8436931939174011, + 0.18259656456730364, + -0.016092207324681463, + 0.47896073018558982 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 902436679, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.56023441652909578, + -1.5247054905999649, + 2.0454873326600147, + -2.0783288387083552, + -1.5667625406427235, + -3.3525209515515377 + ], + "velocities": [ + -0.7322577251561424, + -0.37655181368171875, + 0.42940556085109483, + -0.04252767243280197, + 0.0037479572709720474, + -0.11155240017672968 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0640047789384659, + 1.5756154110804514, + -1.7967727008546868, + 0.17794963043025491, + -0.015682673729476571, + 0.46677156894543731 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 179870917, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44231656539910325, + -1.585342857995415, + 2.1146359114449411, + -2.0851772085849132, + -1.5661589948523043, + -3.3704845985918306 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.035996867295102715, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44231656539910325, + -1.585342857995415, + 2.1146359114449411, + -2.0851772085849132, + -1.5661589948523043, + -3.3704845985918306 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.024381832796839784, + 2.4584960321066638, + 2.2353668428549684, + -3.1383685084205384, + 0.49538932664243107, + 1.3556136766787525 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 116677235, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44256158846424026, + -1.5846254532335433, + 2.1196538759184991, + -2.1065443604222733, + -1.5711373595602491, + -3.3841077001949174 + ], + "velocities": [ + 0.0010500050795040517, + 0.11202363354108601, + 0.13927318786996154, + -0.31828410735689888, + -0.021333916210557573, + -0.058379431495100123 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7337250091258485e-08, + 1.6966244531196377, + 1.3280501548179686, + -3.0246746079315723, + -1.2472820184514789e-11, + 1.7337271597054836e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 172259797, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44256158861362371, + -1.5725140885375193, + 2.1327457451957317, + -2.1317475943954789, + -1.5711373595603566, + -3.3841077000455342 + ], + "velocities": [ + 3.1116339659776585e-09, + 0.25939506164917137, + 0.26802089594387718, + -0.52741595759198212, + -2.2385757180447571e-12, + 3.1116294983950969e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7520219613199865e-09, + 0.59014612909942188, + -0.0029807157125840786, + -0.5871654133864147, + -1.9798168937565475e-12, + 2.7519536633831455e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 214510132, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44256158876300705, + -1.5598013226504772, + 2.14544208252474, + -2.157156697611478, + -1.5711373595604641, + -3.384107699896151 + ], + "velocities": [ + 3.5928978087805065e-09, + 0.31316297044023306, + 0.30044066343859432, + -0.61360363387760453, + -2.5848070258883088e-12, + 3.5928924470055176e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7964280763026706e-08, + -1.3588354344870461, + -1.642180618965168, + 3.0010160534463299, + 1.2923848731089613e-11, + -1.796420314054816e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 255435722, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.4425615889123905, + -1.5464827254200586, + 2.1577352573585222, + -2.1827684696756284, + -1.5711373595605715, + -3.3841076997467678 + ], + "velocities": [ + 3.227061416831346e-09, + 0.29343365104217667, + 0.26170504800467731, + -0.55513869904576096, + -2.321616452832066e-12, + 3.2270564628929891e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8059730192905905e-08, + -1.6322643941045407, + -1.4718307588750497, + 3.1040951529734429, + 1.2992555174800912e-11, + -1.8059667952446479e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 308710816, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44256158906177384, + -1.5325548660382293, + 2.1696172769099582, + -2.2085783486088428, + -1.571137359560679, + -3.3841076995973847 + ], + "velocities": [ + 1.9779087620802134e-09, + 0.18676957199441768, + 0.15570671975634853, + -0.34247629175009298, + -1.422950281398893e-12, + 1.9779084831765296e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7762157264540818e-08, + -1.7287885256419129, + -1.3629370748128951, + 3.0917256004487621, + 1.2778482920849121e-11, + -1.7762196867277144e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 438404296, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44256158921115712, + -1.5180154098996914, + 2.1810798494137127, + -2.2345803772510844, + -1.5711373595607865, + -3.384107699448001 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.33852280045707434, + "y": 0.281159993125428, + "z": 0.11189178182404158 + }, + "31": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38045201575365833, + 0.22378810116247999, + 0.16189178182404157 + ], + "xaxis": [ + -0.84078462515130115, + -0.54136934326399377, + -0.00066953946727148553 + ], + "yaxis": [ + 0.54136917161300935, + -0.84078489173742432, + 0.00043110686841324274 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38045201575365833, + 0.22378810116247999, + 0.11189178182404158 + ], + "xaxis": [ + -0.84078462515130115, + -0.54136934326399377, + -0.00066953946727148553 + ], + "yaxis": [ + 0.54136917161300935, + -0.84078489173742432, + 0.00043110686841324274 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.42406935086437431, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.41173055182098689, + -1.2711548428845072, + -0.1919251087350767, + 2.430075329233965, + -3.0888666073887392, + -0.25748199883429579 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 402591047, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5379437105269254, + -1.1457077955483927, + 1.4762790231675529, + -1.8207074121556532, + -1.829413619733594, + -3.2303033823026306 + ], + "velocities": [ + 0.14422188950667961, + -0.44526293345380985, + -0.067227952123363938, + 0.85121216794731525, + -1.0819750358126832, + -0.090191364769024965 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.41112203134421543, + -1.269276129372372, + -0.19164145147874093, + 2.4264837798786196, + -3.0843013921713105, + -0.25710145124558453 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 571816955, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5723101954848153, + -1.2518090396604222, + 1.4602593439545002, + -1.6178729446154154, + -2.0872363325011101, + -3.251794989376068 + ], + "velocities": [ + 0.23382446052532121, + -0.72189710981381128, + -0.10899551858069019, + 1.3800555979656024, + -1.7541874532093686, + -0.146225703208409 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.37942362144207631, + -1.1714121572172393, + -0.17686547544228245, + 2.2393965609719153, + -2.8464949932510315, + -0.23727836572188094 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 701713361, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6066766804427055, + -1.3579102837724515, + 1.4442396647414477, + -1.4150384770751776, + -2.3450590452686262, + -3.2732865964495055 + ], + "velocities": [ + 0.28739783226791904, + -0.88729666697337284, + -0.13396834401598362, + 1.6962510524922974, + -2.156103216538193, + -0.17972863074091333 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.37634356448184852, + -1.1619029544047954, + -0.17542972999081338, + 2.2212177535004245, + -2.8233879271097755, + -0.2353522049860903 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 812491779, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6410431654005957, + -1.4640115278844807, + 1.428219985528395, + -1.2122040095349398, + -2.6028817580361423, + -3.2947782035229429 + ], + "velocities": [ + 0.32989955142527738, + -1.018514197221851, + -0.15378020163652406, + 1.9471004944818033, + -2.4749577209735505, + -0.20630773096587887 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.10935242595549088, + -0.33760882018523802, + -0.050973813211416405, + 0.64540906991500779, + -0.82037889944536802, + -0.068385212338253912 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 910802000, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6754096503584859, + -1.5701127719965102, + 1.4122003063153423, + -1.009369541994702, + -2.8607044708036584, + -3.3162698105963804 + ], + "velocities": [ + 0.35486803045745263, + -1.0956005414361365, + -0.16541907087274096, + 2.0944669812198757, + -2.6622751322724501, + -0.22192215127213066 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.36099173984772237, + 1.1145065536653491, + 0.16827359207695008, + -2.130609732946533, + 2.708216152110225, + 0.22575170661393618 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 6220931, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7097761353163758, + -1.6762140161085393, + 1.3961806271022896, + -0.80653507445446415, + -3.1185271835711745, + -3.3377614176698183 + ], + "velocities": [ + 0.34197391556528883, + -1.0557919420562945, + -0.15940857592215729, + 2.0183646119563523, + -2.5655414778324594, + -0.21385861928270269 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.42065667730236939, + 1.2987128843843785, + 0.1960859551819237, + -2.4827582239621018, + 3.1558317884054157, + 0.26306408794725084 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 112361216, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.744142620274266, + -1.7823152602205687, + 1.3801609478892369, + -0.60370060691422633, + -3.3763498963386906, + -3.3592530247432557 + ], + "velocities": [ + 0.29948842059881142, + -0.92462450150535958, + -0.13960428108651329, + 1.7676109267811497, + -2.2468086897992947, + -0.18728966510368339 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.39675448188115658, + 1.224918527053166, + 0.1849441260537534, + -2.3416850508620022, + 2.9765138025203335, + 0.2481164844080794 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 237242505, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7785091052321562, + -1.8884165043325982, + 1.3641412686761845, + -0.40086613937398852, + -3.6341726091062068, + -3.3807446318166932 + ], + "velocities": [ + 0.24726522292817613, + -0.76339339942575468, + -0.11526082916850347, + 1.459384336085269, + -1.8550221422563817, + -0.15463108958072896 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.40360061993338953, + 1.246054926821605, + 0.18813540196050191, + -2.3820916495652562, + 3.0278745944888663, + 0.25239782156460716 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 393925832, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8128755901900462, + -1.9945177484446275, + 1.3481215894631318, + -0.1980316718337507, + -3.8919953218737229, + -3.4022362388901306 + ], + "velocities": [ + 0.17824533389261349, + -0.55030509248599824, + -0.083087725546617808, + 1.0520219753617739, + -1.3372242048802996, + -0.11146844617328897 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0108885575926745, + 1.8698613737174017, + -2.2541820948385363, + 0.93314187572664353, + 3.2068852727652986, + 0.6396253126874808 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 644495430, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8472420751479364, + -2.1006189925566567, + 1.3321019102500791, + 0.0048027957064873394, + -4.149818034641239, + -3.4237278459635681 + ], + "velocities": [ + 0.27135191776770606, + -0.17521054704205002, + -0.36318243990540183, + 0.93337089094554315, + -0.6032229364525703, + -0.0008588429152331517 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1785761362595695, + 0.21220197425475437, + -1.9251032000566368, + 3.0724852182420781, + -0.51583359975038068, + 0.24426863800396298 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 924937747, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9609755647121629, + -2.0801413413622192, + 1.1463279937608348, + 0.30129994574568869, + -4.1995963676051806, + -3.4001557374365268 + ], + "velocities": [ + 0.53814251796091639, + 0.09689225942088886, + -0.87900972329286553, + 1.4029088837569463, + -0.23553165864998227, + 0.11153402471860792 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2225743495059402, + 0.22012382794525509, + -1.9969705139377785, + 3.1871862169044061, + -0.53509052853346795, + 0.25338759374523934 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 94503296, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0747090542763895, + -2.0596636901677816, + 0.96055407727159081, + 0.59779709578489004, + -4.2493747005691231, + -3.3765836289094855 + ], + "velocities": [ + 0.76318800530754083, + 0.13741157356858313, + -1.2466022567920152, + 1.9895904837247107, + -0.33402849756783426, + 0.15817636965659276 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2223881843316511, + 0.22009030900972923, + -1.9966664290664364, + 3.1867008942098907, + -0.53500904864514254, + 0.25334900963335022 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 227425213, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1884425438406159, + -2.0391860389733441, + 0.77478016078234679, + 0.89429424582409123, + -4.2991530335330648, + -3.3530115203824447 + ], + "velocities": [ + 0.93081183475857898, + 0.16759215032329419, + -1.5204014289915069, + 2.4265768797397929, + -0.40739329827055537, + 0.19291765047614273 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.085486358458666, + 0.19544121181902749, + -1.7730490190634227, + 2.8298051253203873, + -0.47509050839997841, + 0.22497509171879559 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 340482359, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3021760334048422, + -2.0187083877789065, + 0.58900624429310255, + 1.1907913958632927, + -4.3489313664970064, + -3.3294394118554034 + ], + "velocities": [ + 1.0641624652205937, + 0.1916018567661581, + -1.7382182653706346, + 2.7742148713235339, + -0.46575756819248704, + 0.22055555682583841 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0840388159622247, + 0.19518058260198046, + -1.7706845823448651, + 2.8260314591257902, + -0.47445695488258849, + 0.22467507780947582 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 441818161, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4159095229690686, + -1.9982307365844687, + 0.40323232780385854, + 1.4872885459024938, + -4.398709699460948, + -3.3058673033283621 + ], + "velocities": [ + 1.1749161077266999, + 0.21154298816415923, + -1.9191248568472765, + 3.0629437187838606, + -0.5142316958637867, + 0.24351006996811503 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.0325601608613353e-14, + 0.0, + -2.8757486633493343e-14, + 0.0, + 1.0304766043668449e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 534473521, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5296430125332954, + -1.9777530853900311, + 0.21745841131461452, + 1.7837856959416951, + -4.4484880324248905, + -3.2822951948013208 + ], + "velocities": [ + 1.2274895949502578, + 0.22100881513881793, + -2.0049991464908943, + 3.2000000000000002, + -0.53724180978992231, + 0.25440631478771059 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.50664290519069932, + -0.091220771756678365, + 0.82755780306568416, + -1.3207910708814175, + 0.22174505789835489, + -0.10500549654608582 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 627128880, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6433765020975217, + -1.9572754341955936, + 0.03168449482537028, + 2.0802828459808964, + -4.4982663653888322, + -3.2587230862742795 + ], + "velocities": [ + 1.2035414843773111, + 0.21669697122233003, + -1.9658819584867322, + 3.1375685511725062, + -0.52676031461620143, + 0.24944289140550396 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1011385035415491, + -0.19825937178827077, + 1.7986154578023434, + -2.8706094339446238, + 0.48194106484128402, + -0.22821911477649864 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 723546419, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7571099916617481, + -1.9367977830011558, + -0.15408942166387396, + 2.3767799960200984, + -4.5480446983527738, + -3.2351509777472383 + ], + "velocities": [ + 1.1237319334758731, + 0.20232730621331399, + -1.8355198909812318, + 2.9295093024951662, + -0.49182964983403565, + 0.23290177055753261 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0965944090181976, + -0.19744121011044971, + 1.7911930684979187, + -2.8587632215330001, + 0.47995222715546271, + -0.22727731751273036 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 830051365, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8708434812259744, + -1.9163201318067182, + -0.3398633381531182, + 2.6732771460592994, + -4.5978230313167163, + -3.2115788692201974 + ], + "velocities": [ + 1.0056207581652545, + 0.18106145514830979, + -1.6425953996755225, + 2.6215997588633098, + -0.44013531218642199, + 0.20842235421898725 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1101941698068354, + -0.19988983943524274, + 1.8134071132326746, + -2.8942170736086124, + 0.48590450579699057, + -0.23009596871638727 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 950612085, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9845769707902008, + -1.8958424806122807, + -0.525637254642362, + 2.9697742960985005, + -4.647601364280658, + -3.1880067606931561 + ], + "velocities": [ + 0.87031578406344345, + 0.15669987022600185, + -1.4215863103063364, + 2.2688668974956774, + -0.38091567443219188, + 0.18037939566740688 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4478140298515094, + 1.7940904215685907, + -2.9126893088576558, + 2.2279345033758235, + 2.6817388842788188, + 0.69082599646277387 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 93267444, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0983104603544276, + -1.8753648294178431, + -0.71141117113160623, + 3.2662714461377016, + -4.6973796972445996, + -3.1644346521661149 + ], + "velocities": [ + 0.89198848674614917, + 0.26093051624292507, + -1.492829004062596, + 2.2241856409722316, + -0.17347971607191032, + 0.2104376936634951 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1322372711708233, + 0.43410853479693251, + -1.9316690165034576, + 2.7194763082711901, + 0.0022740441990072168, + 0.29333858527719825 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 212325094, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2157865998428052, + -1.8303235681156409, + -0.91183295957306854, + 3.5484327795086155, + -4.697143752058607, + -3.133999084075588 + ], + "velocities": [ + 1.0502712991015541, + 0.40268214657936308, + -1.7918298390755063, + 2.5226054537229241, + 0.0021094194794611543, + 0.27210294598158508 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.43733159083935458, + 0.16767631745891284, + -0.74611559385337844, + 1.0504096009102217, + 0.00087835950347000375, + 0.11330330966869456 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 317795896, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3332627393311829, + -1.7852823068134385, + -1.1122547480145308, + 3.8305941128795293, + -4.6969078068726153, + -3.1035635159850616 + ], + "velocities": [ + 1.136439074120025, + 0.43571953857520995, + -1.9388375603918173, + 2.7295684540283802, + 0.0022824833185679065, + 0.29442718301563681 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1564854246357505, + -0.44340546454848861, + 1.9730379132428886, + -2.7777169973443305, + -0.0023227454512065281, + -0.29962076588910691 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 419151264, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4507388788195605, + -1.7402410455112363, + -1.3126765364559931, + 4.1127554462504436, + -4.6966718616866228, + -3.0731279478945348 + ], + "velocities": [ + 1.0969253003831714, + 0.42056965183506967, + -1.8714245415873063, + 2.6346618701666382, + 0.0022031218011212298, + 0.28419000501235037 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3315414931276679, + -0.51052331637626935, + 2.2716947339171365, + -3.1981773045645907, + -0.0026743371599857683, + -0.34497406840185019 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 532676869, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5682150183079382, + -1.6951997842090341, + -1.5130983248974557, + 4.3949167796213571, + -4.6964359165006311, + -3.042692379804008 + ], + "velocities": [ + 0.95201871999628351, + 0.36501134714409789, + -1.6242046710284017, + 2.2866164363087353, + 0.0019120838915522478, + 0.24664779334845022 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3120022690995987, + -0.503031826624186, + 2.2383595712065025, + -3.1512468084758303, + -0.0026350935667220281, + -0.33991187121074068 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 667825159, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6856911577963158, + -1.6501585229068318, + -1.7135201133389182, + 4.6770781129922714, + -4.6961999713146385, + -3.0122568117134811 + ], + "velocities": [ + 0.76693467246614433, + 0.29404869052310045, + -1.3084394783728737, + 1.8420703194187074, + 0.0015403514681956536, + 0.1986964548416949 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2902964279356257, + -0.49470963908970483, + 2.20132802144109, + -3.0991123996380647, + -0.0025914984268186839, + -0.33428834962083959 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 844579212, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8031672972846935, + -1.6051172616046294, + -1.9139419017803803, + 4.9592394463631848, + -4.6959640261286468, + -2.9818212436229548 + ], + "velocities": [ + 0.47001034419746257, + 0.1802056044736676, + -0.80186763184674004, + 1.1288994173152804, + 0.00094399321055982062, + 0.12176967932700009 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2911513990330179, + -0.49503744162706009, + 2.2027866566767411, + -3.101165921194752, + -0.002593215595236269, + -0.33450985444015374 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 271159954, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9206434367730711, + -1.5600760003024272, + -2.1143636902218428, + 5.2414007797340991, + -4.6957280809426543, + -2.9513856755324279 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.42351297789665726, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9206434367730711, + -1.5600760003024272, + -2.1143636902218428, + 5.2414007797340991, + -4.6957280809426543, + -2.9513856755324279 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.2276289443809596, + -1.1585483161017183, + -1.0892840186036332, + 1.8820634821742832, + 1.4315332895901514, + -1.6223211716820902 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 113719727, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9233819090371047, + -1.5601838536277128, + -2.1164433931036317, + 5.2479886895893593, + -4.7129500305147998, + -2.9318684672222939 + ], + "velocities": [ + 0.012040445110876956, + -0.062229888031916765, + -0.07590570514331127, + 0.15748295599743656, + -0.075721029153123356, + 0.085812764323447255 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.3005123925046734e-10, + -1.6150252841975863, + -1.4776719022246261, + 3.092697186421856, + -3.2208906577909703e-13, + 5.3005123925046734e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 211580212, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9233819090414896, + -1.5722707354092023, + -2.1295100617309317, + 5.2731422399981467, + -4.7129500305148024, + -2.9318684672179089 + ], + "velocities": [ + 6.465251064918474e-11, + -0.18397592453552042, + -0.18884566113211049, + 0.37282158566759721, + -3.9286516497377809e-14, + 6.465251064918474e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.9331125691845852e-10, + -1.7460166676218318, + -1.2132088773065126, + 2.9592255449284202, + -2.9990630515270515e-13, + 4.9331125691845852e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 263474812, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9233819090458746, + -1.5849558766809602, + -2.1421810562630879, + 5.2984983758020583, + -4.7129500305148051, + -2.931868467213524 + ], + "velocities": [ + 9.5933189255317023e-11, + -0.28491760059487142, + -0.27229315352975592, + 0.5572107541245821, + -5.8297727434847117e-14, + 9.5933189255317023e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.1554036589404393e-10, + 1.3168463617552864, + 1.609996172949588, + -2.9268425347047544, + 3.1341280049788551e-13, + -5.1554036589404393e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 304310401, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9233819090502591, + -1.5982435616497752, + -2.1544488197532554, + 5.3240538242610391, + -4.7129500305148078, + -2.9318684672091395 + ], + "velocities": [ + 9.5319231787165662e-11, + -0.29461493037146996, + -0.26278659842829982, + 0.55740152879972904, + -5.7924652206073746e-14, + 9.5319231787165662e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.4264190770044496e-10, + 1.6661125436533799, + 1.5037944573452371, + -3.1699070009984283, + 3.2971629774972397e-13, + -5.4264190770044496e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 356970257, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.923381909054644, + -1.612137082464246, + -2.166305437588516, + 5.3498039629107685, + -4.7129500305148104, + -2.9318684672047546 + ], + "velocities": [ + 5.886005739449937e-11, + -0.18889041840321186, + -0.1575114017869611, + 0.34640182019014354, + -3.576775497564755e-14, + 5.886005739449937e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.4139671317155992e-10, + 1.7906513382088793, + 1.4122720360004364, + -3.2029233742089867, + 3.290165379347067e-13, + -5.4139671317155992e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 484237569, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9233819090590285, + -1.6266386441710308, + -2.1777427004658958, + 5.3757427874949304, + -4.7129500305148131, + -2.9318684672003701 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.38045201575365833, + "y": 0.22378810116247999, + "z": 0.11189178182404158 + }, + "32": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41449502175245234, + 0.16172506913073101, + 0.16189178182404157 + ], + "xaxis": [ + -0.91140327932854326, + -0.41151371262670994, + -0.00072577500569935755 + ], + "yaxis": [ + 0.41151358214881206, + -0.91140356830560065, + 0.00032769936119766079 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41449502175245234, + 0.16172506913073101, + 0.11189178182404158 + ], + "xaxis": [ + -0.91140327932854326, + -0.41151371262670994, + -0.00072577500569935755 + ], + "yaxis": [ + 0.41151358214881206, + -0.91140356830560065, + 0.00032769936119766079 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5438566591368224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5252910269299695, + -0.42110318325702667, + 0.35875899087614588, + 1.2335049381032477, + 3.0937630458108263, + 0.74541997554826922 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 396589920, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3035238034428343, + -1.0729663234311266, + 1.5207195707391201, + -1.925823683477881, + -1.3265031614500835, + -3.149759644033467 + ], + "velocities": [ + -0.85889946910960813, + -0.14322519530730379, + 0.12202075068410068, + 0.41953847108424436, + 1.0522476060227721, + 0.25353149971013467 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4197365633092334, + -0.40350152065114803, + 0.34376324882216353, + 1.1819457511713323, + 2.9644470598956651, + 0.71426221794640776 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 561464814, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1034703813166331, + -1.1063260954258898, + 1.5491404390976349, + -1.828105487259871, + -1.0814154159340894, + -3.0907075128377404 + ], + "velocities": [ + -1.3903197397513609, + -0.23184182017473892, + 0.1975177124177902, + 0.67911628649417022, + 1.7032966841581296, + 0.41039709695149812 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3424793344085062, + -0.39061854412573938, + 0.33278759287490012, + 1.1442086458883975, + 2.8697983412941404, + 0.69145728930098171 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 689108965, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.90341695919043219, + -1.1396858674206529, + 1.5775613074561494, + -1.7303872910418607, + -0.83632767041809519, + -3.0316553816420142 + ], + "velocities": [ + -1.7055637261568715, + -0.28441011617006401, + 0.24230328890641556, + 0.83310052426786063, + 2.0895057131986903, + 0.50345138738067219 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2838431566432886, + -0.38084070828521793, + 0.32445736252145091, + 1.1155671887044361, + 2.7979624863439065, + 0.67414895622975957 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 797606457, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.70336353706423116, + -1.1730456394154158, + 1.605982175814664, + -1.6326690948238507, + -0.59123992490210087, + -2.972603250446288 + ], + "velocities": [ + -1.9607763093075665, + -0.32696791644968559, + 0.27856042038696016, + 0.9577617923060161, + 2.4021695805143839, + 0.57878549955351077 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1120385477639085, + -0.35219154788118701, + 0.30004970120548657, + 1.0316474221580723, + 2.5874826864385709, + 0.6234353608522516 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 893892473, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50331011493803013, + -1.206405411410179, + 1.6344030441731787, + -1.5349508986058407, + -0.34615217938610665, + -2.9135511192505614 + ], + "velocities": [ + -2.1750245923828402, + -0.36269474280285874, + 0.30899790145878553, + 1.0624136175155554, + 2.6646476132393944, + 0.64202769549374783 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5263095774607165, + -0.42127303095625002, + 0.358903692677502, + 1.2340024598130028, + 3.0950108837664478, + 0.74572063313726922 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 981930611, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.30325669281182921, + -1.2397651834049421, + 1.6628239125316933, + -1.4372327023878306, + -0.10106443387011255, + -2.8544989880548353 + ], + "velocities": [ + -2.3787923644154167, + -0.39667389868352848, + 0.33794645411584567, + 1.161946126976078, + 2.9142858514934589, + 0.70217623521698846 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.614038300205219, + -0.26914785617461551, + 0.22930060165031119, + 0.7883939682039145, + 1.9773768624873225, + 0.47643474650753947 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 62427387, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.10320327068562807, + -1.2731249553997053, + 1.6912447808902078, + -1.3395145061698206, + 0.144023311645882, + -2.7954468568591091 + ], + "velocities": [ + -2.5486211929244771, + -0.42499358917913033, + 0.36207342343853088, + 1.2449008028388806, + 3.1223451001707985, + 0.75230661616897043 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8991361206745088e-14, + -5.0734882111803906e-15, + -3.4064849417925482e-14, + -6.0881858534164687e-14, + 0.0, + -6.6680130775513708e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 139017308, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.096850151440572851, + -1.3064847273944684, + 1.7196656492487226, + -1.2417963099518103, + 0.38911105716187611, + -2.7363947256633825 + ], + "velocities": [ + -2.6120071791270627, + -0.43556347608687629, + 0.37107844195054562, + 1.2758623538655303, + 3.2000000000000002, + 0.77101700629088699 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2184450172141123e-14, + 1.5945248663709787e-14, + -1.3046112543035281e-14, + 2.8991361206745069e-14, + 0.0, + -2.7541793146407817e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 215607228, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.29690357356677377, + -1.3398444993892316, + 1.7480865176072371, + -1.1440781137338005, + 0.63419880267786999, + -2.6773425944676563 + ], + "velocities": [ + -2.6120071791270618, + -0.43556347608687584, + 0.37107844195054385, + 1.2758623538655289, + 3.2000000000000002, + 0.77101700629088343 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.7982722413490113e-14, + -1.0871760452529395e-14, + 4.7110961960960711e-14, + -5.7982722413490104e-15, + 0.0, + 9.4221923921921421e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 292197149, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.49695699569297491, + -1.3732042713839947, + 1.7765073859657516, + -1.0463599175157903, + 0.87928654819386454, + -2.6182904632719302 + ], + "velocities": [ + -2.6120071791270623, + -0.43556347608687562, + 0.37107844195054518, + 1.2758623538655298, + 3.2000000000000002, + 0.77101700629088588 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.5377539137537203e-14, + 0.0, + -3.8413553598937229e-14, + 0.0, + 0.0, + -7.6827107197874458e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 368787069, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.69701041781917605, + -1.4065640433787578, + 1.8049282543242664, + -0.94864172129778024, + 1.1243742937098586, + -2.5592383320762035 + ], + "velocities": [ + -2.6120071791270618, + -0.43556347608687607, + 0.37107844195054551, + 1.2758623538655296, + 3.2000000000000002, + 0.77101700629088654 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7394816724047033e-14, + 1.0871760452529395e-14, + -8.6974083620235163e-15, + 5.7982722413490104e-15, + 0.0, + -1.7394816724047033e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 445376990, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.89706383994537675, + -1.439923815373521, + 1.8333491226827809, + -0.8509235250797702, + 1.3694620392258527, + -2.5001862008804774 + ], + "velocities": [ + -2.6120071791270592, + -0.43556347608687562, + 0.37107844195054368, + 1.2758623538655298, + 3.2000000000000002, + 0.77101700629088299 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 3.7688769568768538e-14, + -3.7688769568768538e-14, + 0.0, + 7.5377539137537076e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 521966910, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0971172620715779, + -1.4732835873682841, + 1.8617699910412955, + -0.75320532886175995, + 1.6145497847418473, + -2.4411340696847512 + ], + "velocities": [ + -2.61200717912706, + -0.43556347608687523, + 0.37107844195054479, + 1.2758623538655285, + 3.2000000000000002, + 0.77101700629088521 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.6386177930792127e-14, + 1.6670032693878421e-14, + -2.0293952844721556e-14, + 6.0881858534164662e-14, + 0.0, + -3.9138337629105857e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 598556831, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.297170684197779, + -1.5066433593630473, + 1.8901908593998102, + -0.65548713264374991, + 1.8596375302578418, + -2.3820819384890246 + ], + "velocities": [ + -2.6120071791270618, + -0.43556347608687462, + 0.37107844195054546, + 1.2758623538655294, + 3.2000000000000002, + 0.77101700629088654 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.6386177930792127e-14, + -1.6670032693878421e-14, + -1.7394816724047048e-14, + -6.0881858534164662e-14, + 0.0, + -3.6239201508431352e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 675146751, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4972241063239797, + -1.5400031313578102, + 1.9186117277583248, + -0.55776893642573988, + 2.1047252757738355, + -2.3230298072932984 + ], + "velocities": [ + -2.6120071791270618, + -0.43556347608687462, + 0.37107844195054401, + 1.2758623538655294, + 3.2000000000000002, + 0.77101700629088366 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.7982722413490113e-14, + -1.0871760452529395e-14, + 4.7110961960960711e-14, + 6.9579266896188131e-14, + 0.0, + 9.4221923921921421e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 751736672, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6972775284501809, + -1.5733629033525733, + 1.9470325961168393, + -0.46005074020772985, + 2.3498130212898301, + -2.2639776760975723 + ], + "velocities": [ + -2.6120071791270623, + -0.43556347608687562, + 0.37107844195054518, + 1.2758623538655298, + 3.2000000000000002, + 0.77101700629088588 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2184450172141193e-14, + 2.7541793146407852e-14, + -2.9716145236913735e-14, + -4.6386177930792171e-14, + 0.0, + -1.3336026155102749e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 828326592, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.897330950576382, + -1.6067226753473365, + 1.9754534644753541, + -0.36233254398971959, + 2.5949007668058242, + -2.2049255449018457 + ], + "velocities": [ + -2.6120071791270627, + -0.43556347608687501, + 0.37107844195054585, + 1.2758623538655307, + 3.2000000000000002, + 0.77101700629088443 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6140383002052034, + 0.26914785617455422, + -0.2293006016502824, + -0.78839396820383312, + -1.9773768624873242, + -0.47643474650734058 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 904916513, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0973843727025825, + -1.6400824473420994, + 2.0038743328338686, + -0.26461434777170978, + 2.8399885123218178, + -2.1458734137061199 + ], + "velocities": [ + -2.5486211929244766, + -0.4249935891791306, + 0.36207342343852977, + 1.2449008028388804, + 3.1223451001707985, + 0.7523066161689681 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0049309722673776, + 0.33433089716351905, + -0.28483331414732488, + -0.97932960141018466, + -2.4562639653233211, + -0.59181915287617726 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 985413289, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2974377948287836, + -1.6734422193368628, + 2.0322952011923832, + -0.16689615155369952, + 3.0850762578378124, + -2.0868212825103933 + ], + "velocities": [ + -2.401629477112611, + -0.40048208583924105, + 0.34119084037406244, + 1.1731011546475847, + 2.9422638605950446, + 0.70891733547308189 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.197795782077733, + 0.36649193701328098, + -0.31223292227374494, + -1.0735364444038344, + -2.6925448593135592, + -0.64874933647875976 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 71716728, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4974912169549848, + -1.7068019913316259, + 2.0607160695508977, + -0.069177955335689489, + 3.3301640033538069, + -2.0277691513146667 + ], + "velocities": [ + -2.2187425866897326, + -0.3699849071331951, + 0.31520875927810599, + 1.0837681312276173, + 2.7182070302655061, + 0.65493245217317142 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2007305504145487, + 0.36698132230613245, + -0.31264985422964398, + -1.0749699628368483, + -2.6961402777156405, + -0.64961562670766093 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 166105529, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.697544639081185, + -1.7401617633263888, + 2.0891369379094122, + 0.028540240882320322, + 3.5752517488698006, + -1.9687170201189408 + ], + "velocities": [ + -2.0095924851265163, + -0.33510822456173117, + 0.28549555847143149, + 0.98160656634981991, + 2.4619748382751379, + 0.59319514667824347 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5512586111857636, + 0.42543339006288317, + -0.36244811194125692, + -1.2461890775028133, + -3.1255762315793687, + -0.75308513406445932 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 271412126, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.8975980612073871, + -1.773521535321152, + 2.1175578062679268, + 0.12625843710033058, + 3.8203394943857951, + -1.9096648889232144 + ], + "velocities": [ + -1.7531342107503107, + -0.29234269989120848, + 0.24906145613000946, + 0.8563368273427201, + 2.1477848603294687, + 0.51749332911503554 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3887697663085583, + 0.39833767353284832, + -0.33936390762778806, + -1.1668196937742779, + -2.9265092811659237, + -0.7051213827647006 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 395936143, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.0976514833335882, + -1.8068813073159151, + 2.1459786746264418, + 0.22397663331834083, + 4.0654272399017897, + -1.850612757727488 + ], + "velocities": [ + -1.4380804502462485, + -0.23980612488636893, + 0.20430290434931492, + 0.70244550740950606, + 1.7618088792259563, + 0.42449518991171764 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4744441718191417, + 0.4126242506043426, + -0.35153536150659775, + -1.2086682574207577, + -3.0314699795226296, + -0.73041090883507132 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 553506163, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2977049054597884, + -1.8402410793106783, + 2.1743995429849563, + 0.32169482953635065, + 4.3105149854177833, + -1.7915606265317618 + ], + "velocities": [ + -1.0049842622130298, + -0.16758546536935795, + 0.14277449050942581, + 0.49089512334857033, + 1.2312177641703408, + 0.2966530733196166 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.013094987449422408, + 0.76028298869938082, + -0.47491567682164032, + 2.5008147493198649, + -3.1764073598991329, + -2.5679039530578307 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 823719909, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4977583275859896, + -1.8736008513054414, + 2.2028204113434708, + 0.4194130257543609, + 4.5556027309337779, + -1.7325084953360355 + ], + "velocities": [ + -0.74213748404044189, + -0.019822497837192712, + 0.040443264283127403, + 0.70252001877419001, + 0.47403699445099884, + -0.1314934250289253 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.259893378294378, + 0.25460467837691392, + -0.073796495182378366, + 3.1696700295681279, + 0.12473127492002979, + -1.4627816799101148 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 98747765, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.7023577291287393, + -1.8505502218703416, + 2.196139247136661, + 0.70637903811866287, + 4.5668952743995046, + -1.8649414053006592 + ], + "velocities": [ + -0.99245241139881157, + 0.11181192415338256, + -0.032408391608195537, + 1.3919889736380562, + 0.054776856182764719, + -0.64239367198486297 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1117934508128768, + 0.23791940695381758, + -0.068960313223565023, + 2.9619487688980497, + 0.11655713141932861, + -1.3669196968640733 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 263616670, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.906957130671489, + -1.8274995924352415, + 2.1894580829298511, + 0.99334505048296484, + 4.5781878178652322, + -1.9973743152652828 + ], + "velocities": [ + -1.3975306898829964, + 0.15744895544057425, + -0.045636164880048811, + 1.9601416534381229, + 0.077134517213599402, + -0.90459236259008435 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9775836206112565, + 0.22279902517755132, + -0.06457771040569707, + 2.7737094118781256, + 0.10914963007948028, + -1.2800484830411329 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 395269821, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1115565322142382, + -1.8044489630001417, + 2.1827769187230417, + 1.2803110628472667, + 4.5894803613309589, + -2.1298072252299063 + ], + "velocities": [ + -1.6754626082708066, + 0.18876139140390838, + -0.054711991940445348, + 2.3499620230340983, + 0.092474534072112063, + -1.0844918757196829 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9250831607070957, + 0.21688420510817755, + -0.062863315393235711, + 2.7000735775973079, + 0.10625194943626116, + -1.246066034279564 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 509135662, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3161559337569884, + -1.7813983335650416, + 2.1760957545162318, + 1.5672770752115688, + 4.6007729047966865, + -2.26224013519453 + ], + "velocities": [ + -1.900765306701687, + 0.21414450090031206, + -0.062069219347290441, + 2.6659659627138419, + 0.10490976357812135, + -1.2303255964006765 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.922515979956658, + 0.21659498074230429, + -0.062779484472845135, + 2.6964729139715415, + 0.10611025791626598, + -1.2444043519157286 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 611196315, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5207553352997376, + -1.7583477041299418, + 2.169414590309422, + 1.8542430875758706, + 4.6120654482624133, + -2.3946730451591538 + ], + "velocities": [ + -2.0985891241606121, + 0.2364317777706193, + -0.068529127824515049, + 2.9434287100083933, + 0.11582833929420616, + -1.3583728126136849 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.97296693319236383, + 0.10961664628790301, + -0.031772096103052663, + 1.364659128400256, + 0.053701385737025355, + -0.62978112980983592 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 704514435, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.7253547368424869, + -1.735297074694842, + 2.1627334261026121, + 2.1412090999401725, + 4.62335799172814, + -2.5271059551237776 + ], + "velocities": [ + -2.2370058481152113, + 0.25202611767308264, + -0.073049106156492793, + 3.1375685511725062, + 0.12346803354480362, + -1.4479670607046158 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2040776034090321, + -0.1356540949680802, + 0.039318981998227573, + -1.6888091842990551, + -0.066457177147640586, + 0.77937422905595843 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 794191314, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.9299541383852361, + -1.7122464452597419, + 2.1560522618958027, + 2.4281751123044746, + 4.6346505351938676, + -2.6595388650884009 + ], + "velocities": [ + -2.2261519182762672, + 0.25080328948910136, + -0.072694672629334808, + 3.122345100170798, + 0.12286896788988932, + -1.440941539113227 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8846348200731657, + -0.21232720394304597, + 0.061542480612532147, + -2.643341744899073, + -0.10401946663686334, + 1.2198846700477488 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 888442614, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1345535399279862, + -1.6891958158246421, + 2.1493710976889928, + 2.7151411246687767, + 4.6459430786595943, + -2.7919717750530246 + ], + "velocities": [ + -2.0778110140204173, + 0.23409086907982107, + -0.067850621608430736, + 2.9142858514934584, + 0.11468152405366946, + -1.3449235768452326 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0437279498816725, + -0.23025099430229887, + 0.066737644021665501, + -2.8664817966852314, + -0.11280036271915515, + 1.3228623228514316 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 991523874, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3391529414707364, + -1.6661451863895422, + 2.142689933482183, + 3.0021071370330783, + 4.6572356221253211, + -2.9244046850176484 + ], + "velocities": [ + -1.8727985496036768, + 0.21099370305092049, + -0.061155968892524407, + 2.6267404874550566, + 0.10336618222967475, + -1.2122232999284677 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0390122661818917, + -0.22971971475471137, + 0.06658365404465573, + -2.8598676964646881, + -0.11254008794454047, + 1.319809959500855 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 107723289, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5437523430134856, + -1.6430945569544422, + 2.1360087692753731, + 3.2890731493973804, + 4.6685281655910487, + -3.0568375949822721 + ], + "velocities": [ + -1.6321627494364503, + 0.18388313177530308, + -0.05329804124057716, + 2.2892307221019452, + 0.09008466619244182, + -1.0564647834444754 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2240836693670367, + -0.25057027590828063, + 0.072627134256874101, + -3.119444225888798, + -0.12275481413119568, + 1.4396028048866489 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 243799531, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7483517445562349, + -1.6200439275193423, + 2.1293276050685637, + 3.5760391617616825, + 4.6798207090567754, + -3.1892705049468955 + ], + "velocities": [ + -1.3294343077131507, + 0.14977706363916971, + -0.043412487255696845, + 1.8646313679711675, + 0.073376044071872731, + -0.86051499979813406 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2385117539028401, + -0.25219577641114971, + 0.073098281294697823, + -3.1396806970322197, + -0.12355114965577969, + 1.4489418019994837 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 420895234, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.952951146098985, + -1.5969932980842423, + 2.1226464408617538, + 3.8630051741259845, + 4.691113252522503, + -3.3217034149115197 + ], + "velocities": [ + -0.81573726642462407, + 0.091902797872195185, + -0.026637783813157234, + 1.144132723349726, + 0.04502334057799743, + -0.52800965762662966 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2164114513157531, + -0.24970590654106337, + 0.072376599073288431, + -3.1086833644025216, + -0.12233135807431977, + 1.4346367387361569 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 850572113, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1575505476417343, + -1.5739426686491425, + 2.1159652766549439, + 4.1499711864902862, + 4.7024057959882297, + -3.454136324876143 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.15101736687001441, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1575505476417343, + -1.5739426686491425, + 2.1159652766549439, + 4.1499711864902862, + 4.7024057959882297, + -3.454136324876143 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.081534638322458983, + 0.73127250257084064, + 1.3148094041852729, + -3.1535874433875706, + -0.5583875890664548, + -0.71296007774529413 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 138255649, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589938677740284, + -1.5727763871633691, + 2.1079425827776461, + 4.1764325835965925, + 4.7122903336146651, + -3.4415155557111161 + ], + "velocities": [ + -0.0052197500420156561, + 0.055250896463899857, + 0.026144593049332747, + -0.010494282823457143, + 0.035747319136656686, + 0.045642870698494993 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8816789474104988e-08, + 1.6316655713766761, + 1.5315603513814777, + -3.1632259227553803, + -2.2810883236366817e-11, + 2.8816789474104988e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 256075313, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589938675428906, + -1.5607509929789964, + 2.1209401123375007, + 4.151409659852388, + 4.7122903336144821, + -3.4415155554799783 + ], + "velocities": [ + 3.1878436209880528e-09, + 0.17148760713184255, + 0.17547953528192295, + -0.34696714241345528, + -2.5234431017896652e-12, + 3.1878436209880528e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7522184967654895e-08, + 1.8168843009181783, + 1.2866973861304121, + -3.1035816870459194, + -2.178609620169578e-11, + 2.7522184967654895e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 308441264, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589938673117528, + -1.5481355584350796, + 2.1335415552783821, + 4.1261927823676121, + 4.7122903336142992, + -3.4415155552488406 + ], + "velocities": [ + 5.0535438058208339e-09, + 0.2831357348902156, + 0.27054634995112142, + -0.55368208484084669, + -4.0002998178555467e-12, + 5.0535438058208339e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7594715031799862e-08, + -1.3321584593113078, + -1.6249508427840786, + 2.9571093020928911, + 2.1843509773940659e-11, + -2.7594897216379692e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 349040233, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.158993867080615, + -1.5349261820436029, + 2.1457395471680538, + 4.1007854140864861, + 4.7122903336141162, + -3.4415155550177028 + ], + "velocities": [ + 5.0515278186329021e-09, + 0.29438541415069452, + 0.26266547348296682, + -0.55705088763316701, + -3.9987039964892821e-12, + 5.0515235822585043e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8870246804389724e-08, + -1.6720248805143356, + -1.5089470860513523, + 3.1809719665628315, + 2.2853199155020729e-11, + -2.887019133545974e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 401454062, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589938668494773, + -1.521119935562609, + 2.1575263778851697, + 4.0751923368883993, + 4.7122903336139332, + -3.4415155547865655 + ], + "velocities": [ + 3.1138010641567024e-09, + 0.18834687153879265, + 0.15713956239764101, + -0.34548643393612555, + -2.4648322659115144e-12, + 3.1137950815541154e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8590546943994081e-08, + -1.7818216436709962, + -1.4061227012250885, + 3.1879443448932556, + 2.2631793475444712e-11, + -2.8590492012456521e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 528610757, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.1589938666183395, + -1.5067149543632032, + 2.1688940538515893, + 4.0494196797225968, + 4.7122903336137503, + -3.4415155545554281 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.41449502175245234, + "y": 0.16172506913073101, + "z": 0.11189178182404158 + }, + "33": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43740708852289134, + 0.095248191729878404, + 0.16189178182404157 + ], + "xaxis": [ + -0.97358802944235467, + -0.22831063892238551, + -0.00077529439891628189 + ], + "yaxis": [ + 0.2283105665323501, + -0.97358833813622303, + 0.0001818098601184729 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43740708852289134, + 0.095248191729878404, + 0.11189178182404158 + ], + "xaxis": [ + -0.97358802944235467, + -0.22831063892238551, + -0.00077529439891628189 + ], + "yaxis": [ + 0.2283105665323501, + -0.97358833813622303, + 0.00018180986011847287 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0567247087317608, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9906401416050232, + -1.0239097062270277, + 1.1823240837558873, + -0.1531488083690383, + -0.0031519858313323657, + -0.38771685181346111 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 334186958, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3328883070446231, + -1.0980455585208946, + 1.55977911113796, + -2.0322827522970934, + -1.5717708045890879, + -3.2309404724298583 + ], + "velocities": [ + -0.86524446996245286, + -0.29623497616077238, + 0.3420670246953153, + -0.044308627333386481, + -0.00091192459835480531, + -0.11217326259882797 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9723560237695414, + -1.0176497468754684, + 1.1750956136479633, + -0.15221249014748389, + -0.0031327152813212531, + -0.38534643602634766 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 474126858, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1621993885202109, + -1.1564845656054259, + 1.6272595198953144, + -2.0410236248982963, + -1.5719507022120982, + -3.2530691696305229 + ], + "velocities": [ + -1.4036153119848622, + -0.48055776479308099, + 0.55490734729374569, + -0.071878260927654633, + -0.0014793406650510789, + -0.18196950624353267 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9237846839005805, + -1.0010203083668414, + 1.1558933485180489, + -0.14972518225702303, + -0.0030815235070807872, + -0.37904948082916468 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 581647406, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.99151046999579884, + -1.214923572689957, + 1.6947399286526685, + -2.0497644974994986, + -1.5721305998351083, + -3.2751978668311881 + ], + "velocities": [ + -1.7325416661085873, + -0.59317274709596601, + 0.68494557718715754, + -0.08872237348884586, + -0.0018260126679194883, + -0.22461264766505107 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0215067424352231, + -0.69210613005147692, + 0.79918545658700646, + -0.10352009404512666, + -0.0021305674732839935, + -0.26207507188618773 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 672556266, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.8208215514713868, + -1.2733625797744881, + 1.7622203374100229, + -2.058505370100701, + -1.5723104974581186, + -3.2973265640318528 + ], + "velocities": [ + -1.9655338139816776, + -0.6729425991631256, + 0.77705703651122349, + -0.10065375543938744, + -0.0020715747931278998, + -0.25481854934272086 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8039848957660998, + 0.96000428501842594, + -1.1085315236131463, + 0.14359031014712215, + 0.0029552604941240446, + 0.36351822514348364 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 755677857, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.65013263294697454, + -1.3318015868590194, + 1.8297007461673773, + -2.0672462427019038, + -1.5724903950811286, + -3.3194552612325179 + ], + "velocities": [ + -1.9289024953543989, + -0.66040108265882425, + 0.76257515698641809, + -0.098777888557675955, + -0.0020329672068490185, + -0.25006953947745431 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9589909527111131, + 1.0130739285445585, + -1.1698118467467939, + 0.15152807323024414, + 0.0031186291617914578, + 0.38361374234543177 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 850277980, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.47944371442256251, + -1.3902405939435505, + 1.8971811549247315, + -2.0759871153031062, + -1.5726702927041389, + -3.3415839584331826 + ], + "velocities": [ + -1.6499087399137313, + -0.56488159497512069, + 0.6522773542899124, + -0.084490793098168704, + -0.001738921677283776, + -0.21389983151753217 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9606903225940777, + 1.0136557442212084, + -1.1704836781423389, + 0.15161509689747524, + 0.0031204202130182207, + 0.3838340544893506 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 964413209, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.30875479589815047, + -1.4486796010280816, + 1.9646615636820859, + -2.0847279879043086, + -1.572850190327149, + -3.3637126556338477 + ], + "velocities": [ + -1.2957433064683823, + -0.44362547329403723, + 0.51226106955846129, + -0.066354203094217037, + -0.0013656489412442855, + -0.16798460923241701 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3890545750278633, + 0.81794400270582379, + -0.9444923587318349, + 0.12234198832687328, + 0.0025179445918650945, + 0.30972523432499405 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 120152783, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.13806587737373843, + -1.5071186081126129, + 2.0321419724394403, + -2.0934688605055114, + -1.5730300879501593, + -3.3858413528345124 + ], + "velocities": [ + -0.80337407201355049, + -0.2750523202782727, + 0.31760709033247048, + -0.041140283008914556, + -0.00084671627890484298, + -0.10415217186996462 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0567247087317626, + 1.0465351731869372, + -1.2084500539759615, + 0.15653295765741504, + 0.0032216356753022178, + 0.39628428189755222 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 454339741, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.03262304115067375, + -1.565557615197144, + 2.0996223811967947, + -2.1022097331067138, + -1.5732099855731694, + -3.4079700500351775 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.34467845560269583, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.03262304115067375, + -1.565557615197144, + 2.0996223811967947, + -2.1022097331067138, + -1.5732099855731694, + -3.4079700500351775 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.14055054914544199, + 1.7473808547067506, + 1.4213099556021827, + -2.4908438177161378, + -0.48240333512613809, + -0.8118719028396163 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 64351102, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.031909373329770563, + -1.5661748580701842, + 2.101327732147757, + -2.1067392241984346, + -1.5707625839816466, + -3.4038483555463617 + ], + "velocities": [ + 0.0055472133971602522, + 0.059321073479888457, + 0.08255407773411029, + -0.16862058069720984, + 0.019007076881685372, + 0.032031650524052213 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.7737535247910657e-05, + 1.6119473087161673, + 1.4655046540545567, + -3.0775952490256508, + -0.00020256967685579634, + 0.00014977654886010367 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 157751238, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.031908980336760484, + -1.5541977900212642, + 2.1142736848524057, + -2.1316634245006165, + -1.5707642515389562, + -3.403847122556559 + ], + "velocities": [ + 5.934521386841135e-06, + 0.18654574319037293, + 0.19162169853330918, + -0.37818525405039372, + -2.5181814790551549e-05, + 1.8619286138186373e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.4970871588250573e-05, + 1.7539392907795763, + 1.217970968617371, + -2.9720452433539029, + -0.00019083427705562245, + 0.00014109752465948106 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 209050116, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.031908587314768075, + -1.5416368729238521, + 2.1268232355755101, + -2.1567750719732919, + -1.5707659192512711, + -3.4038458894640908 + ], + "velocities": [ + 8.6925867695999536e-06, + 0.28507496700149648, + 0.27256376423210688, + -0.55766482205656442, + -3.6885509296492522e-05, + 2.7272749881703999e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.8485045872478343e-05, + -1.3807635428202623, + -1.6660780002679123, + 3.0469870768608263, + 0.00020574414843980464, + -0.0001521246120086644 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 249470324, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.031908194278424069, + -1.528488486701036, + 2.1389691669327093, + -2.1820705692564561, + -1.5707675870414228, + -3.4038446563209956 + ], + "velocities": [ + 8.5959083768202642e-06, + 0.29317332708563604, + 0.26173556080303062, + -0.55493468848311589, + -3.647531319645259e-05, + 2.6969389189734577e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.8695465092547076e-05, + -1.6503319433711934, + -1.4905984465267694, + 3.1410765494264581, + 0.00020663136246985283, + -0.00015278063708540652 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 302097379, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.031907801256515579, + -1.5147499697947584, + 2.1507039245790933, + -2.2075450234558525, + -1.5707692547575749, + -3.403843423232547 + ], + "velocities": [ + 5.2804115767801969e-06, + 0.18691300159131125, + 0.15601433958799954, + -0.34294319016865216, + -2.2406404768751826e-05, + 1.6567015503324579e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.8676912766524879e-05, + -1.774910263843406, + -1.4015407470138725, + 3.1765971119345284, + 0.00020654994396423416, + -0.00015272045174721704 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 429170556, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.031907408249043222, + -1.5004197060863753, + 2.1620196789087021, + -2.2331922210841637, + -1.5707709223997235, + -3.403842190198747 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43740708852289134, + "y": 0.095248191729878404, + "z": 0.11189178182404158 + }, + "34": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44527419955756037, + 0.026038025987947001, + 0.16189178182404157 + ], + "xaxis": [ + -0.9999106708191724, + 0.013342277114835946, + -0.00079625582798789672 + ], + "yaxis": [ + -0.013342272884424621, + -0.99991098785911503, + -1.0624811648548895e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44527419955756037, + 0.026038025987947001, + 0.11189178182404158 + ], + "xaxis": [ + -0.9999106708191724, + 0.013342277114835946, + -0.00079625582798789661 + ], + "yaxis": [ + -0.013342272884424621, + -0.99991098785911503, + -1.0624811648548896e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3225114994249481, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3111326920100499, + -0.2669491753334432, + 0.30638531116816464, + -0.03317101180262727, + 3.1528110866034718, + -0.053737056023332785 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 468798727, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7587890106829882, + -1.0690849867538499, + 1.526131957591891, + -2.0272048598291614, + -1.2234349796491908, + -3.2147458049116504 + ], + "velocities": [ + 0.92773039986636707, + -0.10715821987732799, + 0.12298859698791648, + -0.013315443180745564, + 1.2655953075259565, + -0.021571024738009641 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3124873335090301, + -0.26710564425117189, + 0.30656489508327184, + -0.033190454575976483, + 3.1546590673581343, + -0.053768553326114202 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 663458543, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.014000795796941, + -1.0985634220713361, + 1.5599652128031765, + -2.0308678399624318, + -0.87527905233230363, + -3.2206798345941072 + ], + "velocities": [ + 1.5099448015915138, + -0.1744073462235135, + 0.20017236980019956, + -0.021671796261660298, + 2.0598430921232, + -0.035108320987273768 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2612103806331887, + -0.26118286001158469, + 0.29976714382611269, + -0.032454491463673359, + 3.0847078498996905, + -0.052576292709053778 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 812807910, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2692125809108941, + -1.1280418573888225, + 1.5937984680144617, + -2.0345308200957017, + -0.52712312501541669, + -3.2266138642765645 + ], + "velocities": [ + 1.8646560756520261, + -0.21537854723645788, + 0.24719620553823568, + -0.026762863468257111, + 2.5437346667037044, + -0.043355852456235203 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9513893408256611, + -0.22539674034673929, + 0.25869437634025272, + -0.028007720664343184, + 2.6620548310811478, + -0.045372521748270146 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 939119855, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5244243660248471, + -1.1575202927063089, + 1.6276317232257471, + -2.0381938002289721, + -0.17896719769852942, + -3.2325478939590213 + ], + "velocities": [ + 2.1373413910807271, + -0.24687527623470512, + 0.28334591494585548, + -0.03067663607324983, + 2.9157277108979121, + -0.049696166070677568 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.82453251401281791, + -0.095238267976708854, + 0.10930772246330131, + -0.011834274097945796, + 1.1248143650219342, + -0.019171530069073212 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 52336247, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7796361511388001, + -1.186998728023795, + 1.6614649784370326, + -2.0418567803622425, + 0.16918872961835763, + -3.2384819236414786 + ], + "velocities": [ + 2.2999593229194311, + -0.26565858666463016, + 0.30490406512051821, + -0.033010643702923864, + 3.1375685511725058, + -0.053477259620098701 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.2654000349142324e-14, + 5.1021875545534888e-15, + -2.4490500261856745e-14, + 6.377734443191861e-16, + 0.0, + -3.6544418359489362e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 161134974, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0348479362527527, + -1.2164771633412814, + 1.695298233648318, + -2.0455197604955129, + 0.51734465693524445, + -3.2444159533239354 + ], + "velocities": [ + 2.3457239940117978, + -0.27094467051855642, + 0.31097105687811633, + -0.033667490646501076, + 3.2000000000000002, + -0.054541352003405888 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.4899250480070681e-14, + 1.530656266366046e-14, + 2.2449625240035341e-14, + -3.8266406659151149e-16, + 0.0, + 3.6863305081648939e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 269933701, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2900597213667062, + -1.2459555986587678, + 1.7291314888596032, + -2.0491827406287833, + 0.86550058425213194, + -3.2503499830063927 + ], + "velocities": [ + 2.3457239940117969, + -0.27094467051855531, + 0.31097105687811621, + -0.033667490646501062, + 3.2000000000000002, + -0.054541352003405867 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.3471500785570254e-14, + -1.8367875196392563e-14, + 0.0, + 0.0, + 0.0, + -3.7501078525968149e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 378732428, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5452715064806588, + -1.275434033976254, + 1.7629647440708887, + -2.0528457207620536, + 1.213656511569019, + -3.2562840126888495 + ], + "velocities": [ + 2.3457239940117987, + -0.27094467051855547, + 0.31097105687811744, + -0.033667490646501083, + 3.2000000000000002, + -0.054541352003405902 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.3471500785570254e-14, + 0.0, + 0.0, + 3.7501078525968149e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 487531156, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8004832915946123, + -1.3049124692937404, + 1.7967979992821741, + -2.056508700895324, + 1.561812438885906, + -3.2622180423713067 + ], + "velocities": [ + 2.3457239940117987, + -0.27094467051855647, + 0.31097105687811744, + -0.033667490646499043, + 3.2000000000000002, + -0.054541352003407942 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.4899250480070681e-14, + 2.1939406484579993e-14, + -3.5715312881874403e-15, + -3.7118414459376613e-14, + 0.0, + 3.8138851970287315e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 596329883, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0556950767085649, + -1.3343909046112268, + 1.8306312544934595, + -2.0601716810285939, + 1.9099683662027931, + -3.268152072053764 + ], + "velocities": [ + 2.3457239940117969, + -0.27094467051855531, + 0.31097105687811721, + -0.033667490646499022, + 3.2000000000000002, + -0.054541352003405867 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.163500087285589e-15, + -2.857225030549956e-14, + -7.6532813318302395e-15, + -1.2117695442064547e-15, + 0.0, + -3.9414398858925735e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 705128610, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3109068618225184, + -1.363869339928713, + 1.864464509704745, + -2.0638346611618643, + 2.2581242935196806, + -3.2740861017362208 + ], + "velocities": [ + 2.3457239940118, + -0.27094467051855564, + 0.31097105687811666, + -0.033667490646501111, + 3.2000000000000002, + -0.054541352003405943 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.1635000872855884e-14, + 9.6941563536516375e-15, + 7.6532813318302395e-15, + 1.2117695442064547e-15, + 0.0, + 3.9414398858925735e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 813927338, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.566118646936471, + -1.3933477752461993, + 1.8982977649160302, + -2.0674976412951347, + 2.6062802208365667, + -3.2800201314186781 + ], + "velocities": [ + 2.345723994011796, + -0.27094467051855664, + 0.31097105687811666, + -0.033667490646501111, + 3.2000000000000002, + -0.054541352003405943 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.82453251401276451, + 0.095238267976706689, + -0.10930772246329913, + 0.011834274097945525, + -1.1248143650219282, + 0.019171530069072806 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 922726065, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8213304320504236, + -1.4228262105636857, + 1.9321310201273156, + -2.0711606214284051, + 2.9544361481534542, + -3.2859541611011349 + ], + "velocities": [ + 2.2999593229194293, + -0.26565858666462971, + 0.30490406512051771, + -0.033010643702923809, + 3.1375685511725062, + -0.053477259620098617 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0821281602945074, + 0.24049782916000076, + -0.27602633396570636, + 0.029884176714972493, + -2.8404066846531575, + 0.048412381506435453 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 35942457, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.076542217164377, + -1.4523046458811719, + 1.9659642753386011, + -2.0748236015616754, + 3.3025920754703417, + -3.2918881907835922 + ], + "velocities": [ + 2.1289626033743709, + -0.24590747785764114, + 0.28223514467831523, + -0.030556377783077109, + 2.9042974997013724, + -0.049501347579320107 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.094448981751607, + 0.24192095520499168, + -0.27765969700411791, + 0.030061013862946604, + -2.8572145566633944, + 0.048698857776298732 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 163310772, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3317540022783305, + -1.4817830811986583, + 1.9997975305498865, + -2.0784865816949454, + 3.6507480027872292, + -3.297822220466049 + ], + "velocities": [ + 1.859094818691398, + -0.21473618993495391, + 0.24645895343226237, + -0.026683044373093608, + 2.536148086901715, + -0.043226545481397025 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3143951136417393, + 0.26732600387608974, + -0.30681780821613702, + 0.033217836386444585, + -3.1572616311892987, + 0.053812911872997665 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 312169259, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5869657873922831, + -1.5112615165161447, + 2.0336307857611717, + -2.0821495618282158, + 3.9989039301041158, + -3.3037562501485063 + ], + "velocities": [ + 1.5163052665146957, + -0.17514201666102291, + 0.20101557236983181, + -0.021763086155040273, + 2.0685199389330302, + -0.035256210661065865 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3361777366124805, + 0.26984202264849516, + -0.3097055159362711, + 0.033530476005170409, + -3.1869771449003417, + 0.05431938821462623 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 505782660, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.8421775725062357, + -1.5407399518336309, + 2.0674640409724572, + -2.0858125419614861, + 4.3470598574210024, + -3.3096902798309631 + ], + "velocities": [ + 0.93127333404382084, + -0.10756744923927752, + 0.12345828139598194, + -0.013366293879116342, + 1.2704285229412364, + -0.021653402895282489 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3225114994249512, + 0.26826349331535454, + -0.30789379203669615, + 0.033334328498533204, + -3.1683338777846251, + 0.054001629153929212 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 974581387, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0973893576201892, + -1.5702183871511173, + 2.1012972961837426, + -2.0894755220947565, + 4.6952157847378899, + -3.3156243095134204 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.53455824534301144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0973893576201892, + -1.5702183871511173, + 2.1012972961837426, + -2.0894755220947565, + 4.6952157847378899, + -3.3156243095134204 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.29381132585725694, + 1.3922160909537966, + 1.1350964197699061, + -1.2654633751173558, + -1.6582335453635872, + 0.14271365029983279 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 107160981, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0943200642464941, + -1.5701103038792414, + 2.1052764178960359, + -2.1067446056005843, + 4.7125384840517057, + -3.3171151644289023 + ], + "velocities": [ + -0.014320946491904126, + 0.068867979409505606, + 0.09245903825888234, + -0.22283204658843533, + 0.080825591020143472, + -0.0069561461820349443 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.182491894342172e-09, + 1.6031451037091948, + 1.4399844210224886, + -3.0431295247319059, + -9.5633266569190373e-13, + 1.182219851762011e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 194967931, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.094320064256376, + -1.5581046921029307, + 2.1182530460113345, + -2.1317268454921949, + 4.7125384840516977, + -3.3171151644190195 + ], + "velocities": [ + 1.5351969874166378e-10, + 0.19228372626952753, + 0.19768799211147797, + -0.3899717183810284, + -1.2417747881233947e-13, + 1.5352038633782874e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0805098465753124e-09, + 1.6969500221997431, + 1.1580382460090279, + -2.8549882682087007, + -8.74351377027277e-13, + 1.0807012244435165e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 245779436, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0943200642662587, + -1.5455115637934795, + 2.1308334712128376, + -2.1569003990031508, + 4.7125384840516897, + -3.3171151644091372 + ], + "velocities": [ + 2.1917111380989232e-10, + 0.28658865540133049, + 0.27403301285380627, + -0.56062166825516568, + -1.7728396232969134e-13, + 2.1916674384273204e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1769300736261643e-09, + -1.3253753861601041, + -1.6205322723292934, + 2.9459076584895287, + 9.5233436069825092e-13, + -1.1772968996809712e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 286304870, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0943200642761406, + -1.532327131952985, + 2.1430103888555689, + -2.1822617484863778, + 4.7125384840516817, + -3.3171151643992554 + ], + "velocities": [ + 2.1655635023791149e-10, + 0.29460809471614258, + 0.2629035377647353, + -0.55751163248090219, + -1.7516902819220347e-13, + 2.1654784529627286e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2438409075674751e-09, + -1.6817798381722857, + -1.5175071003129839, + 3.1992869384854101, + 1.0060094282887216e-12, + -1.2436512110155908e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 338520303, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0943200642860234, + -1.5185485768221187, + 2.1547761521777775, + -2.2078060669394537, + 4.7125384840516737, + -3.3171151643893735 + ], + "velocities": [ + 1.3350204124493168e-10, + 0.18847729540410166, + 0.15729454080945618, + -0.34577183621357283, + -1.0798506441934544e-13, + 1.3349353630329306e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2229963820666279e-09, + -1.7790038757109152, + -1.4042834838452052, + 3.1832873595562576, + 9.8930140559047739e-13, + -1.2229963820666279e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 465642693, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0943200642959052, + -1.5041741348387516, + 2.1661228342970995, + -2.2335271910421439, + 4.7125384840516658, + -3.3171151643794916 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44527419955756037, + "y": 0.026038025987947001, + "z": 0.11189178182404158 + }, + "35": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43488625573715733, + -0.042263672977252101, + 0.16189178182404157 + ], + "xaxis": [ + -0.95731258009913289, + 0.28905370233070632, + -0.0007623338197657012 + ], + "yaxis": [ + -0.28905361068097923, + -0.95731288363257272, + -0.00023018118400228298 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43488625573715733, + -0.042263672977252101, + 0.11189178182404158 + ], + "xaxis": [ + -0.95731258009913289, + 0.28905370233070632, + -0.0007623338197657012 + ], + "yaxis": [ + -0.28905361068097923, + -0.95731288363257272, + -0.00023018118400228301 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.76205592896520469, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.76194933096293638, + -0.11724599358786063, + -2.0008961816441899, + 2.3810460411899168, + 1.91653659754913, + 3.1446865334991858 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 365733705, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4526104894792176, + -1.0474491275368361, + 1.3584589003243392, + -1.8642738808045902, + -1.4433939114384111, + -2.9984639185869333 + ], + "velocities": [ + -0.2378817062199603, + -0.036604372323402731, + -0.6246827424298621, + 0.74336608990879671, + 0.59834555571013848, + 0.98177577919824965 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.72632627280194451, + -0.11176444687734202, + -1.9073492249683361, + 2.2697261171969716, + 1.8269336647716461, + 2.9976644852754442 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 517236162, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4016437533893997, + -1.0552917036373086, + 1.2246190982680729, + -1.7050058819132894, + -1.3151969159107444, + -2.7881160619446734 + ], + "velocities": [ + -0.38523927196152341, + -0.059279218938496872, + -1.0116470439222678, + 1.2038496605222362, + 0.9689950939314641, + 1.5899439785338805 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.70366587860083163, + -0.10827754778151147, + -1.8478425171216621, + 2.198913742001102, + 1.7699358132918341, + 2.9041414206931879 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 634652127, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3506770172995821, + -1.0631342797377812, + 1.0907792962118066, + -1.5457378830219886, + -1.1869999203830774, + -2.5777682053024136 + ], + "velocities": [ + -0.47228804432521521, + -0.07267396763325118, + -1.240239089562899, + 1.4758718625301752, + 1.1879494931641559, + 1.9492081593473127 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.75174223646594907, + -0.11567536298643405, + -1.974092120567146, + 2.3491494819876939, + 1.8908626198143674, + 3.1025602249553708 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 734487814, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2997102812097645, + -1.0709768558382537, + 0.95693949415554025, + -1.3864698841306877, + -1.0588029248554107, + -2.3674203486601537 + ], + "velocities": [ + -0.54575492501851186, + -0.083978784203928486, + -1.4331647803968943, + 1.7054514662188791, + 1.3727412632133975, + 2.2524177048986256 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.64826593965446055, + -0.099752806538826774, + -1.7023610240662561, + 2.0257922495999701, + 1.6305879509366652, + 2.675497028104687 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 822209699, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2487435451199467, + -1.0788194319387263, + 0.82309969209927392, + -1.2272018852393869, + -0.930605929327744, + -2.1570724920178939 + ], + "velocities": [ + -0.60821940536248409, + -0.093590591399325407, + -1.5971979189924623, + 1.9006492275320082, + 1.529858617033786, + 2.5102185876836653 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.591378175933434, + -0.090999124227714001, + -1.5529724694914984, + 1.8480213938542294, + 1.4874977522926813, + 2.4407121451408567 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 902417311, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1977768090301291, + -1.0866620080391987, + 0.68925989004300758, + -1.0679338863480861, + -0.80240893380007727, + -1.946724635375634 + ], + "velocities": [ + -0.65835381771337842, + -0.10130509254810355, + -1.7288520200796147, + 2.057316264570578, + 1.6559620627126237, + 2.7171313113755602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.57695630332340686, + -0.088779938889687132, + -1.5151003057334045, + 1.8029539053883619, + 1.4512223130486788, + 2.3811907744384229 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 977228399, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1468100729403115, + -1.0945045841396712, + 0.55542008798674136, + -0.90866588745678523, + -0.67421193827241055, + -1.7363767787333741 + ], + "velocities": [ + -0.70222847980115144, + -0.10805636607873642, + -1.8440678753536219, + 2.1944219568094701, + 1.7663203138184407, + 2.8982090463673038 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.76598631691163688, + -0.11786719031240335, + -2.011497398079388, + 2.3936613805845588, + 1.9266908571568691, + 3.1613478190113389 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 47703828, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0958433368504936, + -1.1023471602401438, + 0.42158028593047492, + -0.74939788856548439, + -0.5460149427447436, + -1.5260289220911143 + ], + "velocities": [ + -0.74926805608720026, + -0.11529464510267073, + -1.9675948669161296, + 2.3414178164338901, + 1.8846392962256879, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 113437534, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.044876600760676, + -1.1101897363406164, + 0.28774048387420859, + -0.59012988967418356, + -0.41781794721707688, + -1.3156810654488544 + ], + "velocities": [ + -0.77535163937891105, + -0.11930829209348005, + -2.0360909467617905, + 2.4229274525907867, + 1.9502475196893274, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7023531291541533e-14, + 0.0, + -5.4047062583083067e-14, + 5.4047062583083067e-14, + 5.4047062583083067e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 179171239, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.9939098646708584, + -1.1180323124410889, + 0.15390068181794225, + -0.43086189078288273, + -0.28962095168941016, + -1.1053332088065946 + ], + "velocities": [ + -0.77535163937891194, + -0.11930829209348005, + -2.0360909467617923, + 2.4229274525907885, + 1.9502475196893292, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7023531291541533e-14, + 0.0, + 1.0133824234328075e-13, + -1.0809412516616613e-13, + -1.0471618375472344e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 244904944, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.94294312858104068, + -1.1258748885415615, + 0.020060879761675698, + -0.27159389189158167, + -0.16142395616174321, + -0.89498535216433472 + ], + "velocities": [ + -0.77535163937891194, + -0.11930829209348005, + -2.0360909467617905, + 2.4229274525907867, + 1.9502475196893276, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.76598631691165975, + 0.11786719031240335, + 2.0114973980793653, + -2.3936613805844611, + -1.92669085715682, + -3.1613478190113389 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 310638649, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89197639249122307, + -1.133717464642034, + -0.11377892229459041, + -0.11232589300028106, + -0.033226960634076708, + -0.68463749552207487 + ], + "velocities": [ + -0.74926805608719949, + -0.11529464510267073, + -1.9675948669161272, + 2.3414178164338901, + 1.8846392962256862, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.57695630332338554, + 0.088779938889687132, + 1.5151003057334045, + -1.8029539053884414, + -1.4512223130487185, + -2.3811907744384229 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 381114078, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84100965640140535, + -1.1415600407425066, + -0.24761872435085674, + 0.046942105891019992, + 0.094970034893590238, + -0.47428963887981501 + ], + "velocities": [ + -0.70222847980115066, + -0.10805636607873642, + -1.8440678753536202, + 2.1944219568094701, + 1.7663203138184391, + 2.8982090463673038 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.59137817593341535, + 0.090999124227714001, + 1.552972469491444, + -1.8480213938542323, + -1.4874977522926067, + -2.4407121451408567 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 455925167, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.79004292031158774, + -1.1494026168429792, + -0.38145852640712286, + 0.2062101047823206, + 0.22316703042125674, + -0.26394178223755516 + ], + "velocities": [ + -0.6583538177133792, + -0.10130509254810355, + -1.7288520200796151, + 2.0573162645705749, + 1.6559620627126237, + 2.7171313113755602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.6303416330549434, + 0.096994679388847288, + 1.6552913894118, + -1.9697798646083788, + -1.5855028144482448, + -2.6015205531668082 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 536132779, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.73907618422177002, + -1.1572451929434515, + -0.51529832846338941, + 0.36547810367362121, + 0.35136402594892369, + -0.0535939255952953 + ], + "velocities": [ + -0.60900940071971488, + -0.093712153013496335, + -1.5992724646736076, + 1.9031179157261633, + 1.5318456980016442, + 2.5134790246450982 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.65562701797597667, + 0.10088550251562298, + 1.7216913822773521, + -2.0487951786452916, + -1.6491033238456982, + -2.7058773735278008 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 623616758, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68810944813195229, + -1.1650877690439241, + -0.64913813051965574, + 0.52474610256492227, + 0.47956102147659063, + 0.15675393104696456 + ], + "velocities": [ + -0.55223768372268611, + -0.084976327550414246, + -1.4501886514216402, + 1.7257096990452774, + 1.389047392511956, + 2.2791730850381162 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.68632181814486704, + 0.10560870679908471, + 1.8022966219678855, + -2.1447145914688055, + -1.7263101740751763, + -2.8325597142257593 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 721274442, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63714271204213468, + -1.1729303451443966, + -0.78297793257592208, + 0.68401410145622288, + 0.60775801700425713, + 0.36710178768922441 + ], + "velocities": [ + -0.48567942425194222, + -0.07473458450266604, + -1.2754051562204696, + 1.517719123056418, + 1.2216329267972301, + 2.0044765222282517 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.72545324319582072, + 0.11163010825475363, + 1.9050566294709643, + -2.2669979519462737, + -1.8247377271641023, + -2.994061352712404 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 834668130, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.58617597595231696, + -1.1807729212448692, + -0.91681773463218841, + 0.84328210034752393, + 0.73595501253192408, + 0.57744964433148427 + ], + "velocities": [ + -0.40297145755257219, + -0.062007783205991499, + -1.0582121644618412, + 1.2592616788645246, + 1.0135969870741874, + 1.6631275393977105 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.74078825567484763, + 0.11398980423678821, + 1.9453267191841455, + -2.3149189478327532, + -1.8633099936464153, + -3.0573513974361508 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 977642040, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.53520923986249935, + -1.1886154973453418, + -1.0506575366884547, + 1.0025500992388245, + 0.86415200805959058, + 0.78779750097374412 + ], + "velocities": [ + -0.28634024289795362, + -0.04406099581494767, + -0.75193595608453678, + 0.89479611580458229, + 0.72023365933204375, + 1.1817718964358364 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2285088875367545, + -1.43852873336322, + -0.33969288973559542, + 1.563893710136933, + -0.097048585035935248, + -3.1839698903709253 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 213375745, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.48424250377268152, + -1.1964580734458143, + -1.1844973387447211, + 1.1618180981301258, + 0.99234900358725742, + 0.9981453576160042 + ], + "velocities": [ + -0.072382657337147313, + -0.20167795217061962, + -0.60752643377716076, + 0.85871244568229987, + 0.5324597202608351, + 0.51956265123525913 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.21848080766268424, + -1.1318256058843894, + -1.9795998859765318, + 3.1860980060486308, + 1.593658011482231, + 0.44899648143888354 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 445923706, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50085558823518783, + -1.2825210763637418, + -1.3350243367887369, + 1.4040861300298868, + 1.1135293279935103, + 1.0322866469553811 + ], + "velocities": [ + 0.092177399545371033, + -0.47751901965852173, + -0.83519633409335481, + 1.3442198060146349, + 0.67236684464238772, + 0.1894323282068639 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.21991810740796386, + -1.1392714436787563, + -1.9926228990379744, + 3.2070580981570376, + 1.6041420639648023, + 0.45195025360455671 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 593052292, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51746867269769414, + -1.3685840792816693, + -1.4855513348327529, + 1.646354161929648, + 1.2347096523997632, + 1.0664279362947577 + ], + "velocities": [ + 0.1274384630521696, + -0.66018666444921159, + -1.1546880004059354, + 1.8584306666025199, + 0.92957056405444893, + 0.26189678682782097 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.19027481427658596, + -0.98570629272679644, + -1.7240324432875649, + 2.7747709872250033, + 1.3879158787408992, + 0.39103078677979985 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 710077559, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.53408175716020045, + -1.4546470821995967, + -1.6360783328767687, + 1.8886221938294092, + 1.3558899768060162, + 1.1005692256341346 + ], + "velocities": [ + 0.15238235651855087, + -0.78940688126244696, + -1.3806983726217679, + 2.2221865959518254, + 1.1115180590565354, + 0.3131585911007313 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.19068274258333273, + 0.98781953877289397, + 1.727728579521048, + -2.7807197915096511, + -1.3908914179707124, + -0.39186911384554157 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 812121529, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.55069484162270677, + -1.5407100851175244, + -1.7866053309207848, + 2.1308902257291704, + 1.4770703012122692, + 1.1347105149735115 + ], + "velocities": [ + 0.15235810901915753, + -0.78928126866980952, + -1.380478672101856, + 2.2218329955129805, + 1.1113411912479614, + 0.31310876044499658 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.20259434432758197, + 1.0495268164301998, + 1.8356566200064848, + -2.9544262647335926, + -1.4777778578021308, + -0.41634845978300716 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 929186787, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.56730792608521308, + -1.6267730880354518, + -1.9371323289648006, + 2.3731582576289316, + 1.598250625618522, + 1.1688518043128884 + ], + "velocities": [ + 0.12869760711945422, + -0.66670957834767353, + -1.1660967894830649, + 1.8767927206658537, + 0.93875510091105141, + 0.26448443405360517 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.19973942102830422, + 1.034737072069922, + 1.8097888749254221, + -2.9127930177286534, + -1.4569532762897508, + -0.41048135168380495 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 73045196, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.58392101054771939, + -1.7128360909533793, + -2.0876593270088164, + 2.6154262895286924, + 1.7194309500247749, + 1.202993093652265 + ], + "velocities": [ + 0.097994194991627023, + -0.50765254992461606, + -0.88790086098221144, + 1.4290459313442421, + 0.71479612144363136, + 0.20138633330488137 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4007160800187317, + 0.75810765753533182, + 2.0318652979610095, + -3.1187687666199935, + 0.49589604321212549, + -1.0663476042892757 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 279403028, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.6005340950102257, + -1.7988990938713068, + -2.2381863250528324, + 2.8576943214284536, + 1.8406112744310279, + 1.2371343829916419 + ], + "velocities": [ + -0.21123022411611853, + -0.32493143197459506, + -0.48253303740728615, + 0.7950244713648823, + 0.64749552338183869, + 0.03586383985739558 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6982855357553079, + 0.79548792454247796, + 1.8621268241908817, + -2.9384978106941251, + 0.81998066104830636, + -0.67610633496707362 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 559127535, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.45984199835594008, + -1.8640205662549745, + -2.3040948952557145, + 2.97406807061284, + 2.0385882798787556, + 1.2109187856242443 + ], + "velocities": [ + -0.84288393547475149, + -0.13259392808634779, + -0.0010376208154012911, + 0.045851767862254228, + 0.81105439804309576, + -0.17889203281193805 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6727579194357265, + -0.073173360966409778, + 0.52773658182262839, + -0.73287527332578217, + 2.0661466049563075, + -0.59670302973551292 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 783304169, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.1946856008943042, + -1.8712798786838791, + -2.2517397119346794, + 2.9013616852531054, + 2.2435645653904142, + 1.1517216452590153 + ], + "velocities": [ + -1.437317206834229, + -0.039350114738830197, + 0.28379856784399088, + -0.39411509480696788, + 1.1111025228101428, + -0.32088634955388917 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9177697716996676, + -0.079881166629012804, + 0.5761142206950266, + -0.80005798631682667, + 2.2555503676569977, + -0.65140282634033153 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 940031439, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.070470796567331684, + -1.8785391911127838, + -2.1993845286136442, + 2.8286552998933709, + 2.4485408509020727, + 1.0925245048937866 + ], + "velocities": [ + -1.8980711237684376, + -0.051964393209523847, + 0.37477452021740365, + -0.52045468970764364, + 1.4672833554517006, + -0.42375135509662626 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7880072322826224, + -0.076328596054780054, + 0.5504925815249796, + -0.76447685274271315, + 2.1552388398836047, + -0.62243286244897189 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 66037833, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.33562719402896757, + -1.8857985035416884, + -2.147029345292609, + 2.7559489145336364, + 2.6535171364137313, + 1.0333273645285577 + ], + "velocities": [ + -2.2681300717583168, + -0.062095672508411054, + 0.44784273296683286, + -0.62192555269997607, + 1.753353423175759, + -0.50636837545622471 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7210693329987894, + -0.074496005444492586, + 0.53727568002209125, + -0.74612235423883821, + 2.1034932207452637, + -0.60748873039112483 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 175068150, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.60078359149060345, + -1.8930578159705933, + -2.0946741619715743, + 2.6832425291739019, + 2.8584934219253899, + 0.97413022416332895 + ], + "velocities": [ + -2.5726009651469823, + -0.070431316535011723, + 0.50796057131387584, + -0.70541204715177153, + 1.9887213545953848, + -0.57434262154494387 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7174406706350007, + -0.07439666183428971, + 0.53655919991792034, + -0.74512736816011171, + 2.1006881225471514, + -0.60667861818054403 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 272794609, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.86593998895223945, + -1.900317128399498, + -2.0423189786505391, + 2.6105361438141674, + 3.0634697074370489, + 0.91493308379810001 + ], + "velocities": [ + -2.8403466683800715, + -0.077761517615853953, + 0.56082701357354869, + -0.77882842504812122, + 2.1956992749314974, + -0.6341178339411272 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1040233557739128, + -0.057602845126469661, + 0.41543982931515311, + -0.57692718099669271, + 1.6264925011237643, + -0.46973094790781661 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 362149803, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1310963864138752, + -1.9075764408284026, + -1.989963795329504, + 2.5378297584544329, + 3.2684459929487071, + 0.85573594343287129 + ], + "velocities": [ + -3.0587212455253754, + -0.083740061966295548, + 0.60394511718539978, + -0.83870714685415571, + 2.3645113801717645, + -0.68287076096540722 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7494528228503117, + 0.07527307370546181, + -0.54288000572829598, + 0.75390516080410641, + -2.125434770620473, + 0.61382544882930412 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 446326437, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.396252783875511, + -1.9148357532573073, + -1.9376086120084688, + 2.4651233730946984, + 3.4734222784603661, + 0.79653880306764235 + ], + "velocities": [ + -3.0294860754096415, + -0.082939676850892097, + 0.59817262704190843, + -0.83069080795062633, + 2.3419114480788901, + -0.67634390177773573 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6114070717784319, + 0.071493729717885757, + -0.5156228447725606, + 0.7160527549381146, + -2.0187199956563773, + 0.58300622748951003 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 537477669, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.661409181337147, + -1.9220950656862119, + -1.8852534286874336, + 2.3924169877349635, + 3.6783985639720247, + 0.73734166270241353 + ], + "velocities": [ + -2.7843806179590938, + -0.076229308514708327, + 0.54977650580683024, + -0.76348242824048973, + 2.1524353249009875, + -0.62162320747096089 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.878578357333812, + 0.078808204693564018, + -0.56837586814769392, + 0.78931162642148844, + -2.2252538686188199, + 0.64265319902777973 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 637168430, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9265655787987828, + -1.9293543781151166, + -1.8328982453663987, + 2.319710602375229, + 3.8833748494836833, + 0.6781445223371847 + ], + "velocities": [ + -2.5069925924528746, + -0.068635125004662317, + 0.49500618510001293, + -0.68742210735175946, + 1.9380035116089693, + -0.55969531118514282 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.80976275004689, + 0.076924207180947571, + -0.55478821282675439, + 0.77044225683406176, + -2.1720567076152388, + 0.6272898617563214 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 749799828, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.191721976260419, + -1.9366136905440214, + -1.7805430620453635, + 2.2470042170154945, + 4.0883511349953423, + 0.61894738197195587 + ], + "velocities": [ + -2.1824463287742839, + -0.059749868046012379, + 0.4309244609036057, + -0.59843090842173341, + 1.687116532292734, + -0.48723916488842095 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0907694471206852, + 0.08461746077843936, + -0.61027304095300894, + 0.84749482430634759, + -2.389285895828293, + 0.69002563977072651 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 881672734, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4568783737220543, + -1.9438730029729261, + -1.7281878787243286, + 2.17429783165576, + 4.2933274205070004, + 0.55975024160672704 + ], + "velocities": [ + -1.7758430319292087, + -0.04861809677940214, + 0.35064055921746518, + -0.48693951590032991, + 1.3727962508967051, + -0.39646348432131245 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0730749454764705, + 0.08413303001629617, + -0.60677925809042144, + 0.84264295851086912, + -2.3756073526901909, + 0.6860752772391957 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 53741652, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7220347711836905, + -1.9511323154018307, + -1.6758326954032934, + 2.1015914462960255, + 4.4983037060186586, + 0.50055310124149821 + ], + "velocities": [ + -1.09059537634476, + -0.029857746772075991, + 0.21533827357819821, + -0.29904331354305447, + 0.84307296138944432, + -0.24347942645619602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0914406745377616, + 0.084635837289727636, + -0.61040557493977443, + 0.84767887613279491, + -2.3898047809240244, + 0.69017549375880116 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 467918286, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9871911686453263, + -1.9583916278307354, + -1.6234775120822582, + 2.028885060936291, + 4.7032799915303176, + 0.44135596087626944 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.20057360723401693, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9871911686453263, + -1.9583916278307354, + -1.6234775120822582, + 2.028885060936291, + 4.7032799915303176, + 0.44135596087626944 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.10419124248263321, + -0.29973650790384981, + -1.4248658876339952, + 3.1481198544968829, + -0.77193011871199535, + -0.62957334420677413 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 111471248, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9859450209504503, + -1.964130973369113, + -1.6184859193204171, + 2.0126072644958843, + 4.7125124278066464, + 0.44888578199876389 + ], + "velocities": [ + 0.0055895471930304096, + -0.067567193275725232, + -0.031660590847061992, + 0.022860337449139456, + 0.041411738089121852, + 0.033774722853682687 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.307846877027616e-08, + -1.4720546269446348, + -1.6494401210444032, + 3.1214947479906945, + -1.0293833035464715e-11, + -1.3078567232914465e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 214588016, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9859450210328276, + -1.9727563979892992, + -1.6296328807103173, + 2.0323796505059812, + 4.7125124278065815, + 0.44888578191638706 + ], + "velocities": [ + -1.2876455165968277e-09, + -0.13866121630793857, + -0.16974373683359276, + 0.30840495314169442, + -1.0134770077883466e-12, + -1.287645428040943e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2280429387246762e-08, + -1.5757343251621529, + -1.3195526861679057, + 2.8952870113313169, + -9.665432748610738e-12, + -1.228008111865168e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 260960422, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9859450211152043, + -1.9817375864703117, + -1.6403628571811679, + 2.0520908154578548, + 4.7125124278065167, + 0.44888578183401012 + ], + "velocities": [ + -2.0295772521688931e-09, + -0.22615882020269218, + -0.25858949419288979, + 0.48474831439583288, + -1.5974327234792825e-12, + -2.0295736638784107e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2213025461610708e-08, + 1.2007161902313814, + 1.7474601704867194, + -2.9481763607196978, + 9.6123802908856721e-12, + 1.2212822259944816e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 297047466, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9859450211975815, + -1.9910712248769313, + -1.6506762416747964, + 2.0717378383581129, + 4.7125124278064519, + 0.44888578175163329 + ], + "velocities": [ + -2.0312296972151936e-09, + -0.2339156165493663, + -0.24980585961119012, + 0.48372147616080041, + -1.5987333282187913e-12, + -2.0312231140153791e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3194033129601702e-08, + 1.5118515960886028, + 1.6321898979153251, + -3.1440414940053927, + 1.038474596175577e-11, + 1.3193996544828138e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 343333760, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9859450212799583, + -2.0007538022839646, + -1.660573169123442, + 2.0913173432138015, + 4.712512427806387, + 0.44888578166925663 + ], + "velocities": [ + -1.2577881847212924e-09, + -0.14938246443886855, + -0.14925303740378526, + 0.29863550184280696, + -9.8997862471055283e-13, + -1.2577872333557755e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3146436627751692e-08, + 1.6003265370067388, + 1.5129672443181272, + -3.1132937813265666, + 1.0347283756262923e-11, + 1.314644548672751e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 455280991, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9859450213623351, + -2.0107815944614162, + -1.6700535599977264, + 2.1108255262655482, + 4.7125124278063222, + 0.44888578158687981 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43488625573715733, + "y": -0.042263672977252101, + "z": 0.11189178182404158 + }, + "36": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40568459810196034, + -0.10479696316458501, + 0.16189178182404157 + ], + "xaxis": [ + -0.83775632925797494, + 0.54604385147028001, + -0.00066712795359901171 + ], + "yaxis": [ + -0.54604367833715783, + -0.83775659488392151, + -0.00043482930415745033 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40568459810196034, + -0.10479696316458501, + 0.11189178182404158 + ], + "xaxis": [ + -0.83775632925797494, + 0.54604385147028001, + -0.00066712795359901171 + ], + "yaxis": [ + -0.54604367833715783, + -0.83775659488392151, + -0.00043482930415745033 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0864145348207894, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0553730172239413, + -0.90471465070670221, + 1.0197508373213999, + -0.095292322545942124, + -0.0028445600317519464, + 0.17785907223394029 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 381184168, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2793470950177293, + -1.1060024654854974, + 1.5671369830400768, + -2.0305352680005457, + -1.5717996657865836, + -3.195758913021558 + ], + "velocities": [ + -1.000625614776167, + -0.29629136883028551, + 0.33396537927154407, + -0.0312079534294019, + -0.00093158498634829064, + 0.058248319434104884 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0485438491632948, + -0.90269249224626413, + 1.0174715575710018, + -0.095079331437497694, + -0.0028382020589721025, + 0.17746153337745624 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 539874423, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0551169644664236, + -1.1723983795346311, + 1.6419752636995479, + -2.0375286563052009, + -1.5720084246070893, + -3.1827060508139229 + ], + "velocities": [ + -1.6267960660588754, + -0.48170427191005849, + 0.54295388522543386, + -0.050737233905465612, + -0.0015145512653409621, + 0.094698891883893341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8145067443792349, + -0.83339267310355547, + 0.93936013476848002, + -0.087780078890913868, + -0.0026203129205422766, + 0.16383778855463055 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 661699754, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.83088683391511764, + -1.238794293583765, + 1.7168135443590191, + -2.0445220446098555, + -1.5722171834275953, + -3.1696531886062878 + ], + "velocities": [ + -1.9994100937020722, + -0.59203756606670033, + 0.66731626734533789, + -0.062358484701079159, + -0.0018614558705491921, + 0.11638946284998275 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7916593500744753, + -0.82662741981320564, + 0.93173466666965354, + -0.087067504270727222, + -0.0025990419384875865, + 0.16250779829448656 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 765594986, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60665670336381183, + -1.3051902076328989, + 1.7916518250184903, + -2.0515154329145102, + -1.5724259422481011, + -3.1566003263986526 + ], + "velocities": [ + -2.2950920952409497, + -0.67959081643400165, + 0.76600207983055069, + -0.07158034550263756, + -0.0021367365642457397, + 0.13360167431271314 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7916593500744713, + 0.82662741981320143, + -0.93173466666967075, + 0.08706750427072682, + 0.002599041938487574, + -0.16250779829448575 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 857796730, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.38242657281250581, + -1.3715861216820329, + 1.8664901056779617, + -2.0585088212191653, + -1.5726347010686068, + -3.1435474641910175 + ], + "velocities": [ + -2.2950920952409501, + -0.67959081643400188, + 0.7660020798305498, + -0.071580345502637588, + -0.0021367365642457406, + 0.13360167431271319 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8145067443792398, + 0.83339267310357534, + -0.93936013476844871, + 0.087780078890914257, + 0.0026203129205422887, + -0.16383778855463133 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 961691962, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.15819644226120011, + -1.4379820357311668, + 1.9413283863374327, + -2.06550220952382, + -1.5728434598891126, + -3.1304946019833824 + ], + "velocities": [ + -1.9994100937020725, + -0.59203756606669966, + 0.66731626734533811, + -0.062358484701079187, + -0.0018614558705491928, + 0.11638946284998278 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0485438491632948, + 0.90269249224624126, + -1.0174715575710251, + 0.095079331437497694, + 0.0028382020589721025, + -0.17746153337745624 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 83517294, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.066033688290105808, + -1.5043779497803005, + 2.0161666669969041, + -2.0724955978284747, + -1.5730522187096185, + -3.1174417397757472 + ], + "velocities": [ + -1.6267960660588754, + -0.48170427191005827, + 0.54295388522543409, + -0.050737233905465612, + -0.0015145512653409621, + 0.094698891883893341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0553730172239395, + 0.90471465070670765, + -1.0197508373213926, + 0.095292322545942124, + 0.0028445600317519464, + -0.17785907223394026 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 242207548, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.2902638188414115, + -1.5707738638294344, + 2.091004947656375, + -2.0794889861331298, + -1.5732609775301243, + -3.1043888775681121 + ], + "velocities": [ + -1.0006256147761672, + -0.29629136883028623, + 0.33396537927154368, + -0.031207953429401896, + -0.00093158498634829054, + 0.058248319434104877 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0864145348207903, + 0.91390623405568527, + -1.0301111479553777, + 0.096260459100937723, + 0.002873459763399483, + -0.17966605798965135 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 623391716, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51449394939271764, + -1.6371697778785683, + 2.1658432283158464, + -2.0864823744377845, + -1.57346973635063, + -3.091336015360477 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.35793850275774208, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51449394939271764, + -1.6371697778785683, + 2.1658432283158464, + -2.0864823744377845, + -1.57346973635063, + -3.091336015360477 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.21743754106683089, + 2.1130155327649152, + 1.8812591637652145, + -2.4990191471595185, + -0.33519603121293934, + -1.1908460625618245 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105429263, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51648325159777153, + -1.6372032023894314, + 2.1695704357074117, + -2.1038560165631748, + -1.5704030802673528, + -3.0804411510547114 + ], + "velocities": [ + -0.0094342988016837097, + 0.091363626895063069, + 0.11697777261155558, + -0.27321835507886116, + 0.014543666489429856, + 0.051669071003504319 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0094875023611641e-08, + 1.6612851657268792, + 1.3958044879109566, + -3.0570896536338661, + 6.9211223629754197e-12, + -1.0094764870511274e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 173554161, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.5164832516864325, + -1.6247333290887422, + 2.1831002353516906, + -2.129855689508108, + -1.5704030802672913, + -3.0804411511433725 + ], + "velocities": [ + -1.5922071418621121e-09, + 0.23089380742782326, + 0.23880581863661471, + -0.46969962606381188, + 1.1021940469135045e-12, + -1.5922055988415138e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.1746870513952347e-09, + 1.2790253470890589, + 0.6938202789039577, + -1.9728456259904681, + 4.2680988074573221e-12, + -6.1747327725538486e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 220640118, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.5164832517750938, + -1.6116084326682363, + 2.1962376306097187, + -2.1561179811866071, + -1.57040308026723, + -3.0804411512320335 + ], + "velocities": [ + -2.0191521322950868e-09, + 0.30695274457240834, + 0.29431125975238825, + -0.60126400432399996, + 1.395675780979091e-12, + -2.0191484249647289e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0999117409956357e-08, + -1.4531705501851826, + -1.7380165158038707, + 3.1911870659847015, + -7.5173086061407183e-12, + 1.0999060905665923e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 261775762, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51648325186375499, + -1.5978213212661667, + 2.2089737914240835, + -2.1826412534030064, + -1.5704030802671687, + -3.0804411513206946 + ], + "velocities": [ + -1.8926504708510877e-09, + 0.30045675754180984, + 0.26810549562373237, + -0.56856225316479336, + 1.3102779889242933e-12, + -1.8926491213851374e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0279275681807758e-08, + -1.6227239872216519, + -1.4622497849815266, + 3.0849737721991111, + -7.1485598576783419e-12, + 1.0279266903312436e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 316170276, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51648325195241607, + -1.5833659055246172, + 2.2212994385508713, + -2.2094223162713087, + -1.5704030802671072, + -3.0804411514093557 + ], + "velocities": [ + -1.145431135609092e-09, + 0.18926128835906109, + 0.15767142672980178, + -0.34693271508840962, + 7.9378511226528962e-13, + -1.145431549399541e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.8529230894463741e-09, + -1.6812353431037839, + -1.3230525154915638, + 3.0042878585914488, + -6.8105119458826836e-12, + 9.8529354273303335e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 450323086, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51648325204107748, + -1.5682373292323692, + 2.2332049109175851, + -2.2364563649302354, + -1.5704030802670459, + -3.0804411514980172 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.40568459810196034, + "y": -0.10479696316458501, + "z": 0.11189178182404158 + }, + "37": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36040166968101434, + -0.15747648288687299, + 0.16189178182404157 + ], + "xaxis": [ + -0.67146655152198087, + 0.74103467143966284, + -0.00053470691987944836 + ], + "yaxis": [ + -0.74103443648115908, + -0.67146676442271591, + -0.00059010570244685063 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.36040166968101434, + -0.15747648288687299, + 0.11189178182404158 + ], + "xaxis": [ + -0.67146655152198087, + 0.74103467143966284, + -0.00053470691987944825 + ], + "yaxis": [ + -0.74103443648115908, + -0.67146676442271591, + -0.00059010570244685074 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4368347695076986, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.346011436473217, + -0.40661599152909117, + -1.5937811695727957, + -1.0826063673905741, + 3.0861660281895076, + -1.1571237541932224 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 367733042, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3388135792432816, + -1.0681637580966221, + 1.3803652340003727, + -2.0995748307095066, + -1.3548451741594265, + -3.2900781859665713 + ], + "velocities": [ + -0.75476618038694776, + -0.13081777609406392, + -0.51275629224531227, + -0.34829952662394115, + 0.9928910443157366, + -0.37227349475343918 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3674652679423627, + -0.41033441796953635, + -1.6083559973333019, + -1.0925065981364313, + 3.1143884335986347, + -1.1677054323663993 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 522953716, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1740499329175278, + -1.0967209647568805, + 1.26843176562014, + -2.1756077817231221, + -1.138099441352775, + -3.3713445967039499 + ], + "velocities": [ + -1.2237120987210974, + -0.21209653995363661, + -0.8313383599067401, + -0.56470249434074926, + 1.6097869978992549, + -0.60357179667141048 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2562716607871067, + -0.3910620912782698, + -1.5328157529398554, + -1.0411944411503047, + 2.968113812930008, + -1.1128613842286113 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 641835595, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0092862865917742, + -1.1252781714171392, + 1.1564982972399072, + -2.251640732736738, + -0.92135370854612364, + -3.4526110074413281 + ], + "velocities": [ + -1.5098852015039979, + -0.26169670733899192, + -1.0257522895929763, + -0.69676187752706142, + 1.9862462488046404, + -0.7447210212204054 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3817934097547453, + -0.41281780381290373, + -1.6180899322410813, + -1.099118559748258, + 3.1332370307627126, + -1.1747725050101818 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 742680864, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84452264026602064, + -1.1538353780773978, + 1.0445648288596745, + -2.3276736837503536, + -0.7046079757394722, + -3.5338774181787063 + ], + "velocities": [ + -1.7466364478928806, + -0.30273096714672804, + -1.1865910956197432, + -0.80601471527689172, + 2.2976913007670867, + -0.86149389230378959 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0539427850912251, + -0.35599399436837076, + -1.3953620529571862, + -0.94782638431571065, + 2.7019512132995813, + -1.0130666668682451 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 831289830, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67975899394026695, + -1.1823925847376562, + 0.93263136047944162, + -2.4037066347639691, + -0.48786224293282077, + -3.6151438289160849 + ], + "velocities": [ + -1.9465480438601919, + -0.33738009568406052, + -1.3224025977626848, + -0.8982672777941394, + 2.5606739812961057, + -0.96009633423399665 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8737016144427772, + -0.32475418829656316, + -1.2729138076949715, + -0.86465106983252749, + 2.4648448765237649, + -0.92416627329030798 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 912308537, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51499534761451338, + -1.2109497913979148, + 0.82069789209920885, + -2.4797395857775846, + -0.27111651012616944, + -3.696410239653463 + ], + "velocities": [ + -2.1069984363193988, + -0.36518971945943079, + -1.4314058234828804, + -0.97230980539059186, + 2.7717456507342071, + -1.0392353177861282 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8280078653454117, + -0.31683444468102323, + -1.2418714028087769, + -0.84356492210366274, + 2.4047349836338316, + -0.9016287350342489 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 987876147, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.35023170128875969, + -1.2395069980581734, + 0.70876442371897597, + -2.5557725367912005, + -0.054370777319517893, + -3.7776766503908412 + ], + "velocities": [ + -2.2474150966709048, + -0.38952705161747903, + -1.5267989770213641, + -1.0371074309353281, + 2.9564630481992857, + -1.1084930590959767 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6996962942846803, + -0.29459519389127858, + -1.1547019361064823, + -0.78435339325922293, + 2.2359417691273631, + -0.83834158966742955 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 59064254, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.18546805496300611, + -1.2680642047184318, + 0.59683095533874331, + -2.631805487804816, + 0.16237495548713343, + -3.8589430611282194 + ], + "velocities": [ + -2.3735136887350246, + -0.41138274389818474, + -1.6124650391798503, + -1.095297743465441, + 3.122345100170798, + -1.1706886963291279 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3112926867057478e-14, + -6.5564634335287391e-15, + -4.917347575146554e-14, + -1.6391158583821848e-14, + 0.0, + -1.1473811008675294e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 126797296, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.020704408637252314, + -1.2966214113786905, + 0.48489748695851054, + -2.7078384388184316, + 0.37912068829378498, + -3.9402094718655976 + ], + "velocities": [ + -2.4325446292072601, + -0.42161411959305373, + -1.6525681690641019, + -1.122538562088375, + 3.2000000000000002, + -1.1998045405193345 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.8353917822274471e-14, + 4.5895244034701193e-14, + -9.5068719786166752e-14, + 0.0, + 1.9341567128909788e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 194530337, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14405923768850126, + -1.3251786180389491, + 0.37296401857827766, + -2.7838713898320471, + 0.59586642110043631, + -4.0214758826029762 + ], + "velocities": [ + -2.4325446292072597, + -0.42161411959305228, + -1.6525681690641021, + -1.122538562088379, + 3.2000000000000002, + -1.1998045405193318 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -4.8353917822274471e-14, + -4.5895244034701193e-14, + 9.5068719786166752e-14, + 0.0, + -1.9341567128909788e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 262263379, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.30882288401425484, + -1.3537358246992075, + 0.261030550198045, + -2.859904340845663, + 0.81261215390708763, + -4.1027422933403539 + ], + "velocities": [ + -2.4325446292072597, + -0.42161411959305228, + -1.6525681690641021, + -1.122538562088379, + 3.2000000000000002, + -1.1998045405193318 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6225853734114941e-14, + 1.311292686705747e-14, + 4.9173475751465515e-14, + 3.6060548884408043e-14, + 0.0, + 3.6060548884408043e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 329996420, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.47358653034000842, + -1.3822930313594661, + 0.14909708181781212, + -2.9359372918592785, + 1.029357886713739, + -4.1840087040777325 + ], + "velocities": [ + -2.4325446292072588, + -0.4216141195930535, + -1.6525681690641019, + -1.1225385620883745, + 3.2000000000000002, + -1.1998045405193372 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6225853734114941e-14, + 3.5240990955216948e-14, + -4.9173475751465515e-14, + -1.3112926867057471e-13, + 0.0, + 1.5735512240468964e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 397729462, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.63835017666576221, + -1.4108502380197248, + 0.037163613437579235, + -3.0119702428728941, + 1.2461036195203907, + -4.2652751148151111 + ], + "velocities": [ + -2.4325446292072588, + -0.42161411959305184, + -1.6525681690641019, + -1.1225385620883777, + 3.2000000000000002, + -1.1998045405193305 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.2121097768816086e-14, + -3.5240990955216948e-14, + 9.834695150293103e-14, + 1.3112926867057471e-13, + 0.0, + -1.5735512240468964e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 465462503, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.80311382299151579, + -1.4394074446799832, + -0.074769854942653646, + -3.08800319388651, + 1.4628493523270421, + -4.3465415255524888 + ], + "velocities": [ + -2.432544629207257, + -0.42161411959305184, + -1.6525681690641003, + -1.1225385620883777, + 3.2000000000000002, + -1.1998045405193305 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4424219553763232e-13, + -2.5406295804923874e-14, + -1.016251832196955e-13, + -6.8842866052051783e-14, + 0.0, + -7.2121097768816162e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 533195545, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.96787746931726937, + -1.4679646513402418, + -0.18670332332288631, + -3.1640361449001255, + 1.6795950851336938, + -4.4278079362898675 + ], + "velocities": [ + -2.4325446292072597, + -0.42161411959305395, + -1.6525681690641005, + -1.1225385620883754, + 3.2000000000000002, + -1.1998045405193383 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.2121097768816238e-14, + 6.0647286760140924e-14, + 4.917347575146561e-14, + 3.278231716764374e-14, + 0.0, + 2.2947622017350618e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 600928586, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1326411156430229, + -1.4965218580005004, + -0.29863679170311896, + -3.240069095913741, + 1.8963408179403447, + -4.5090743470272461 + ], + "velocities": [ + -2.4325446292072623, + -0.42161411959305273, + -1.6525681690641023, + -1.1225385620883768, + 3.2000000000000002, + -1.1998045405193329 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6225853734114941e-14, + -3.5240990955216948e-14, + 3.2782317167643676e-15, + 3.6060548884408043e-14, + 0.0, + -1.5735512240468964e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 668661628, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2974047619687765, + -1.5250790646607588, + -0.41057026008335162, + -3.3161020469273566, + 2.113086550746996, + -4.5903407577646238 + ], + "velocities": [ + -2.4325446292072606, + -0.42161411959305184, + -1.6525681690641005, + -1.1225385620883745, + 3.2000000000000002, + -1.1998045405193305 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2457280523704597e-13, + -1.311292686705747e-14, + -4.9173475751465515e-14, + -1.3112926867057471e-13, + 0.0, + -3.6060548884408043e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 736394669, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4621684082945305, + -1.5536362713210174, + -0.5225037284635845, + -3.3921349979409721, + 2.3298322835536478, + -4.6716071685020024 + ], + "velocities": [ + -2.432544629207257, + -0.4216141195930535, + -1.6525681690641019, + -1.1225385620883777, + 3.2000000000000002, + -1.1998045405193372 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9669390300586224e-13, + 4.8353917822274471e-14, + 0.0, + 9.5068719786166752e-14, + 0.0, + 1.9341567128909788e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 804127711, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6269320546202837, + -1.5821934779812761, + -0.63443719684381739, + -3.468167948954588, + 2.5465780163602991, + -4.752873579239381 + ], + "velocities": [ + -2.4325446292072597, + -0.42161411959305228, + -1.6525681690641036, + -1.122538562088379, + 3.2000000000000002, + -1.1998045405193318 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.8346951502931118e-14, + -4.8353917822274471e-14, + 0.0, + 0.0, + 0.0, + -1.9341567128909788e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 871860752, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7916957009460377, + -1.6107506846415345, + -0.74637066522405027, + -3.5442008999682035, + 2.7633237491669504, + -4.8341399899767588 + ], + "velocities": [ + -2.4325446292072632, + -0.42161411959305228, + -1.6525681690641036, + -1.1225385620883757, + 3.2000000000000002, + -1.1998045405193318 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6996962942846232, + 0.29459519389124034, + 1.1547019361065756, + 0.78435339325923925, + -2.235941769127364, + 0.83834158966745231 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 939593794, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9564593472717913, + -1.6393078913017931, + -0.85830413360428315, + -3.620233850981819, + 2.9800694819736018, + -4.9154064007141374 + ], + "velocities": [ + -2.3735136887350259, + -0.41138274389818652, + -1.6124650391798503, + -1.0952977434654416, + 3.122345100170798, + -1.170688696329135 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8280078653455545, + 0.31683444468111965, + 1.2418714028087874, + 0.84356492210377965, + -2.4047349836338165, + 0.9016287350344534 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 10781901, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1212229935975451, + -1.6678650979620517, + -0.97023760198451559, + -3.6962668019954346, + 3.1968152147802531, + -4.996672811451516 + ], + "velocities": [ + -2.2474150966709026, + -0.38952705161747858, + -1.5267989770213606, + -1.0371074309353239, + 2.9564630481992862, + -1.1084930590959754 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1199093501250528, + 0.36742746814940241, + 1.4401769534891193, + 0.9782677633431236, + -2.7887298917149157, + 1.0456033707377312 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 86349512, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2859866399232986, + -1.6964223046223101, + -1.0821710703647485, + -3.7722997530090501, + 3.4135609475869053, + -5.0779392221888937 + ], + "velocities": [ + -2.0969308648958362, + -0.36344478528176871, + -1.4245663403035818, + -0.96766395552052775, + 2.7585018120935576, + -1.0342696872439543 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0134719979330011, + 0.34897950629185948, + 1.3678679080063987, + 0.92915046006844326, + -2.6487121000878293, + 0.99310525131688809 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 168178405, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4507502862490522, + -1.7249795112825685, + -1.1941045387449813, + -3.848332704022666, + 3.6303066803935558, + -5.1592056329262723 + ], + "velocities": [ + -1.9272752909506841, + -0.33403969869709033, + -1.309309502735333, + -0.88937354237043986, + 2.535320773560501, + -0.95059042993465526 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0764143009135263, + 0.35988880815537821, + 1.4106282525215326, + 0.95819624259351455, + -2.7315123772627619, + 1.0241502977265773 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 257673461, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6155139325748049, + -1.7535367179428272, + -1.3060380071252138, + -3.9243656550362815, + 3.8470524132002071, + -5.2404720436636509 + ], + "velocities": [ + -1.7425563288725812, + -0.30202379171902149, + -1.1838192349360881, + -0.80413187584891066, + 2.2923239250946406, + -0.85948145427176303 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3493325057469137, + 0.40719160674336008, + 1.5960373638901133, + 1.0841389305683118, + -3.0905348778082051, + 1.1587618059461013 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 357890002, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7802775789005594, + -1.7820939246030858, + -1.4179714755054471, + -4.0003986060498971, + 4.0637981460068593, + -5.3217384544010287 + ], + "velocities": [ + -1.5154354118972004, + -0.26265868231794426, + -1.0295228683183504, + -0.69932311530221336, + 1.9935475221481975, + -0.74745855275451623 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3134118091686622, + 0.40096575062494216, + 1.5716343584680337, + 1.0675627220162334, + -3.0432813854487217, + 1.1410446326059525 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 476698990, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.945041225226313, + -1.8106511312633442, + -1.5299049438856795, + -4.076431557063513, + 4.2805438788135106, + -5.4030048651384064 + ], + "velocities": [ + -1.2291482625689185, + -0.21303874812821438, + -0.83503146022188468, + -0.56721110342267322, + 1.6169382435965223, + -0.60625307700202136 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3909778050596082, + 0.4144096639144827, + 1.6243294228348766, + 1.1033568531696591, + -3.14531905574295, + 1.179302526394528 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 630467846, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1098048715520665, + -1.8392083379236031, + -1.6418384122659129, + -4.152464508077129, + 4.4972896116201619, + -5.4842712758757859 + ], + "velocities": [ + -0.75977719630721618, + -0.13168629667129259, + -0.5161605649994826, + -0.35061194405637092, + 0.99948301009195473, + -0.37474507927508383 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4368347695077053, + 0.42235769638255016, + 1.6554827093427036, + 1.1245183193623729, + -3.2056436575907261, + 1.201920567395103 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 998200888, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2745685178778206, + -1.8677655445838615, + -1.7537718806461455, + -4.228497459090744, + 4.7140353444268133, + -5.5655376866131636 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.49462506314349491, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2745685178778206, + -1.8677655445838615, + -1.7537718806461455, + -4.228497459090744, + 4.7140353444268133, + -5.5655376866131636 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.25799730510410818, + -1.1671169831165069, + -1.4512931919398788, + 2.9886617821888377, + 0.20524913775511516, + 1.6199244139222444 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 94316712, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2723685141170282, + -1.8681521579552063, + -1.7537519152771399, + -4.2312880337125574, + 4.7122851367063729, + -5.5793511634787407 + ], + "velocities": [ + 0.011662852340463338, + -0.056859001256708543, + -0.065394497941044238, + 0.10551615449364755, + -0.0092783542398051644, + -0.073229211686226064 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9054969627318688e-10, + -1.5438970335981745, + -1.5631743613070008, + 3.1070713949052799, + -1.3283352824899749e-13, + -1.9048327950906239e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 180821305, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2723685141183023, + -1.8776346968048172, + -1.7650840758764947, + -4.2104733342635914, + 4.7122851367063721, + -5.5793511634800144 + ], + "velocities": [ + -2.1064547092434074e-11, + -0.16095482037943643, + -0.18297758316504423, + 0.34393240354448668, + -1.4684243354781508e-14, + -2.1057204970756682e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6763798970640805e-10, + -1.5484754047303753, + -1.1734317215095864, + 2.7219071262401657, + -1.1686161708358879e-13, + -1.6757955889786629e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 227320180, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2723685141195764, + -1.8875059771508556, + -1.7760091951280748, + -4.1896769346659726, + 4.7122851367063712, + -5.579351163481288 + ], + "velocities": [ + -3.0901359033912926e-11, + -0.24462833410361551, + -0.25945985696288421, + 0.50408819106651348, + -2.1541553875157145e-14, + -3.0890588256975341e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7964288087829373e-10, + 1.2536313821448499, + 1.6851520592646088, + -2.9387834414098855, + 1.2507616424969918e-13, + 1.7935921953406866e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 264355337, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2723685141208505, + -1.8977634540747073, + -1.7865258920468439, + -4.1689027608233511, + 4.7122851367063703, + -5.5793511634825617 + ], + "velocities": [ + -3.0605269546044955e-11, + -0.25046899232381292, + -0.24834760181893981, + 0.49881659414276169, + -2.1338405883852901e-14, + -3.0599274037445061e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9357341047635938e-10, + 1.5772738479359485, + 1.5801325461105089, + -3.1574063940464572, + 1.3502130435913715e-13, + 1.9352627050171612e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 311864778, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2723685141221242, + -1.9084042410289583, + -1.7966325742524309, + -4.1481552916635129, + 4.7122851367063694, + -5.5793511634838353 + ], + "velocities": [ + -1.8917355603465392e-11, + -0.15967501261724065, + -0.14831640266439061, + 0.30799141528163126, + -1.3190679189827414e-14, + -1.891927724871827e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9085201470619684e-10, + 1.6508631651794308, + 1.452244012376255, + -3.1031071775556858, + 1.3304427654666914e-13, + 1.9091853684447019e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 427413996, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2723685141233982, + -1.9194250911943984, + -1.8063274805303335, + -4.1274395352201703, + 4.7122851367063685, + -5.5793511634851098 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.36040166968101434, + "y": -0.15747648288687299, + "z": 0.11189178182404158 + }, + "38": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.35948740810536634, + 0.25247404714395399, + 0.18189178182404159 + ], + "xaxis": [ + -0.80886848653437726, + -0.587989248707946, + -0.00064412378552886008 + ], + "yaxis": [ + 0.58798906227527359, + -0.80886874300090561, + 0.00046823154437012157 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.35948740810536634, + 0.25247404714395399, + 0.13189178182404157 + ], + "xaxis": [ + -0.80886848653437726, + -0.587989248707946, + -0.00064412378552886008 + ], + "yaxis": [ + 0.58798906227527359, + -0.80886874300090561, + 0.00046823154437012141 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1503310232198993, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0797286142732725, + -0.063157041762130647, + 0.038389505452968022, + 1.324758467651439, + 1.2975332319229911, + 1.2119577604150131 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 434332097, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2064311186109848, + -1.0457002276777143, + 1.496002695011815, + -1.8957232077850132, + -1.4463990485900782, + -3.0918766243084685 + ], + "velocities": [ + -1.1586391591201222, + -0.023760607158907005, + 0.014442696057995828, + 0.49839360191778526, + 0.48815106818118792, + 0.45595631832894945 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1384573513647744, + -0.064361411940714361, + 0.039121572285849268, + 1.3500208857086269, + 1.3222764796532962, + 1.2350691307960135 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 616280560, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.90928501165293429, + -1.0517939039190649, + 1.4997066876430247, + -1.7679045358741354, + -1.3212071902140783, + -2.974941473387744 + ], + "velocities": [ + -1.8849989195205012, + -0.03865631371867672, + 0.023496932802581201, + 0.81084036709444263, + 0.7941767105326355, + 0.74179882548705489 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8626445927595894, + -0.058705225927084978, + 0.035683504609583548, + 1.2313788450576617, + 1.2060726627260729, + 1.1265292381366936 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 755337628, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.61213890469488397, + -1.0578875801604157, + 1.5034106802742342, + -1.6400858639632576, + -1.1960153318380786, + -2.8580063224670194 + ], + "velocities": [ + -2.3212530478415272, + -0.047602725449106181, + 0.02893493800876755, + 0.99849695081506762, + 0.977976746171068, + 0.91347680187800973 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1061442567351256, + -0.063698756323104871, + 0.03871878233975895, + 1.3361212695125078, + 1.3086625157754503, + 1.2223530409373342 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 873928452, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.31499279773683342, + -1.0639812564017663, + 1.5071146729054439, + -1.5122671920523798, + -1.0708234734620787, + -2.7410711715462948 + ], + "velocities": [ + -2.6786477708407332, + -0.054931940543389318, + 0.033389943103648664, + 1.1522318232297477, + 1.128552198779514, + 1.0541214372730903 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.005499966540492, + -0.061634809646267177, + 0.037464228769940142, + 1.2928286965765965, + 1.2662596525733181, + 1.1827467496630086 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 978129774, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.01784669077878287, + -1.0700749326431171, + 1.5108186655366533, + -1.3844485201415018, + -0.94563161508607907, + -2.6241360206255702 + ], + "velocities": [ + -3.0008269536414485, + -0.061538978581979528, + 0.037405978619777722, + 1.2908185800427283, + 1.2642908461331426, + 1.1809077907945795 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.6039582586014839e-14, + -2.5598233728624757e-14, + 2.8246326872965249e-14, + -9.4154422909884169e-15, + -1.8830884581976834e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 72461872, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27929941617926723, + -1.076168608884468, + 1.514522658167863, + -1.2566298482306242, + -0.8204397567100794, + -2.5072008697048456 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624283, + 0.039265453980715723, + 1.3549860055077427, + 1.3271395608089598, + 1.2396114799252065 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.5009768585437962e-14, + 2.5009768585437962e-14, + -2.3538605727471022e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 166793969, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.57644552313731778, + -1.0822622851258186, + 1.5182266507990725, + -1.1288111763197461, + -0.69524789833407963, + -2.390265718784121 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624228, + 0.039265453980715695, + 1.354986005507743, + 1.3271395608089593, + 1.2396114799252056 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.3979954584861123e-14, + -2.4347745299352857e-14, + 2.1184745154723936e-14, + 9.4154422909884169e-15, + 1.8830884581976834e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 261126067, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.87359163009536833, + -1.0883559613671694, + 1.5219306434302822, + -1.0009925044088683, + -0.57005603995807985, + -2.2733305678633964 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624283, + 0.039265453980715723, + 1.354986005507743, + 1.3271395608089598, + 1.2396114799252065 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.2950140584284249e-14, + 2.3685722013267717e-14, + -1.8830884581976818e-14, + -1.6477024009229716e-14, + -3.7661769163953636e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 355458164, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1707377370534184, + -1.09444963760852, + 1.5256346360614916, + -0.87317383249799052, + -0.44486418158208019, + -2.1563954169426718 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624228, + 0.039265453980715695, + 1.354986005507743, + 1.3271395608089596, + 1.2396114799252056 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.0596280011537145e-15, + -2.3685722013267717e-14, + -7.0615817182413067e-15, + 1.6477024009229716e-14, + 3.7661769163953636e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 449790262, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4678838440114694, + -1.1005433138498708, + 1.5293386286927013, + -0.74535516058711249, + -0.3196723232060803, + -2.0394602660219472 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960625408, + 0.039265453980715695, + 1.3549860055077416, + 1.3271395608089596, + 1.2396114799252056 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.4421303442251233e-14, + 2.5230443014133051e-14, + 3.53079085912066e-14, + 9.4154422909884279e-15, + 9.4154422909884279e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 544122359, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7650299509695195, + -1.1066369900912216, + 1.5330426213239108, + -0.6175364886762349, + -0.19448046483008063, + -1.9225251151012226 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624353, + 0.039265453980715764, + 1.354986005507743, + 1.3271395608089607, + 1.2396114799252078 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.2361675441097482e-14, + -2.6480931443404914e-14, + -2.824632687296524e-14, + -5.1784932600436275e-14, + -4.707721145494207e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 638454456, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0621760579275694, + -1.1127306663325722, + 1.5367466139551205, + -0.48971781676535708, + -0.06928860645408097, + -1.805589964180498 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624256, + 0.039265453980715709, + 1.3549860055077434, + 1.3271395608089587, + 1.239611479925206 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.2950140584284249e-14, + 2.6186698871811514e-14, + 1.8830884581976818e-14, + 6.5908096036918863e-14, + 6.3554235464171757e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 732786554, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3593221648856204, + -1.118824342573923, + 1.5404506065863299, + -0.36189914485447905, + 0.055903251921918695, + -1.6886548132597734 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624228, + 0.039265453980715695, + 1.354986005507743, + 1.3271395608089593, + 1.2396114799252067 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.5009768585438e-14, + -2.4936210442539652e-14, + -2.5892466300218163e-14, + -4.943107202768922e-14, + -4.943107202768922e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 827118651, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6564682718436705, + -1.1249180188152736, + 1.5441545992175396, + -0.23408047294360124, + 0.18109511029791858, + -1.5717196623390486 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624325, + 0.03926545398071575, + 1.3549860055077425, + 1.32713956080896, + 1.2396114799252076 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.0596280011537145e-15, + 2.3685722013267717e-14, + 7.0615817182413067e-15, + 3.2954048018459431e-14, + -1.4123163436482613e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 921450749, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9536143788017206, + -1.1310116950566245, + 1.5478585918487491, + -0.10626180103272365, + 0.30628696867391803, + -1.4547845114183242 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960625408, + 0.039265453980715695, + 1.3549860055077416, + 1.3271395608089593, + 1.2396114799252045 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.5009768585437927e-14, + -2.493621044253958e-14, + 0.0, + -4.9431072027689075e-14, + 2.3538605727470988e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 15782846, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2507604857597716, + -1.1371053712979753, + 1.5515625844799588, + 0.021556870878154388, + 0.43147882704991813, + -1.3378493604975996 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624131, + 0.039265453980715639, + 1.3549860055077421, + 1.3271395608089587, + 1.2396114799252049 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.8981908301948739e-14, + 2.7437187301083452e-14, + 3.5307908591206587e-14, + 8.2385120046148702e-14, + 2.8246326872965271e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 110114944, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.5479065927178226, + -1.1431990475393259, + 1.5552665771111682, + 0.14937554278903242, + 0.5566706854259178, + -1.2209142095768748 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624311, + 0.03926545398071575, + 1.3549860055077438, + 1.32713956080896, + 1.2396114799252074 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.8981908301948739e-14, + -2.7437187301083452e-14, + -3.5307908591206587e-14, + -8.2385120046148702e-14, + -5.1784932600436325e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 204447041, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.8450526996758718, + -1.1492927237806767, + 1.5589705697423779, + 0.27719421469991001, + 0.68186254380191746, + -1.1039790586561504 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624311, + 0.03926545398071575, + 1.3549860055077438, + 1.32713956080896, + 1.2396114799252063 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.5009768585437927e-14, + 2.493621044253958e-14, + 0.0, + 4.9431072027689075e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 298779139, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1421988066339228, + -1.1553864000220273, + 1.5626745623735874, + 0.40501288661078805, + 0.80705440217791713, + -0.98704390773542583 + ], + "velocities": [ + -3.1499999999999999, + -0.064598120960624131, + 0.039265453980715639, + 1.3549860055077421, + 1.3271395608089587, + 1.2396114799252038 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0054999665405031, + 0.06163480964626275, + -0.037464228769937449, + -1.2928286965765932, + -1.266259652573317, + -1.1827467496629245 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 393111236, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.4393449135919738, + -1.1614800762633781, + 1.5663785550047971, + 0.53283155852166608, + 0.93224626055391724, + -0.87010875681470123 + ], + "velocities": [ + -3.0008269536414485, + -0.061538978581979556, + 0.037405978619777742, + 1.2908185800427292, + 1.2642908461331435, + 1.18090779079458 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1061442567351216, + 0.063698756323107869, + -0.038718782339760775, + -1.3361212695125493, + -1.3086625157754561, + -1.2223530409373926 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 497312558, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.736491020550023, + -1.1675737525047289, + 1.5700825476360065, + 0.66065023043254367, + 1.0574381189299165, + -0.75317360589397664 + ], + "velocities": [ + -2.6786477708407332, + -0.054931940543389401, + 0.03338994310364872, + 1.1522318232297466, + 1.1285521987795146, + 1.054121437273092 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8626445927595934, + 0.058705225927085172, + -0.035683504609583687, + -1.2313788450576402, + -1.2060726627260936, + -1.1265292381366989 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 615903382, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.033637127508074, + -1.1736674287460795, + 1.5737865402672162, + 0.78846890234342126, + 1.1826299773059166, + -0.63623845497325204 + ], + "velocities": [ + -2.3212530478415268, + -0.047602725449106084, + 0.028934938008767491, + 0.9984969508150654, + 0.97797674617106689, + 0.91347680187800773 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1384573513647887, + 0.064361411940713167, + -0.039121572285848519, + -1.3500208857086193, + -1.3222764796532778, + -1.2350691307959889 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 754960450, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.330783234466125, + -1.1797611049874304, + 1.5774905328984257, + 0.9162875742542993, + 1.3078218356819162, + -0.51930330405252745 + ], + "velocities": [ + -1.8849989195204988, + -0.038656313718676699, + 0.023496932802581187, + 0.8108403670944424, + 0.7941767105326345, + 0.74179882548705445 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0797286142732578, + 0.063157041762130925, + -0.038389505452968202, + -1.3247584676514406, + -1.2975332319229917, + -1.2119577604150198 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 936908913, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.6279293414241742, + -1.185854781228781, + 1.5811945255296354, + 1.0441062461651769, + 1.4330136940579159, + -0.40236815313180285 + ], + "velocities": [ + -1.1586391591201211, + -0.02376060715890704, + 0.014442696057995849, + 0.49839360191778537, + 0.48815106818118831, + 0.45595631832895001 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1503310232199038, + 0.064604909366339627, + -0.039269580259129591, + -1.3551283965650311, + -1.3272790255742539, + -1.2397417466501277 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 371241010, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9250754483822252, + -1.1919484574701318, + 1.5848985181608448, + 1.1719249180760547, + 1.5582055524339158, + -0.28543300221107837 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.51450546333514369, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9250754483822252, + -1.1919484574701318, + 1.5848985181608448, + 1.1719249180760547, + 1.5582055524339158, + -0.28543300221107837 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.28959535378696022, + 0.84132698507557724, + 1.6349723060262793, + -2.9492420618481221, + -1.1760695283981706, + -1.6575123455439391 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 111000925, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9219057846543572, + -1.1912131895194817, + 1.582635905001877, + 1.1786286914729447, + 1.5710778064043371, + -0.26729128580844352 + ], + "velocities": [ + 0.01427764550818493, + 0.04810312846364459, + 0.060223759685511843, + -0.085009838342903779, + 0.057982642859730857, + 0.081718762278693291 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7683961811679258e-09, + 1.3380529993534791, + 1.7735533133433876, + -3.111606312697357, + -1.3300422548567249e-12, + -1.7684157381167821e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 197208214, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9219057846655758, + -1.183490544292362, + 1.5947765854705562, + 1.1587653657771426, + 1.5710778064043287, + -0.26729128581966199 + ], + "velocities": [ + -1.8836065324055523e-10, + 0.13363862115734704, + 0.19922675340250406, + -0.33286537455990328, + -1.4166940113888641e-13, + -1.8836000931413443e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5349010841164939e-09, + 1.3480189289640827, + 1.3211083840448721, + -2.6691273130093811, + -1.1544264348908792e-12, + -1.5348636430746286e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 242703764, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9219057846767944, + -1.1754062141727133, + 1.6064972515341418, + 1.1389603695939052, + 1.5710778064043203, + -0.26729128583088058 + ], + "velocities": [ + -2.7796062572112885e-10, + 0.2052492587355188, + 0.28462648066606522, + -0.48987573940166107, + -2.0905913580482337e-13, + -2.7795986040440094e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6749390061956085e-09, + -1.077533439787232, + -1.9024912741218685, + 2.980024713909565, + 1.2597514495177163e-12, + 1.6749878603799516e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 278970547, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.921905784688013, + -1.1669631783071837, + 1.6177990947052125, + 1.1192154905573017, + 1.5710778064043118, + -0.2672912858420991 + ], + "velocities": [ + -2.7455739381120824e-10, + 0.21043024463279114, + 0.27212843214617966, + -0.4825586767790469, + -2.0649950448946862e-13, + -2.7455484879654914e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7583018404597717e-09, + -1.3409870954983936, + -1.7509012387081135, + 3.0918883342069949, + 1.3224501214763545e-12, + 1.7582218068014247e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 325757546, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9219057846992316, + -1.1581645583958033, + 1.6286829747215537, + 1.0995329906295772, + 1.5710778064043034, + -0.26729128585331752 + ], + "velocities": [ + -1.6878738875806979e-10, + 0.13391377276880564, + 0.16193246170752451, + -0.29584623447637692, + -1.2694800041181719e-13, + -1.6878706076955578e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7049999006755749e-09, + -1.3907565142606622, + -1.5906975104413419, + 2.9814540247024763, + 1.2823607835023325e-12, + 1.7050505201801869e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 440472965, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9219057847104501, + -1.1490136396998374, + 1.6391494679133274, + 1.0799155787418344, + 1.571077806404295, + -0.26729128586453643 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.35948740810536634, + "y": 0.25247404714395399, + "z": 0.13189178182404157 + }, + "39": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39747351875305537, + 0.19275658514660601, + 0.18189178182404159 + ], + "xaxis": [ + -0.87849657534930414, + -0.4777481320744707, + -0.00069957051004988541 + ], + "yaxis": [ + 0.47774798059574702, + -0.87849685389269005, + 0.00038044359857382359 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39747351875305537, + 0.19275658514660601, + 0.13189178182404157 + ], + "xaxis": [ + -0.87849657534930414, + -0.4777481320744707, + -0.00069957051004988541 + ], + "yaxis": [ + 0.47774798059574702, + -0.87849685389269005, + 0.00038044359857382359 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.046683533455536, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1035021523246376, + -0.058931991745681006, + 0.034070487980525442, + 1.3154599065480399, + 1.2815461916765876, + 1.184596397688688 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 446344595, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2000917506440811, + -1.0453693969655067, + 1.495630389525707, + -1.8949055988463885, + -1.4462709827224578, + -3.0929723838894274 + ], + "velocities": [ + -1.1683651797134342, + -0.022185931811014324, + 0.012826403803997454, + 0.49522683558269665, + 0.48245945163200232, + 0.44596108368628906 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1082804434474531, + -0.05902272608358454, + 0.034122944432068605, + 1.3174852476257564, + 1.2835193176776813, + 1.1864202554381955 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 629520834, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.8966062757191271, + -1.0511322424946501, + 1.4989620766708085, + -1.766269317996886, + -1.3209510584788378, + -2.9771329925496612 + ], + "velocities": [ + -1.9083235693574121, + -0.036236903767963048, + 0.020949724550390472, + 0.80886785992076704, + 0.78801453414969225, + 0.72840072760765817 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8479092119630978, + -0.054078571218704533, + 0.031264568804354541, + 1.2071235017575677, + 1.1760027948097749, + 1.0870374267048319 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 770032987, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.59312080079417318, + -1.0568950880237933, + 1.50229376381591, + -1.6376330371473835, + -1.1956311342352175, + -2.8612936012098955 + ], + "velocities": [ + -2.3452750971368044, + -0.044534118515846863, + 0.025746612403079405, + 0.99407546980373807, + 0.96844732874385919, + 0.89518366519457737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1023907984720083, + -0.058910888394396621, + 0.034058287451522604, + 1.3149888447077833, + 1.2810872742254313, + 1.1841721976380151 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 889954632, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28963532586921903, + -1.0626579335529367, + 1.5056254509610114, + -1.508996756297881, + -1.0703112099915975, + -2.7454542098701298 + ], + "velocities": [ + -2.7054342485491407, + -0.05137313298930668, + 0.029700467576043353, + 1.1467336283632279, + 1.1171698255348552, + 1.032655209410553 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6753509229463939, + -0.050801884699764786, + 0.029370210488042895, + 1.1339824180389937, + 1.1047473526423222, + 1.0211725045853206 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 995325297, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.013850149055735006, + -1.0684207790820799, + 1.5089571381061131, + -1.3803604754483785, + -0.94499128574797731, + -2.6296148185303636 + ], + "velocities": [ + -3.0150852231778633, + -0.057253054376565679, + 0.033099840056369692, + 1.2779832367588604, + 1.2450357034389974, + 1.150847951378275 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.2542767314478799e-14, + -8.6425944975637566e-16, + -9.2187674640680076e-15, + -2.0742226794153015e-14, + 1.8437534928136015e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 91669892, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.31733562398068882, + -1.0741836246112231, + 1.5122888252512146, + -1.251724194598876, + -0.81967136150435727, + -2.5137754271905979 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048844, + 0.034580944968337447, + 1.3351686263605602, + 1.3007468033355432, + 1.202344470721354 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.2542767314478799e-14, + 8.6425944975637566e-16, + 9.2187674640680076e-15, + 2.0742226794153015e-14, + -1.8437534928136015e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 188014488, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.6208210989056433, + -1.0799464701403665, + 1.515620512396316, + -1.1230879137493732, + -0.69435143726073711, + -2.3979360358508317 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048844, + 0.034580944968337447, + 1.3351686263605602, + 1.3007468033355432, + 1.202344470721354 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.3983199730739452e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 284359083, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92430657383059711, + -1.0857093156695097, + 1.5189521995414175, + -0.99445163289987071, + -0.56903151301711707, + -2.282096644511066 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048913, + 0.034580944968337489, + 1.3351686263605607, + 1.3007468033355443, + 1.2023444707213531 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.4847459180495811e-14, + -5.0415134569121932e-16, + -2.0742226794153024e-14, + 4.6093837320340054e-15, + -1.8437534928136021e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 380703678, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2277920487555509, + -1.0914721611986531, + 1.5222838866865189, + -0.86581535205036819, + -0.44371158877349703, + -2.1662572531713002 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048872, + 0.034580944968337468, + 1.3351686263605598, + 1.3007468033355445, + 1.2023444707213522 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -8.6425944975637605e-16, + 5.0415134569121932e-16, + 2.0742226794153024e-14, + -4.6093837320340054e-15, + 6.6836064114493086e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 477048273, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5312775236805052, + -1.0972350067277963, + 1.5256155738316204, + -0.73717907120086568, + -0.31839166452987683, + -2.0504178618315345 + ], + "velocities": [ + -3.1499999999999999, + -0.05981493322304772, + 0.034580944968337468, + 1.3351686263605598, + 1.3007468033355445, + 1.2023444707213544 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.3479048385048226e-14, + -2.8808648325212548e-16, + -1.1523459330085019e-14, + -9.2187674640680154e-15, + -5.7617296650425099e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 573392868, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.834762998605459, + -1.1029978522569395, + 1.5289472609767218, + -0.60854279035136316, + -0.19307174028625673, + -1.9345784704917683 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048893, + 0.034580944968337475, + 1.3351686263605602, + 1.3007468033355438, + 1.2023444707213549 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.5351610526187002e-14, + 2.3118940280983033e-14, + -3.2265686124238005e-14, + -3.2265686124238005e-14, + 1.8437534928136002e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 669737464, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.138248473530413, + -1.1087606977860829, + 1.5322789481218233, + -0.47990650950186065, + -0.067751816042636692, + -1.8187390791520026 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048802, + 0.034580944968338578, + 1.335168626360558, + 1.3007468033355418, + 1.2023444707213531 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.5855761871878231e-14, + -2.2830853797730917e-14, + 6.6836064114493035e-14, + 6.4531372248476036e-14, + 1.3828151196102007e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 766082059, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4417339484553677, + -1.1145235433152261, + 1.535610635266925, + -0.35127022865235813, + 0.057568108200983348, + -1.7028996878122364 + ], + "velocities": [ + -3.1499999999999999, + -0.05981493322304883, + 0.034580944968338592, + 1.3351686263605598, + 1.3007468033355434, + 1.2023444707213546 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.21826592104137e-14, + 1.008302691382441e-15, + -6.9140755980510234e-15, + -9.2187674640680312e-15, + 1.1523459330085039e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862426654, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7452194233803215, + -1.1202863888443695, + 1.5389423224120264, + -0.22263394780285539, + 0.18288803244460361, + -1.5870602964724705 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223049004, + 0.034580944968337538, + 1.3351686263605624, + 1.300746803335546, + 1.2023444707213558 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.6731026614646007e-15, + -2.0886270035779105e-15, + -3.4570377990255068e-14, + -3.2265686124238062e-14, + -4.8398529186357093e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 958771249, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.0487048983052745, + -1.1260492343735127, + 1.5422740095571279, + -0.093997666953353098, + 0.30820795668822343, + -1.4712209051327048 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223047762, + 0.034580944968337482, + 1.3351686263605607, + 1.300746803335544, + 1.202344470721354 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.5855761871878231e-14, + 1.0803243121954693e-15, + 1.8437534928136009e-14, + 1.8437534928136009e-14, + 3.6875069856272018e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 55115845, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3521903732302292, + -1.1318120799026559, + 1.5456056967022294, + 0.034638613896149639, + 0.43352788093184369, + -1.3553815137929388 + ], + "velocities": [ + -3.1499999999999999, + -0.05981493322304883, + 0.03458094496833744, + 1.3351686263605598, + 1.3007468033355434, + 1.2023444707213535 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.3983199730739452e-14, + 0.0, + 0.0, + 0.0, + -4.8398529186357093e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 151460440, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.655675848155183, + -1.1375749254317993, + 1.5489373838473308, + 0.16327489474565215, + 0.55884780517546373, + -1.2395421224531729 + ], + "velocities": [ + -3.1499999999999999, + -0.059814933223048913, + 0.034580944968337489, + 1.3351686263605607, + 1.3007468033355443, + 1.2023444707213531 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.2110637589600606e-14, + -1.0803243121954693e-15, + -4.3789145454323024e-14, + -4.1484453588306024e-14, + 3.4570377990255018e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 247805035, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9591613230801368, + -1.1433377709609425, + 1.5522690709924323, + 0.29191117559515467, + 0.68416772941908377, + -1.1237027311134073 + ], + "velocities": [ + -3.1499999999999999, + -0.05981493322304883, + 0.03458094496833744, + 1.3351686263605584, + 1.3007468033355423, + 1.2023444707213522 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.63781339271233317, + 0.012111354125054785, + -0.0070019650264921893, + -0.27034553378474924, + -0.2633757878396471, + -0.24345124002531046 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 344149630, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.2626467980050915, + -1.1491006164900859, + 1.5556007581375337, + 0.42054745644465719, + 0.80948765366270381, + -1.0078633397736412 + ], + "velocities": [ + -3.1189662778159004, + -0.059225637978571201, + 0.034240254352778388, + 1.3220145780369397, + 1.2879318779620301, + 1.1904990026978759 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8278955655517883, + 0.053698534734994689, + -0.031044857437635621, + -1.1986404564282251, + -1.1677384498598478, + -1.0793982847678207 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 442430752, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5661322729300453, + -1.1548634620192291, + 1.5589324452826352, + 0.5491837372941597, + 0.93480757790632429, + -0.89202394843387545 + ], + "velocities": [ + -2.9416988076085175, + -0.055859529441086575, + 0.032294198279153696, + 1.2468774463876708, + 1.2147318477373847, + 1.122836601858952 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7253165166738351, + 0.051750674748084133, + -0.029918736661698246, + -1.155160987290524, + -1.12537991972725, + -1.0402442046946856 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 550994253, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.8696177478549991, + -1.1606263075483723, + 1.5622641324277367, + 0.67782001814366222, + 1.0601275021499439, + -0.77618455709410972 + ], + "velocities": [ + -2.6381491804849784, + -0.050095465734333336, + 0.028961806866228103, + 1.1182139737912276, + 1.0893854327740065, + 1.0069727238394246 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8754253571225576, + 0.054601071658472874, + -0.03156664318579739, + -1.2187865791338757, + -1.1873651877800873, + -1.0975402473359834 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 673326324, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1731032227799529, + -1.1663891530775157, + 1.5655958195728383, + 0.80645629899316473, + 1.1854474263935644, + -0.66034516575434354 + ], + "velocities": [ + -2.2888522163728862, + -0.04346271189834023, + 0.025127197630174861, + 0.97015989513552592, + 0.94514831865222493, + 0.87364724020770168 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9669816948269156, + 0.056339622841286074, + -0.032571755781229221, + -1.2575939282282205, + -1.2251720492384455, + -1.1324869953989316 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 818058859, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.4765886977049076, + -1.1721519986066589, + 1.5689275067179398, + 0.93509257984266725, + 1.3107673506371844, + -0.54450577441457737 + ], + "velocities": [ + -1.8489060233778181, + -0.035108631848900562, + 0.020297434109859049, + 0.78368295730257997, + 0.76347892050048538, + 0.7057212489180078 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8966467695691085, + 0.055004042251601944, + -0.031799613501962733, + -1.2277815518658317, + -1.1961282621934224, + -1.105640389531517 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 7625802, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7800741726298606, + -1.1779148441358023, + 1.5722591938630412, + 1.0637288606921698, + 1.4360872748808045, + -0.42866638307481209 + ], + "velocities": [ + -1.140438139818843, + -0.021655628945486616, + 0.012519818588212264, + 0.48338959510829188, + 0.47092738564168113, + 0.43530142590823206 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0466835334555395, + 0.057853070509651355, + -0.033446728763925619, + -1.2913765931171934, + -1.258083767275338, + -1.1629089207898626 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 453970397, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0835596475548153, + -1.1836776896649455, + 1.5755908810081427, + 1.1923651415416723, + 1.5614071991244243, + -0.31282699173504586 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.41506057107268679, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0835596475548153, + -1.1836776896649455, + 1.5755908810081427, + 1.1923651415416723, + 1.5614071991244243, + -0.31282699173504586 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.25476782328628628, + 1.5795073293412316, + 2.2357966912433378, + -2.2334547480716842, + -1.0590837687119046, + -1.8478003452789296 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105206250, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812626286642963, + -1.1857162336966953, + 1.5747270824378419, + 1.1810053319712235, + 1.5709560317062874, + -0.29616699108689237 + ], + "velocities": [ + 0.010916742162879679, + 0.0483048717875567, + 0.087592834294840424, + -0.20367957334323916, + 0.045381489044502184, + 0.079177809019563242 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2190536467739886e-08, + 1.3536802613268535, + 1.7102247494342604, + -3.0639050107591124, + 9.5220171348389194e-12, + 1.2190357245936307e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 171399054, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812626285861215, + -1.1780387695044054, + 1.5868665907308115, + 1.1611883594859762, + 1.5709560317063485, + -0.29616699100871779 + ], + "velocities": [ + 1.5120185471679932e-09, + 0.15274201400489257, + 0.22983284816573471, + -0.3825748621703885, + 1.1810363352284165e-12, + 1.5120103263586021e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.095432947433011e-09, + 1.0837753978125066, + 0.91819235070606386, + -2.0019677485172842, + 6.3233354367453986e-12, + 8.0951801958842704e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 213815728, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812626285079467, + -1.1700009098224802, + 1.5985850242047546, + 1.1414320663301203, + 1.5709560317064095, + -0.29616699093054355 + ], + "velocities": [ + 2.0020750966717861e-09, + 0.21079106155335892, + 0.29430963908125662, + -0.50510070063429713, + 1.5638190678639956e-12, + 2.0020570436428224e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1773825587281692e-08, + -1.0814535478257248, + -1.9178688076500774, + 2.9993223554740451, + -9.1961664041192624e-12, + -1.1772868920200464e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 249988847, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812626284297719, + -1.1616056904015104, + 1.6098836895660309, + 1.1217381815478866, + 1.5709560317064706, + -0.29616699085236958 + ], + "velocities": [ + 1.9171277927941614e-09, + 0.20967233429728602, + 0.2726036765928016, + -0.48227601088978034, + 1.4974742288488715e-12, + 1.9171245999035705e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2285369400053372e-08, + -1.3371037005984441, + -1.7550137971279938, + 3.0921174977244013, + -9.5962750490154155e-12, + -1.2285533524666089e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 296712116, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.081262628351598, + -1.1528562822668205, + 1.6207635569046062, + 1.1021089060746341, + 1.5709560317065316, + -0.29616699077419489 + ], + "velocities": [ + 1.1774200239167034e-09, + 0.13330900840764581, + 0.16204402637386139, + -0.29535303478131852, + 9.1968915198502426e-13, + 1.1774300347767142e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.188961642045659e-08, + -1.3840612754293733, + -1.5911292788760298, + 2.9751905543035457, + -9.2869687549722288e-12, + -1.1889675519348666e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 411385985, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0812626282734232, + -1.1437560127945228, + 1.6312253084614818, + 1.0825468850454729, + 1.5709560317065927, + -0.29616699069601971 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.39747351875305537, + "y": 0.19275658514660601, + "z": 0.13189178182404157 + }, + "4": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43240653335717832, + 0.13062943055328299, + 0.10189178182404157 + ], + "xaxis": [ + -0.9382081067471193, + -0.34607078791061696, + -0.00074712041251731392 + ], + "yaxis": [ + 0.34607067818258713, + -0.93820840422313678, + 0.00027558541221773029 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43240653335717832, + 0.13062943055328299, + 0.051891781824041562 + ], + "xaxis": [ + -0.9382081067471193, + -0.34607078791061696, + -0.00074712041251731392 + ], + "yaxis": [ + 0.34607067818258713, + -0.93820840422313678, + 0.00027558541221773023 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0222651975724704, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0840724627512479, + -0.4814295692922187, + -2.7505253006327757, + 0.86870171681999597, + -2.3525701129703416, + 0.18151794535945848 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 378314933, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2873006204951081, + -1.0733677402820496, + 1.2994127435143465, + -1.962622475108323, + -1.736569481035545, + -3.1960824747810062 + ], + "velocities": [ + -0.98297154893275873, + -0.15344372583484778, + -0.87666166985253902, + 0.27687711052720876, + -0.74982333127686052, + 0.057854339696646842 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8895627998373712, + -0.45106624146164831, + -2.5770521557816561, + 0.81391348465225288, + -2.2041956421426074, + 0.17006977259730011 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 533434315, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.071024015421181, + -1.1071289291277355, + 1.1065267846480875, + -1.9017030705207549, + -1.9015480551050121, + -3.1833531743328196 + ], + "velocities": [ + -1.5934683011300366, + -0.24874342842434022, + -1.4211322629250427, + 0.44883791337867623, + -1.2155181003302231, + 0.093786088203172469 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8988354454664718, + -0.45251371905668974, + -2.5853219505788729, + 0.81652534389834375, + -2.2112689354061801, + 0.17061552876966729 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 654078771, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85474741034725399, + -1.1408901179734217, + 0.9136408257818287, + -1.8407836659331869, + -2.0665266291744793, + -3.1706238738846326 + ], + "velocities": [ + -1.9541924600825153, + -0.3050531547927241, + -1.7428435514020859, + 0.55044437689896686, + -1.4906831250264709, + 0.1150170770873212 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0426739333447799, + -0.47496718021994144, + -2.7136040856105081, + 0.85704084503323874, + -2.3209907826599041, + 0.17908136966623192 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 756303023, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63847080527332689, + -1.1746513068191076, + 0.72075486691556967, + -1.7798642613456188, + -2.2315052032439464, + -3.1578945734364456 + ], + "velocities": [ + -2.2617898741926008, + -0.35306969538279664, + -2.0171738338897605, + 0.63708644025971184, + -1.7253223859395554, + 0.13312120767487945 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6238540031153175, + -0.40958859360862843, + -2.3400801725317133, + 0.73907033791220234, + -2.0015095569512038, + 0.15443106260350592 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 846123650, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.4221942001993999, + -1.2084124956647937, + 0.52786890804931075, + -1.7189448567580508, + -2.3964837773134136, + -3.1451652729882591 + ], + "velocities": [ + -2.520663450338354, + -0.39348035232106049, + -2.2480498361413357, + 0.71000428598261456, + -1.9227944770249112, + 0.14835761998923735 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7625577312615128, + -0.43124050902480765, + -2.46378287996354, + 0.7781395129154568, + -2.1073145434861922, + 0.16259468912346489 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 928250226, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20591759512547281, + -1.2421736845104796, + 0.33498294918305183, + -1.6580254521704827, + -2.5614623513828807, + -3.1324359725400721 + ], + "velocities": [ + -2.742554223492391, + -0.42811792346754696, + -2.4459427822080744, + 0.7725050533651916, + -2.0920556106626038, + 0.16141735114782785 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3821666058118911, + -0.37186073183090096, + -2.1245316375488117, + 0.67099338462818858, + -1.8171473039740551, + 0.14020616993072127 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 4092741, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.01035900994845429, + -1.2759348733561657, + 0.14209699031679279, + -1.5971060475829146, + -2.7264409254523478, + -3.1197066720918856 + ], + "velocities": [ + -2.9393709962018835, + -0.45884139551933145, + -2.6214735193955603, + 0.82794313739749192, + -2.2421899744948246, + 0.1730013124930935 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7545520429806678, + -0.27388890648813619, + -1.5647945512894883, + 0.49421094685552236, + -1.3383948489605619, + 0.10326692570121948 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 75539822, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.22663561502238139, + -1.3096960622018516, + -0.05078896854946624, + -1.5361866429953466, + -2.891419499521815, + -3.1069773716436986 + ], + "velocities": [ + -3.0885440425604349, + -0.48212759139371125, + -2.7545132722344516, + 0.86996124269173025, + -2.3559810915202659, + 0.18178112723644446 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.0425113552779323e-14, + -9.0552254358225689e-14, + 1.2936036336889384e-14, + -3.2340090842223458e-14, + -9.1360756629281278e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 144199061, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.44291222009630848, + -1.3434572510475378, + -0.24367492741572505, + -1.4752672384077785, + -3.0563980735912821, + -3.0942480711955116 + ], + "velocities": [ + -3.1499999999999995, + -0.49172098307886558, + -2.8093226737169781, + 0.88727176194228696, + -2.4028604857246822, + 0.18539821446745186 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.4680181684446843e-15, + -2.5872072673778737e-14, + 1.22892345200449e-13, + -3.8808109010668107e-14, + 1.0348829069511495e-13, + 8.6105491867419861e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 212858301, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.65918882517023536, + -1.3772184398932237, + -0.43656088628198408, + -1.4143478338202105, + -3.2213766476607493, + -3.0815187707473251 + ], + "velocities": [ + -3.1499999999999995, + -0.49172098307886508, + -2.8093226737169772, + 0.88727176194228607, + -2.4028604857246796, + 0.18539821446745169 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5795450830266766, + 0.40267188702291451, + 2.3005633300386097, + -0.72658968597670348, + 1.9677101432221444, + -0.15182319127981461 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 281517541, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.8754654302441629, + -1.4109796287389098, + -0.62944684514824312, + -1.3534284292326424, + -3.3863552217302164, + -3.0687894702991381 + ], + "velocities": [ + -3.0587212455253754, + -0.47747219613141251, + -2.7279158563918315, + 0.86156094882780976, + -2.3332318786411128, + 0.18002585951557926 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6440246118316546, + 0.41273726394110966, + 2.3580692990109178, + -0.74475186538364202, + 2.0168959565250848, + -0.15561823556884014 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 354400707, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0917420353180896, + -1.4447408175845957, + -0.82233280401450193, + -1.2925090246450746, + -3.5513337957996836, + -3.0560601698509511 + ], + "velocities": [ + -2.8676148393794514, + -0.44764012314641521, + -2.557477900874912, + 0.80773132416128746, + -2.1874534558167049, + 0.16877799079406974 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5071520353927759, + 0.39137119478464122, + 2.2359997014237489, + -0.70619847742868203, + 1.9124877960474638, + -0.14756238436826877 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 432541326, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3080186403920167, + -1.4785020064302818, + -1.0152187628807612, + -1.2315896200575063, + -3.7163123698691507, + -3.0433308694027645 + ], + "velocities": [ + -2.6659411954902992, + -0.4161584842783923, + -2.3776155705673161, + 0.75092518785942985, + -2.0336142082251611, + 0.15690817064099205 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0570777217349292, + 0.32111373955588635, + 1.8346016143707351, + -0.57942443638596697, + 1.5691653249591806, + -0.12107255131130555 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 516889445, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5242952454659437, + -1.5122631952759678, + -1.20810472174702, + -1.1706702154699384, + -3.8812909439386178, + -3.0306015689545776 + ], + "velocities": [ + -2.4740636219207892, + -0.38620603059382497, + -2.2064898505652137, + 0.69687834570761065, + -1.8872475289785242, + 0.14561491364539406 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6425487015671503, + 0.41250687154551824, + 2.35675301070289, + -0.74433614046283647, + 2.0157701132059573, + -0.15553136854402549 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 607608278, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7405718505398708, + -1.5460243841216539, + -1.4009906806132792, + -1.1097508108823702, + -4.046269518008085, + -3.017872268506391 + ], + "velocities": [ + -2.2570200786639609, + -0.35232512124107446, + -2.0129198990556016, + 0.63574291490009249, + -1.7216839246059819, + 0.13284047384174141 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7796144674434196, + 0.43390309794017895, + 2.4789949039938057, + -0.78294394477737073, + 2.1203256410693343, + -0.16359859021330558 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 709146203, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9568484556137979, + -1.57978557296734, + -1.5938766394795381, + -1.0488314062948023, + -4.2112480920775521, + -3.005142968058204 + ], + "velocities": [ + -1.9770572526892898, + -0.30862239234780287, + -1.7632354816560687, + 0.55688478477917469, + -1.5081246826992041, + 0.11636282049159574 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1411809758035987, + 0.49034431665104372, + 2.8014574404995436, + -0.88478767586694618, + 2.3961332207202046, + -0.18487915689942783 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 827711988, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1731250606877248, + -1.6135467618130259, + -1.7867625983457969, + -0.98791200170723426, + -4.3762266661470193, + -2.992413667610017 + ], + "velocities": [ + -1.609182729062606, + -0.25119648047244231, + -1.4351471513997898, + 0.45326425247697621, + -1.227505267928616, + 0.094710985625418728 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0842853694428274, + 0.48146280443116474, + 2.7507151811394341, + -0.86876168700899692, + 2.3527325209310743, + -0.18153047631833596 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 982831370, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3894016657616524, + -1.6473079506587118, + -1.9796485572120557, + -0.9269925971196662, + -4.5412052402164864, + -2.9796843671618305 + ], + "velocities": [ + -0.9852554985921238, + -0.15380025471478595, + -0.87869860685688139, + 0.27752043879338384, + -0.75156555743174014, + 0.057988765153402295 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0707554711251048, + 0.479350761605222, + 2.7386485620546814, + -0.86495067217749011, + 2.3424117405998115, + -0.18073415282944896 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 358147433, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.605678270835579, + -1.681069139504398, + -2.1725345160783149, + -0.86607319253209814, + -4.7061838142859536, + -2.9669550667136435 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.44733680241932394, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.605678270835579, + -1.681069139504398, + -2.1725345160783149, + -0.86607319253209814, + -4.7061838142859536, + -2.9669550667136435 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.24993364680236721, + -2.7792085652163503, + -1.6022155647049303, + 3.183100081964044, + 0.99404897310240015, + -1.4369725208441047 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 86219027, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6040155824420244, + -1.6828882324657684, + -2.1743761351221931, + -0.85444060666804567, + -4.7127967442663996, + -2.9573955792985887 + ], + "velocities": [ + 0.0096422358345723581, + -0.12831810677536062, + -0.083171943639791607, + 0.25772041373866222, + -0.038349597728588231, + 0.055437226362826601 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4508315350875823e-09, + -2.0589457565303211, + -0.96906329564976212, + 3.0280090521806025, + 1.0224323714500226e-12, + -1.4507181529700443e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 154316734, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6040155824546276, + -1.6989278100780949, + -2.1842492207310014, + -0.82852794344690561, + -4.7127967442663907, + -2.9573955793111923 + ], + "velocities": [ + -2.2679945231598403e-10, + -0.29474947850499272, + -0.17285272242115557, + 0.46760220092623983, + 1.598304808428358e-13, + -2.2680271299264806e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.2067878865704766e-10, + -1.3934169518981849, + -0.36142834935328655, + 1.7548453012521625, + 5.7852152737054173e-13, + -8.2067878865704766e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 201252217, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6040155824672309, + -1.7155411523210133, + -2.1936701733662614, + -0.80249364856872218, + -4.7127967442663818, + -2.9573955793237956 + ], + "velocities": [ + -2.8663729507631351e-10, + -0.38471738985544951, + -0.20869894491858026, + 0.59341633477415145, + 2.0200328709886565e-13, + -2.8663729507631351e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.474255899440488e-09, + 1.7902435487482509, + 1.2319619370281565, + -3.0222054857771576, + -1.0390992517339905e-12, + 1.474255899440488e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 242606565, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6040155824798337, + -1.7327227892932722, + -2.2026306911898872, + -0.77635149377283186, + -4.712796744266373, + -2.9573955793363984 + ], + "velocities": [ + -2.6971677077697722e-10, + -0.37292932286414893, + -0.18739962428748208, + 0.56032894715175008, + 1.9007902755035522e-13, + -2.6971677077697722e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.498960594759561e-09, + 2.0655730380042829, + 1.0485252305442669, + -3.1140982685492324, + -1.0563499610708678e-12, + 1.498960594759561e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 296310129, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6040155824924369, + -1.75046564782112, + -2.2111224433502734, + -0.75011688308459235, + -4.7127967442663641, + -2.9573955793490017 + ], + "velocities": [ + -1.648231075786414e-10, + -0.23411952516421158, + -0.10925639541532504, + 0.34337592057960614, + 1.1615440985105104e-13, + -1.648231075786414e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4310958916616369e-09, + 2.0774339028213866, + 0.91006791183688762, + -2.9875018146588417, + -1.0085242365480176e-12, + 1.4310958916616369e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 429025718, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6040155825050402, + -1.7687610134055396, + -2.2191371508849356, + -0.72380680996550562, + -4.7127967442663552, + -2.9573955793616049 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43240653335717832, + "y": 0.13062943055328299, + "z": 0.051891781824041562 + }, + "40": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42595105513767234, + 0.128486630430305, + 0.18189178182404159 + ], + "xaxis": [ + -0.94693658492404587, + -0.3214195630466643, + -0.00075407113503750574 + ], + "yaxis": [ + 0.32141946113475311, + -0.94693688516758667, + 0.000255954983406273 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42595105513767234, + 0.128486630430305, + 0.13189178182404157 + ], + "xaxis": [ + -0.94693658492404587, + -0.3214195630466643, + -0.00075407113503750574 + ], + "yaxis": [ + 0.32141946113475311, + -0.94693688516758667, + 0.00025595498340627289 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1336065217033697, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.039730681853607, + -0.22092477982279124, + 0.23085662565286547, + 2.4511693011401761, + 0.0035485269708600323, + 2.3754567732767526 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 399308890, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2537542222814277, + -1.0577634534031941, + 1.5112718620403531, + -1.8220903234666357, + -1.5712992680816202, + -3.0135827212795823 + ], + "velocities": [ + -1.0566942460030047, + -0.076799548404685669, + 0.080252132017924915, + 0.85209407266126058, + 0.00123356587288441, + 0.82577430919628125 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9140526859508578, + -0.21179062075431315, + 0.22131183333751597, + 2.3498254395853682, + 0.0034018127370080424, + 2.2772432544274235 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 567228903, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0039312189938203, + -1.0759203553700247, + 1.5302450217001007, + -1.6206387672373803, + -1.5710076291971626, + -2.8183536673299709 + ], + "velocities": [ + -1.70478365437629, + -0.12390207979178919, + 0.12947219445029362, + 1.3746985493282495, + 0.0019901338013756757, + 1.3322364059865326 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0889686753892374, + -0.22450335109086805, + 0.23459607438408553, + 2.4908736930209563, + 0.0036060065196723717, + 2.4139347627726511 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 697222012, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.75410821570621289, + -1.0940772573368553, + 1.5492181813598485, + -1.4191872110081252, + -1.570715990312705, + -2.6231246133803601 + ], + "velocities": [ + -2.1064126095920956, + -0.15309209620712588, + 0.15997447082599786, + 1.6985629532871127, + 0.0024589882260037292, + 1.6460971791487351 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8234522861109692, + -0.20520586852413425, + 0.21443105843376276, + 2.2767673492471907, + 0.0032960474583990261, + 2.2064418065406786 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 806267031, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50428521241860536, + -1.112234159303686, + 1.568191341019596, + -1.2177356547788696, + -1.5704243514282472, + -2.4278955594307492 + ], + "velocities": [ + -2.4362865065833388, + -0.17706702217577669, + 0.18502720829546304, + 1.9645657193806363, + 0.0028440770851727686, + 1.9038835638481904 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6110549880330298, + -0.18976903176982679, + 0.1983002466402104, + 2.105495025747731, + 0.0030480986696439158, + 2.0404597992011975 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 903038948, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.25446220913099804, + -1.1303910612705166, + 1.5871645006793436, + -1.0162840985496144, + -1.5701327125437896, + -2.2326665054811379 + ], + "velocities": [ + -2.7024923958717828, + -0.19641461695766613, + 0.20524458929468223, + 2.1792280601932292, + 0.0031548410563291534, + 2.1119153432987234 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1232068328147897, + -0.22699174831498278, + 0.23719633944673249, + 2.5184825601189682, + 0.0036459755293384781, + 2.4406908380549028 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 991521366, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.0046392058433906147, + -1.1485479632373472, + 1.6061376603390911, + -0.81483254232035907, + -1.569841073659332, + -2.0374374515315274 + ], + "velocities": [ + -2.9556761329064436, + -0.21481577390653936, + 0.22447298460974419, + 2.3833896352538435, + 0.0034504032009671668, + 2.3097707081219503 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.77481696182298954, + -0.056312971315414274, + 0.058844564873123534, + 0.62479467742353023, + 0.00090450739696188961, + 0.6054958128361202 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 72424365, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.24518379744421681, + -1.1667048652041778, + 1.6251108199988387, + -0.6133809860911037, + -1.5695494347748744, + -1.8422083975819161 + ], + "velocities": [ + -3.1189662778159004, + -0.2266835487481445, + 0.23687428452792691, + 2.5150630735522386, + 0.0036410251816399774, + 2.4373769737197906 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.2896994398575452e-14, + -3.2547026373058693e-14, + 6.1594372490949782e-14, + 3.827775279089564e-17, + 9.5191302940558758e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 151733255, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.49500680073182446, + -1.1848617671710087, + 1.6440839796585864, + -0.41192942986184833, + -1.5692577958904168, + -1.6469793436323052 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925862, + 0.23923118424527323, + 2.5400879573591801, + 0.0036772533912092873, + 2.4616288806411148 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.7997442041340828e-15, + 2.4497761786173225e-15, + -7.839283771575432e-14, + 3.5346770577192797e-14, + -4.4795907266145325e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 231042145, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.74482980401943188, + -1.2030186691378393, + 1.663057139318334, + -0.21047787363259274, + -1.5689661570059592, + -1.4517502896826939 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925743, + 0.23923118424527201, + 2.5400879573591792, + 0.0036772533912106907, + 2.4616288806411171 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 5.2495203827514033e-15, + -5.2495203827514033e-15, + 5.0395395674413477e-14, + -3.5385048329983681e-14, + -5.0395395674413477e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 310351035, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.99465280730703909, + -1.2211755711046699, + 1.6820302989780815, + -0.0090263174033378135, + -1.5686745181215014, + -1.2565212357330831 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925734, + 0.2392311842452719, + 2.5400879573591784, + 0.003677253391210689, + 2.4616288806411131 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -5.2495203827514033e-15, + 5.2495203827514033e-15, + -1.1198976816536328e-14, + 8.2023755980490677e-17, + 5.0395395674413477e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 389659925, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2444758105946467, + -1.2393324730715005, + 1.7010034586378291, + 0.19242523882591778, + -1.5683828792370438, + -1.0612921817834722 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925734, + 0.2392311842452719, + 2.5400879573591797, + 0.003677253391209289, + 2.4616288806411131 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 5.2495203827514033e-15, + -5.2495203827514033e-15, + 1.1198976816536328e-14, + -8.2023755980490677e-17, + 1.6798465224804491e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 468968815, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4942988138822539, + -1.2574893750383311, + 1.7199766182975766, + 0.39387679505517292, + -1.5680912403525862, + -0.8660631278338613 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925734, + 0.2392311842452719, + 2.5400879573591797, + 0.003677253391209289, + 2.4616288806411157 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -5.2495203827514033e-15, + 4.059629095994419e-14, + -1.1198976816536328e-14, + 8.2023755980490677e-17, + -1.6798465224804491e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 548277705, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7441218171698616, + -1.2756462770051618, + 1.7389497779573242, + 0.59532835128442851, + -1.5677996014681286, + -0.67083407388424998 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925734, + 0.23923118424527332, + 2.5400879573591797, + 0.003677253391209289, + 2.4616288806411157 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 7.6992965613687227e-15, + -4.3046067138561498e-14, + -1.6798465224804485e-14, + -1.2576975917008568e-16, + -1.1198976816536323e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 627586595, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9939448204574688, + -1.2938031789719924, + 1.757922937617072, + 0.79677990751368366, + -1.567507962583671, + -0.47560501993463911 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925723, + 0.23923118424527323, + 2.5400879573591784, + 0.0036772533912092873, + 2.4616288806411148 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.4497761786173182e-15, + 2.4497761786173182e-15, + -3.9196418857877091e-14, + 3.5346770577192734e-14, + -1.1198976816536312e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 706895484, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2437678237450767, + -1.311960080938823, + 1.7768960972768195, + 0.99823146374293925, + -1.5672163236992134, + -0.28037596598502779 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925701, + 0.23923118424527162, + 2.5400879573591766, + 0.0036772533912106842, + 2.46162888064111 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -1.0149072739986055e-14, + 1.0499040765502816e-14, + 1.1198976816536337e-13, + -3.5138977062042241e-14, + 1.791836290645814e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 786204374, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4935908270326843, + -1.3301169829056536, + 1.7958692569365671, + 1.1996830199721944, + -1.5669246848147556, + -0.085146912035417355 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925751, + 0.23923118424527212, + 2.5400879573591792, + 0.0036772533912106924, + 2.4616288806411126 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.0149072739986055e-14, + 2.4847729811689998e-14, + 2.7997442041340843e-14, + -1.640475119609815e-16, + 3.3596930449609014e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 865513264, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7434138303202911, + -1.3482738848724842, + 1.8148424165963146, + 1.4011345762014495, + -1.566633045930298, + 0.11008214191419352 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925751, + 0.23923118424527351, + 2.5400879573591846, + 0.0036772533912092925, + 2.4616288806411211 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -3.5346770577192753e-14, + -1.3998721020670398e-13, + 0.0, + -1.3998721020670398e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 944822154, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9932368336078987, + -1.3664307868393148, + 1.8338155762560624, + 1.6025861324307056, + -1.5663414070458404, + 0.30531119586380528 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925712, + 0.23923118424527312, + 2.5400879573591801, + 0.003677253391209286, + 2.4616288806411166 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -1.0149072739986055e-14, + 1.0499040765502816e-14, + 3.9196418857877179e-14, + 1.640475119609815e-16, + 1.063902797570952e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 24131044, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2430598368955064, + -1.3845876888061455, + 1.8527887359158099, + 1.8040376886599607, + -1.5660497681613827, + 0.50054024981341616 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925751, + 0.23923118424527212, + 2.5400879573591766, + 0.0036772533912092925, + 2.4616288806411157 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.0149072739986055e-14, + -1.0499040765502816e-14, + -3.9196418857877179e-14, + -1.640475119609815e-16, + -1.791836290645814e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 103439934, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4928828401831131, + -1.4027445907729761, + 1.8717618955755575, + 2.0054892448892154, + -1.5657581292769251, + 0.69576930376302704 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925751, + 0.23923118424527212, + 2.5400879573591766, + 0.0036772533912092925, + 2.4616288806411126 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 1.3998721020670398e-13, + 3.5303024574003161e-14, + 1.3998721020670398e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 182748824, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.7427058434707208, + -1.4209014927398067, + 1.8907350552353051, + 2.2069408011184706, + -1.5654664903924675, + 0.89099835771263747 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925712, + 0.23923118424527171, + 2.5400879573591801, + 0.0036772533912106859, + 2.4616288806411113 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.5346770577192753e-14, + 0.0, + -1.3998721020670398e-13, + -3.5303024574003161e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 262057714, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9925288467583284, + -1.4390583947066373, + 1.9097082148950526, + 2.4083923573477266, + -1.5651748515080097, + 1.0862274116622488 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925851, + 0.23923118424527171, + 2.5400879573591801, + 0.0036772533912106859, + 2.4616288806411166 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 6.054446841439958e-14, + 1.0499040765502816e-14, + 1.1198976816536337e-13, + 1.640475119609815e-16, + -3.3596930449609014e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 341366604, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.2423518500459361, + -1.4572152966734682, + 1.9286813745548002, + 2.6098439135769818, + -1.5648832126235521, + 1.2814564656118601 + ], + "velocities": [ + -3.1499999999999999, + -0.22893905061925751, + 0.23923118424527212, + 2.5400879573591792, + 0.0036772533912092925, + 2.4616288806411153 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1506707931924407, + 0.083629675863047592, + -0.087389313184698392, + -0.92787461100742807, + -0.0013432724052167928, + -0.89921411321670675 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 420675494, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.4921748533335428, + -1.4753721986402986, + 1.9476545342145477, + 2.8112954698062369, + -1.5645915737390945, + 1.4766855195614705 + ], + "velocities": [ + -3.1036794829860401, + -0.22557251881310855, + 0.23571330737539953, + 2.5027361518208266, + 0.003623179652075276, + 2.4254308100227684 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7490821270449155, + 0.19980071499686727, + -0.20878291201287794, + -2.2167969538723042, + -0.0032092290712345223, + -2.1483237965676403 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 502387522, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.7419978566211505, + -1.4935291006071294, + 1.9666276938742955, + 3.012747026035492, + -1.5642999348546369, + 1.6719145735110819 + ], + "velocities": [ + -2.9403893380765829, + -0.21370474397150574, + 0.22331200745721774, + 2.3710627135224316, + 0.0034325576714024581, + 2.2978245444249312 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6110549880330227, + 0.18976903176982723, + -0.19830024664018595, + -2.1054950257478202, + -0.0030480986696439223, + -2.0404597992014115 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 590869941, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.9918208599087581, + -1.51168600257396, + 1.985600853534043, + 3.2141985822647481, + -1.5640082959701793, + 1.8671436274606932 + ], + "velocities": [ + -2.7024923958717832, + -0.19641461695766593, + 0.2052445892946832, + 2.1792280601932306, + 0.0031548410563291504, + 2.1119153432987217 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6906706190154179, + 0.19555542128462347, + -0.20434676780986311, + -2.169695249708258, + -0.0031410405264566347, + -2.1026769854159983 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 687641858, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.2416438631963658, + -1.5298429045407906, + 2.0045740131937908, + 3.4156501384940032, + -1.5637166570857217, + 2.0623726814103036 + ], + "velocities": [ + -2.4435829477897881, + -0.17759732069091988, + 0.1855813467940659, + 1.9704494026949475, + 0.002852594819512516, + 1.9095855100068233 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.078136765980263, + 0.22371609805703724, + -0.23377342977599533, + -2.4821390890067172, + -0.0035933615432894028, + -2.4054699560954322 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 795996696, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.4914668664839725, + -1.547999806507621, + 2.0235471728535384, + 3.6171016947232584, + -1.5634250182012639, + 2.2576017353599149 + ], + "velocities": [ + -2.1231580127250762, + -0.15430913642791999, + 0.16124622403938368, + 1.7120660633947979, + 0.0024785365086887928, + 1.6591832007265543 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0502794356915208, + 0.2216914533748244, + -0.23165776561253387, + -2.4596755749778607, + -0.0035608413965182847, + -2.3837003025154542 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 924723983, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7412898697715802, + -1.5661567084744519, + 2.0425203325132859, + 3.8185532509525135, + -1.5631333793168063, + 2.4528307893095254 + ], + "velocities": [ + -1.714556682270193, + -0.1246123743085219, + 0.13021442081115631, + 1.3825792955061036, + 0.0020015426585074949, + 1.3398737290706411 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0424081373940535, + 0.22111937478453872, + -0.23105996878293039, + -2.4533283400527779, + -0.0035516525843412722, + -2.3775491230815295 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 92570875, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9911128730591878, + -1.5843136104412825, + 2.0614934921730335, + 4.0200048071817696, + -1.5628417404323487, + 2.6480598432591376 + ], + "velocities": [ + -1.0570183119703769, + -0.076823101215767561, + 0.0802767436640036, + 0.85235539204574151, + 0.0012339441816709153, + 0.82602755686120888 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1336065217033715, + 0.22774758796605793, + -0.23798615845898552, + -2.5268686313907636, + -0.0036581159392537329, + -2.44881787758424 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 491879764, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2409358763467955, + -1.6024705124081131, + 2.080466651832781, + 4.2214563634110247, + -1.5625501015478911, + 2.8432888972087484 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.44320820728555826, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2409358763467955, + -1.6024705124081131, + 2.080466651832781, + 4.2214563634110247, + -1.5625501015478911, + 2.8432888972087484 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.22770068183114953, + 0.62656543503125139, + 1.5614407634850085, + -3.151879705994014, + 0.65752098002702186, + -1.2855721488012708 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 113765291, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2380677560441455, + -1.5991194758567986, + 2.0754991649358958, + 4.2352137747898251, + -1.5708322428612089, + 2.8594819778500811 + ], + "velocities": [ + 0.012605428010249688, + 0.064142138118776906, + 0.042776450979747624, + -0.053558900445266823, + -0.036400123569658292, + 0.071168809693378035 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.5605958591761221e-09, + 1.45186519966473, + 1.6262994646174707, + -3.0781646642817426, + -6.8501990482330391e-12, + 8.5605958591761221e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 221438553, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2380677559747904, + -1.5884782809578462, + 2.0894124073543798, + 4.2106593374723902, + -1.570832242861264, + 2.8594819779194363 + ], + "velocities": [ + 9.8629422818392593e-10, + 0.15685976699748058, + 0.19422059432886929, + -0.35108036132631709, + -7.8523057496058059e-13, + 9.8629422818392593e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.5211745469144385e-09, + 1.6917353135954745, + 1.4551886469541364, + -3.1469239605490453, + -6.792975982499312e-12, + 8.5209360104104536e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 273645680, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2380677559054352, + -1.5772594413260754, + 2.102945744597263, + 4.1859071605977389, + -1.5708322428613193, + 2.8594819779887914 + ], + "velocities": [ + 1.5254557978755005e-09, + 0.25400073695621872, + 0.29286519942115763, + -0.54686593637731229, + -1.216074678470807e-12, + 1.5254502833547755e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.3940399927236231e-09, + -1.1826376266272907, + -1.7554642601289694, + 2.9381018867555122, + 6.6916258730268235e-12, + -8.3941717444419798e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 313911120, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.23806775583608, + -1.5654572174358115, + 2.1160926708392878, + 4.1609580104654533, + -1.5708322428613746, + 2.8594819780581462 + ], + "velocities": [ + 1.5289717791825901e-09, + 0.26585140431112542, + 0.28604402662198986, + -0.55189543093305526, + -1.2188775757055111e-12, + 1.5289577133406533e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.8232986058248354e-09, + -1.5241906484152317, + -1.6577406980061971, + 3.1819313464211856, + 7.0533588166766521e-12, + -8.8231856126427958e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 365843354, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2380677557667248, + -1.5530665866733644, + 2.1288462716412542, + 4.1358137789010421, + -1.5708322428614299, + 2.8594819781275005 + ], + "velocities": [ + 9.4072403028424841e-10, + 0.17039730531994479, + 0.17141134107873759, + -0.3418086463986505, + -7.4905972354545084e-13, + 9.4071198315693799e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.5953423583806012e-09, + -1.6090437285868606, + -1.5309355567027103, + 3.139979285289241, + 6.8245831728661275e-12, + -8.5952322844584573e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 492878205, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2380677556973696, + -1.5400833306190553, + 2.141199278574617, + 4.1104775159133728, + -1.5708322428614849, + 2.8594819781968548 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42595105513767234, + "y": 0.128486630430305, + "z": 0.13189178182404157 + }, + "41": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44134064404022533, + 0.060643108858912699, + 0.18189178182404159 + ], + "xaxis": [ + -0.99411936099250486, + -0.10828697705425729, + -0.00079164405182054144 + ], + "yaxis": [ + 0.10828694271990413, + -0.99411967619620667, + 8.6231812252864749e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44134064404022533, + 0.060643108858912699, + 0.13189178182404157 + ], + "xaxis": [ + -0.99411936099250486, + -0.10828697705425729, + -0.00079164405182054144 + ], + "yaxis": [ + 0.10828694271990413, + -0.99411967619620667, + 8.6231812252864803e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.95145041825467047, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.96070497012604816, + -0.23932656029742641, + -1.690800172472517, + 0.43829441076809195, + 1.4828098363429099, + 3.1375263923501451 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 412689503, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5845992352524965, + -1.0597903950604715, + 1.349703387266443, + -1.9865778844031428, + -1.4465366638271631, + -2.9442053646786626 + ], + "velocities": [ + 0.33630255771717099, + -0.083778201279750775, + -0.59187829799249947, + 0.15342850922808268, + 0.51906959584571732, + 1.0983165315716434 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.92604213460045104, + -0.23069150848187117, + -1.6297950459169759, + 0.42248047460176258, + 1.4293091310575332, + 3.0243224799346353 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 582804344, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6656212449359575, + -1.0799742386845794, + 1.2071080721522807, + -1.9496138891103945, + -1.3214824206882485, + -2.6795989541281324 + ], + "velocities": [ + 0.54611453131323318, + -0.13604562937827674, + -0.96113851020569918, + 0.24914927491467079, + 0.8429060158758328, + 1.7835327270310501 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.91369619942658498, + -0.22761594388013695, + -1.6080667214360802, + 0.41684799163282715, + 1.4102536721144743, + 2.9840024038960258 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 714344098, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7466432546194188, + -1.1001580823086874, + 1.0645127570381181, + -1.9126498938176462, + -1.1964281775493339, + -2.4149925435776023 + ], + "velocities": [ + 0.67145612661827569, + -0.16727017156276325, + -1.181734424195755, + 0.30633282487772329, + 1.0363657732421796, + 2.1928806283719218 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.87655568424151797, + -0.21836366349929215, + -1.5427009833236425, + 0.3999036843534583, + 1.3529287670127352, + 2.8627067405630768 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 825797055, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8276652643028801, + -1.1203419259327951, + 0.92191744192395564, + -1.8756858985248979, + -1.0713739344104192, + -2.1503861330270713 + ], + "velocities": [ + 0.77305996322169168, + -0.19258126860447736, + -1.3605528854246867, + 0.35268669529647451, + 1.1931872460258151, + 2.5247043711651189 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.81061582052803294, + -0.20193701717207671, + -1.4266496081287627, + 0.36982049064550698, + 1.2511532151398961, + 2.6473564830517016 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 924705896, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9086872739863412, + -1.1405257695569031, + 0.77932212680979307, + -1.8387219032321493, + -0.94631969127150439, + -1.8857797224765411 + ], + "velocities": [ + 0.85752996066519094, + -0.21362405964347189, + -1.5092165133722779, + 0.39122373726912402, + 1.3235633208666124, + 2.8005714214895807 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.96961606747622209, + -0.24154645333806682, + -1.7064833274526097, + 0.44235984634284231, + 1.4965637599868551, + 3.1666287744450199 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 15142188, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9897092836698025, + -1.1607096131810111, + 0.63672681169563072, + -1.801757907939401, + -0.82126544813258984, + -1.621173311926011 + ], + "velocities": [ + 0.93786788886511885, + -0.23363748792311045, + -1.6506078739672991, + 0.42787563977577492, + 1.4475617114970176, + 3.0629437187838606 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3426408193999732e-14, + -5.0349030727498998e-15, + 1.3426408193999732e-14, + 8.7271653260998262e-15, + -2.6852816387999464e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 97831691, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0707312933532638, + -1.180893456805119, + 0.49413149658146804, + -1.7647939126466528, + -0.69621120499367506, + -1.3565669013754802 + ], + "velocities": [ + 0.97983427705945236, + -0.24409196837962238, + -1.7244669447574918, + 0.44702161482291936, + 1.5123351592727485, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.07411265551998e-14, + 2.9873758231649442e-14, + -4.8335069498399098e-14, + 4.6992428678999123e-15, + 1.6111689832799699e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 180521194, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1517533030367249, + -1.201077300429227, + 0.3515361814673057, + -1.7278299173539045, + -0.5711569618547605, + -1.0919604908249498 + ], + "velocities": [ + 0.97983427705945225, + -0.24409196837962138, + -1.7244669447574934, + 0.44702161482291991, + 1.512335159272749, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.4307147040199151e-14, + -5.9747516463298859e-14, + 3.490866130439933e-14, + -9.3984857357998199e-15, + 3.490866130439933e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 263210698, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2327753127201859, + -1.2212611440533347, + 0.20894086635314313, + -1.6908659220611562, + -0.44610271871584595, + -0.8273540802744197 + ], + "velocities": [ + 0.97983427705945458, + -0.2440919683796226, + -1.7244669447574941, + 0.44702161482291974, + 1.5123351592727512, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.4307147040199151e-14, + 5.9747516463298859e-14, + -2.6852816387999487e-15, + 9.3984857357998199e-15, + -3.490866130439933e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 345900201, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3137973224036474, + -1.2414449876774429, + 0.06634555123898056, + -1.6539019267684079, + -0.32104847557693095, + -0.56274766972388912 + ], + "velocities": [ + 0.97983427705945458, + -0.2440919683796226, + -1.7244669447574927, + 0.44702161482291974, + 1.5123351592727512, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.2223379665599411e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 428589704, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3948193320871085, + -1.2616288313015507, + -0.076249763875181786, + -1.6169379314756596, + -0.19599423243801639, + -0.29814125917335899 + ], + "velocities": [ + 0.9798342770594527, + -0.24409196837962147, + -1.7244669447574927, + 0.44702161482292013, + 1.5123351592727496, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5510175568599489e-14, + 9.734145940649805e-15, + 5.3705632775998927e-15, + 1.4097728603699718e-14, + -2.9538098026799411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 511279207, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4758413417705696, + -1.2818126749256586, + -0.21884507898934413, + -1.5799739361829113, + -0.070939989299101835, + -0.03353484862282885 + ], + "velocities": [ + 0.9798342770594537, + -0.24409196837962238, + -1.7244669447574925, + 0.44702161482292069, + 1.5123351592727485, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.5649787859599054e-14, + -5.034903072749895e-15, + -2.685281638799944e-15, + -2.3496214339499513e-14, + 3.2223379665599329e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 593968711, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5568633514540311, + -1.3019965185497666, + -0.36144039410350692, + -1.5430099408901627, + 0.054114253839812942, + 0.23107156192770217 + ], + "velocities": [ + 0.97983427705945292, + -0.24409196837962222, + -1.7244669447574923, + 0.44702161482292035, + 1.5123351592727485, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.0279224581999261e-14, + -9.7341459406498224e-15, + -3.7593942943199311e-14, + 1.812565106189967e-14, + -5.3705632775999022e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 676658214, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6378853611374922, + -1.3221803621738746, + -0.50403570921766949, + -1.5060459455974144, + 0.17916849697872772, + 0.49567797247823275 + ], + "velocities": [ + 0.9798342770594527, + -0.24409196837962283, + -1.7244669447574941, + 0.44702161482292013, + 1.5123351592727496, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.0418836872998844e-14, + 4.7328088883849094e-14, + 1.04725983913198e-13, + -2.6852816387999486e-14, + -2.6852816387999486e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 759347717, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7189073708209532, + -1.3423642057979825, + -0.64663102433183184, + -1.4690819503046662, + 0.30422274011764205, + 0.76028438302876244 + ], + "velocities": [ + 0.97983427705945192, + -0.24409196837962127, + -1.7244669447574914, + 0.44702161482291974, + 1.5123351592727483, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0472598391319791e-13, + -7.485222568154851e-14, + -1.3426408193999733e-13, + 1.8125651061899638e-14, + 6.1761477692398766e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 842037221, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7999293805044143, + -1.3625480494220903, + -0.78922633944599418, + -1.4321179550119179, + 0.42927698325655683, + 1.0248907935792935 + ], + "velocities": [ + 0.9798342770594537, + -0.24409196837962238, + -1.7244669447574925, + 0.44702161482291936, + 1.5123351592727499, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.4446759331198823e-14, + 6.4782419536048822e-14, + 6.4446759331198823e-14, + 0.0, + -6.4446759331198823e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 924726724, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8809513901878758, + -1.3827318930461985, + -0.93182165456015698, + -1.3951539597191696, + 0.55433122639547161, + 1.2894972041298236 + ], + "velocities": [ + 0.97983427705945536, + -0.24409196837962283, + -1.7244669447574954, + 0.44702161482292013, + 1.5123351592727496, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.66624475578472031, + 0.16597193797927273, + 1.1725626316287443, + -0.30395528465487959, + -1.0283222300388593, + -2.1758610291829346 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 7416227, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9619733998713369, + -1.4029157366703062, + -1.0744169696743193, + -1.3581899644264213, + 0.67938546953438594, + 1.5541036146803537 + ], + "velocities": [ + 0.95144124455103274, + -0.23701882207773214, + -1.674496406709834, + 0.43406809856124662, + 1.4685116450865301, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.77263260953932777, + 0.19247480815093229, + 1.3598007609926703, + -0.35249172729250783, + -1.1925276426475253, + -2.5233086945534096 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 95192801, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0429954095547984, + -1.4230995802944142, + -1.2170122847884817, + -1.321225969133673, + 0.80443971267330117, + 1.8187100252308839 + ], + "velocities": [ + 0.88773387470312692, + -0.2211483247185965, + -1.5623741264300992, + 0.40500341689793729, + 1.3701818585282139, + 2.8992131277293911 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.87895289823862921, + 0.21896084681577638, + 1.5469199787133292, + -0.40099734528890901, + -1.3566287712859331, + -2.8705357020216189 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 190242253, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1240174192382595, + -1.4432834239185222, + -1.3596075999026445, + -1.2842619738409247, + 0.92949395581221594, + 2.0833164357814149 + ], + "velocities": [ + 0.8082316929891149, + -0.20134309389600649, + -1.4224536443529079, + 0.36873280003566833, + 1.24747340929349, + 2.6395702601127136 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.88873097415970015, + 0.22139671771187144, + 1.5641289793615476, + -0.40545831526152115, + -1.371720841803997, + -2.9024695133608627 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 296285918, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2050394289217206, + -1.4634672675426299, + -1.5022029150168064, + -1.2472979785481764, + 1.0545481989511303, + 2.347922846331945 + ], + "velocities": [ + 0.71331384901581218, + -0.17769758167803912, + -1.2554022477730362, + 0.32542922423528703, + 1.1009714996909938, + 2.3295820224832768 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.9078571083260033, + 0.22616133540846683, + 1.5977901677105386, + -0.4141840718312933, + -1.4012412676943242, + -2.9649327592026715 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 418567814, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2860614386051816, + -1.4836511111667381, + -1.6447982301309692, + -1.2103339832554281, + 1.1796024420900451, + 2.6125292568824752 + ], + "velocities": [ + 0.60070173362566082, + -0.14964415105968221, + -1.0572096808092368, + 0.27405313865742364, + 0.92715918729087088, + 1.961806799993667 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.38704650915495986, + 0.096419309352605939, + 0.6811855093746747, + -0.17657899869891466, + -0.59739086269310115, + -1.2640390913990547 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 568937264, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3670834482886431, + -1.5038349547908458, + -1.7873935452451319, + -1.1733699879626796, + 1.3046566852289598, + 2.8771356674330062 + ], + "velocities": [ + 0.50782832333405392, + -0.12650793909102082, + -0.89375640116339539, + 0.23168227777341788, + 0.78381277960335927, + 1.6584953932677802 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.96295163756583391, + 0.23988624012340465, + 1.6947542122795263, + -0.43931938910413437, + -1.4862774780042896, + -3.1448636900704066 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 738852780, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4481054579721042, + -1.5240187984149538, + -1.9299888603592938, + -1.1364059926699315, + 1.4297109283678742, + 3.1417420779835354 + ], + "velocities": [ + 0.33658191454723152, + -0.083847793413978147, + -0.59236995421489247, + 0.15355595786323328, + 0.51950077198026778, + 1.0992288714204526 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.95145041825467302, + 0.2370211073900875, + 1.6745125520407944, + -0.43407228380349894, + -1.468525804332514, + -3.1073023364237797 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 151542283, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5291274676555657, + -1.5442026420390618, + -2.0725841754734566, + -1.099441997377183, + 1.5547651715067889, + 3.406348488534066 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.60867593181339952, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5291274676555657, + -1.5442026420390618, + -2.0725841754734566, + -1.099441997377183, + 1.5547651715067889, + 3.406348488534066 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.31536024987155292, + -1.1076971725374878, + -1.2642111359228685, + 1.9403628005635873, + -1.483006787348446, + -1.0306309363803088 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 104846827, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.525781923877104, + -1.5438840454283265, + -2.0741202576795099, + -1.0936464002729054, + 1.5704978585972307, + 3.4172820824779984 + ], + "velocities": [ + -0.015954435025343747, + -0.053000978181034941, + -0.078608611180997323, + 0.15344196922679879, + 0.075027006262264787, + 0.052140795570624024 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.9918340419553163e-11, + -1.4598830675317347, + -1.6130520469337009, + 3.0729351144654968, + -5.4690936623815629e-14, + 8.9918340419553163e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 202364566, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5257819238778332, + -1.5545174423664136, + -2.0880230200110064, + -1.0691102410033222, + 1.5704978585972302, + 3.4172820824787276 + ], + "velocities": [ + 1.0826745107894842e-11, + -0.16341689709217486, + -0.20264783407761178, + 0.36606473116978433, + -6.5910055229384175e-15, + 1.0826745107894842e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.61258192080614e-11, + -1.6424826310154688, + -1.3911433015264512, + 3.0336259325419186, + -5.2566379928796675e-14, + 8.61258192080614e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 253834799, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5257819238785628, + -1.565727306653711, + -2.1015457517701672, + -1.044377644956864, + 1.5704978585972298, + 3.4172820824794572 + ], + "velocities": [ + 1.6150408448184318e-11, + -0.25544785033604989, + -0.29462179706785413, + 0.55006964740390396, + -9.8331878251853574e-15, + 1.6150408448184318e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.8496514256689068e-11, + 1.185593870742097, + 1.7587435312239534, + -2.9443374019662345, + 5.3895562884707082e-14, + -8.8496514256689068e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 294066476, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.525781923879292, + -1.5775193138071346, + -2.114681974596627, + -1.0194494149769806, + 1.5704978585972293, + 3.4172820824801864 + ], + "velocities": [ + 1.6086377751998669e-11, + -0.26579254126135876, + -0.2860019824523431, + 0.55179452371369764, + -9.7968195809979719e-15, + 1.6086377751998669e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.2814985203800245e-11, + 1.5242980065206617, + 1.6579004184581467, + -3.1821984249787225, + 5.6549369903597224e-14, + -9.2814985203800245e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 345974303, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5257819238800212, + -1.5898984238633342, + -2.1274248033052601, + -0.99432747621214834, + 1.5704978585972289, + 3.4172820824809156 + ], + "velocities": [ + 9.8961006646122123e-12, + -0.17029811234425143, + -0.17132886090861568, + 0.3416269732528624, + -6.025793265732189e-15, + 9.8961006646122123e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.0448411760196899e-11, + 1.6078500879337223, + 1.5299795995340653, + -3.1378296874677738, + 5.505076796116671e-14, + -9.0448411760196899e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 472993224, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5257819238807508, + -1.6028687946965172, + -2.1397670004554086, + -0.96901490822881697, + 1.5704978585972285, + 3.4172820824816452 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44134064404022533, + "y": 0.060643108858912699, + "z": 0.13189178182404157 + }, + "42": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44008022764735838, + -0.0081128234946525202, + 0.18189178182404159 + ], + "xaxis": [ + -0.98827369665145581, + 0.15269080245775554, + -0.00078698899168781191 + ], + "yaxis": [ + -0.15269075404436294, + -0.98827401000168313, + -0.00012159176448040691 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44008022764735838, + -0.0081128234946525202, + 0.13189178182404157 + ], + "xaxis": [ + -0.98827369665145581, + 0.15269080245775554, + -0.00078698899168781191 + ], + "yaxis": [ + -0.15269075404436294, + -0.98827401000168313, + -0.0001215917644804069 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0760298076484185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0446763311069813, + -0.43324715540175257, + -0.040200483600915667, + 0.90041152890279341, + -2.2282428349843344, + 2.5300696028692387 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 380802754, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7266059011765147, + -1.0713427784673755, + 1.4893539359616961, + -1.9575849210723506, + -1.7348141840484488, + -3.0234790792846264 + ], + "velocities": [ + 0.99621306821489475, + -0.14175775387633058, + -0.013153531855791743, + 0.29461316551115496, + -0.72907737636615177, + 0.82783459644631918 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1020252627471097, + -0.44140771461933642, + -0.040957692097075032, + 0.91737150546628854, + -2.2702135839652771, + 2.5777255021900713 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 539345024, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9496345767839944, + -1.1030790054983877, + 1.4864091695427866, + -1.8916279624488102, + -1.8980374611308199, + -2.8381463833400598 + ], + "velocities": [ + 1.6236664533097596, + -0.23104225070844919, + -0.021438133164685902, + 0.48017189174301306, + -1.1882784071423758, + 1.3492367305998516 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8296684855017968, + -0.40265226538148952, + -0.037361620473475701, + 0.83682659509243473, + -2.0708895930188995, + 2.3514020680031331 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 660517598, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.172663252391474, + -1.1348152325293996, + 1.4834644031238768, + -1.8256710038252699, + -2.0612607382131909, + -2.6528136873954931 + ], + "velocities": [ + 1.9994100937020713, + -0.28450930127703217, + -0.026399276620038891, + 0.59129171826268012, + -1.4632659537466139, + 1.661472731949257 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0703631659118402, + -0.4369023052108687, + -0.040539640565083697, + 0.90800797584296233, + -2.2470417151879309, + 2.5514148865270023 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 763856146, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3956919279989535, + -1.1665514595604116, + 1.4805196367049673, + -1.7597140452017295, + -2.2244840152955621, + -2.4674809914509264 + ], + "velocities": [ + 2.3072518506638717, + -0.32831414324165747, + -0.030463875334844723, + 0.68233071121380218, + -1.6885595858647187, + 1.9172835266223736 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6477318504646923, + -0.37676329689318977, + -0.034959414157342772, + 0.78302191245886288, + -1.9377394780787383, + 2.2002160961963466 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 854655864, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.618720603606433, + -1.1982876865914236, + 1.4775748702860578, + -1.6937570865781892, + -2.3877072923779328, + -2.2821482955063601 + ], + "velocities": [ + 2.571328785690155, + -0.36589139890540023, + -0.033950623790646728, + 0.76042699829221494, + -1.8818239839043616, + 2.1367265653791252 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4153834658091071, + -0.34370090675143783, + -0.031891594654949368, + 0.71430880751287862, + -1.7676955827589584, + 2.0071388947589179 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 937677661, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8417492792139125, + -1.2300239136224358, + 1.4746301038671483, + -1.6278001279546488, + -2.5509305694603039, + -2.0968155995617934 + ], + "velocities": [ + 2.7832787111528097, + -0.39605115722063677, + -0.036749111569371926, + 0.82310760394046123, + -2.0369392905668313, + 2.3128530252805319 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7764210090280872, + -0.39507532937720458, + -0.036658565674932142, + 0.82107955452456804, + -2.0319204892357132, + 2.3071544019115535 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 15113591, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.064777954821392, + -1.2617601406534478, + 1.4716853374482388, + -1.5618431693311083, + -2.7141538465426747, + -1.9114829036172265 + ], + "velocities": [ + 2.9840515009937629, + -0.42462044689913481, + -0.039400021672049909, + 0.88248276077266385, + -2.1838746235124766, + 2.479691492630907 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.403845026374464, + 0.34205902580282632, + 0.031739246492220922, + -0.71089650920505509, + 1.7592511892666927, + -1.9975506654354926 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 87339480, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2878066304288716, + -1.2934963676844597, + 1.4687405710293291, + -1.4958862107075679, + -2.8773771236250463, + -1.7261502076726598 + ], + "velocities": [ + 2.9984523532255416, + -0.42666963951807918, + -0.039590163795883593, + 0.88674156925192338, + -2.1944138704844072, + 2.491658333938398 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4639326734718683, + 0.35060929497714127, + 0.032532615707513778, + -0.72866641454391989, + 1.803226263972481, + -2.0474823865435647 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 164008717, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5108353060363511, + -1.3252325947154717, + 1.4657958046104196, + -1.4299292520840274, + -3.040600400707417, + -1.5408175117280931 + ], + "velocities": [ + 2.8111114982643377, + -0.40001166879284311, + -0.037116602685065642, + 0.83133867997986455, + -2.0573086834724972, + 2.3359815555333348 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7009512606590333, + 0.38433623916074289, + 0.035662098381905483, + -0.79876065289922626, + 1.9766880415880039, + -2.2444404397298037 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 246208517, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7338639816438306, + -1.3569688217464839, + 1.4628510381915101, + -1.3639722934604872, + -3.2038236777897877, + -1.3554848157835266 + ], + "velocities": [ + 2.5970420735470565, + -0.36955031289445428, + -0.034290130028553197, + 0.76803126827513712, + -1.9006422237434051, + 2.1580938310329181 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0870770344991918, + 0.43928063224264063, + 0.040760322676082608, + -0.91295081978831771, + 2.2592737404920635, + -2.5653038015579868 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 336109227, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9568926572513101, + -1.3887050487774959, + 1.4599062717726006, + -1.2980153348369468, + -3.3670469548721589, + -1.1701521198389599 + ], + "velocities": [ + 2.3326553395881362, + -0.33192897388925996, + -0.030799291132403227, + 0.68984336340216967, + -1.7071510997148995, + 1.9383933551047774 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1542013416671448, + 0.44883219437145777, + 0.041646600662974834, + -0.93280169832868487, + 2.3083985866938668, + -2.6210828567710989 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 438206268, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1799213328587905, + -1.4204412758085079, + 1.4569615053536911, + -1.2320583762134063, + -3.53027023195453, + -0.98481942389439325 + ], + "velocities": [ + 2.0079387291255433, + -0.28572289728358546, + -0.026511884737025378, + 0.59381391794040639, + -1.4695076256709423, + 1.6685598699213329 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9901575210322475, + 0.4254893129212835, + 0.039480642707511428, + -0.88428851292508537, + 2.1883433071824205, + -2.4847654821174214 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 559986690, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.40295000846627, + -1.4521775028395201, + 1.4540167389347813, + -1.1661014175898661, + -3.6934935090369012, + -0.79948672794982656 + ], + "velocities": [ + 1.6224069488858706, + -0.23086302748419718, + -0.021421503256797009, + 0.4797994146122303, + -1.1873566402933062, + 1.3481901057665313 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0445113964408019, + 0.43322368575598674, + 0.040198305880651951, + -0.90036275226488893, + 2.2281221277405376, + -2.5299325452184531 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 717781013, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6259786840737496, + -1.4839137298705321, + 1.4510719725158718, + -1.1001444589663256, + -3.8567167861192719, + -0.61415403200525986 + ], + "velocities": [ + 1.0339176968383623, + -0.14712299514342303, + -0.013651366154029041, + 0.30576367171068447, + -0.75667146501117988, + 0.85916644403651188 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.98190380331887139, + 0.46633168984348039, + 0.10936571934849258, + -3.1867347594278441, + 0.83755211879908198, + -1.2564388830774806 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 58583767, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8490073596812291, + -1.515649956901544, + 1.4481272060969623, + -1.0341875003427852, + -4.0199400632016431, + -0.42882133606069317 + ], + "velocities": [ + 0.47088841151155397, + -0.0059572992340884215, + 0.011801485277181068, + -0.40211641232398948, + -0.32238609095812393, + 0.3089641399215009 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.90766897556356507, + 0.25650974206522126, + 0.10184800387928714, + -3.1516462788882, + -0.52382144782460971, + 0.234110446491542 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 465443520, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.9659206443691986, + -1.4826099419768426, + 1.4612458484577937, + -1.4401387100452632, + -4.0874114516746936, + -0.39866648664315174 + ], + "velocities": [ + 0.42656890932180186, + 0.12054954377529499, + 0.047864577396638852, + -1.4811504545682299, + -0.24617558789995986, + 0.11002275114529708 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.91385824790653103, + 0.25825884740538274, + 0.10254249168327766, + -3.1731369298566579, + -0.52739331563874792, + 0.2357068140557958 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 672083474, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.0828339290571698, + -1.4495699270521409, + 1.4743644908186251, + -1.8460899197477414, + -4.1548828401477431, + -0.36851163722561026 + ], + "velocities": [ + 0.64942878142368787, + 0.18353035489539349, + 0.072871307525623125, + -2.2549738478238046, + -0.37478941519744802, + 0.167503865480428 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.91864751715004023, + 0.25961230802969892, + 0.10307988750228154, + -3.1897664313558298, + -0.53015723290007954, + 0.23694208593480581 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 831566864, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.1997472137451402, + -1.4165299121274395, + 1.4874831331794562, + -2.2520411294502196, + -4.2223542286207936, + -0.33835678780806877 + ], + "velocities": [ + 0.8006294755346659, + 0.22626008576716578, + 0.089837282231109067, + -2.7799792383234645, + -0.46204828228842293, + 0.20650229217687174 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.40845827390093203, + 0.11543142853119212, + 0.045832413561304103, + -1.4182659468137655, + -0.23572382682559717, + 0.10535156698151062 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 966231048, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3166604984331105, + -1.3834898972027381, + 1.5006017755402876, + -2.6579923391526976, + -4.289825617093844, + -0.30820193839052734 + ], + "velocities": [ + 0.894889364197619, + 0.2528981888410522, + 0.10041402525600529, + -3.1072723764067307, + -0.51644625410469858, + 0.23081426627230253 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.5134941444926387e-14, + 1.3564945911053317e-14, + 0.0, + 0.0, + -5.5134941444926387e-14, + 3.2818417526741893e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 93090801, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.43357378312108, + -1.3504498822780366, + 1.513720417901119, + -3.0639435488551756, + -4.3572970055668936, + -0.27804708897298591 + ], + "velocities": [ + 0.92159476818827168, + 0.26044520925687875, + 0.10341059356721055, + -3.2000000000000002, + -0.53185810992409532, + 0.23770225541846352 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.59444776387245191, + -0.16799256853249295, + -0.066701980337406749, + 2.0640664531238238, + 0.34305952578630494, + -0.15332289101285185 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 219950554, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5504870678090503, + -1.317409867353335, + 1.5268390602619504, + -3.4698947585576536, + -4.424768394039944, + -0.24789223955544443 + ], + "velocities": [ + 0.88212278327698312, + 0.24929031805647034, + 0.098981508756999473, + -3.0629437187838615, + -0.50907858033633591, + 0.2275214469296063 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.82286951708805711, + -0.23254518251054423, + -0.092332799759410444, + 2.8572020432128, + 0.47488314949201332, + -0.21223855308060291 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 358695198, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6674003524970207, + -1.2843698524286336, + 1.5399577026227818, + -3.8758459682601316, + -4.4922397825129945, + -0.21773739013790297 + ], + "velocities": [ + 0.78064065791353943, + 0.22061119108174337, + 0.087594370740876837, + -2.7105732275739154, + -0.45051261050885189, + 0.20134667802225731 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.87819981388168045, + -0.24818167614535963, + -0.098541318981922407, + 3.0493222199447962, + 0.50681461014045859, + -0.22650961536828468 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 521384204, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.784313637184991, + -1.2513298375039321, + 1.5530763449836129, + -4.2817971779626101, + -4.5597111709860449, + -0.18758254072036151 + ], + "velocities": [ + 0.63663246880079161, + 0.1799140818502043, + 0.071435454882485136, + -2.2105419545375993, + -0.36740458307758833, + 0.16420337759085174 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.90286626728289254, + -0.25515248353214709, + -0.10130910008862125, + 3.1349701138006312, + 0.52104977481078074, + -0.23287170834996462 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 732177621, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.9012269218729614, + -1.2182898225792305, + 1.5661949873444443, + -4.6877483876650885, + -4.6271825594590945, + -0.15742769130282003 + ], + "velocities": [ + 0.39264821039967374, + 0.1109634612215924, + 0.044058393018392358, + -1.3633695813497368, + -0.22659974020771056, + 0.10127375764242461 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.91016104269213105, + -0.25721400707103753, + -0.10212763452593346, + 3.1602993388736449, + 0.52525963536491183, + -0.23475321270242017 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 239037374, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0181402065609317, + -1.185249807654529, + 1.5793136297052757, + -5.0936995973675661, + -4.694653947932145, + -0.1272728418852786 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.69941928946550436, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0181402065609317, + -1.185249807654529, + 1.5793136297052757, + -5.0936995973675661, + -4.694653947932145, + -0.1272728418852786 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.41569049013124154, + 1.5731778947186277, + 1.7605561168195742, + -1.9489399925523641, + 1.8380879910484604, + -1.1736732970532735 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 107731089, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0140814807938208, + -1.1893184699955641, + 1.5799105239145583, + -5.1037487044544303, + -4.7126007024869647, + -0.11581331067780323 + ], + "velocities": [ + -0.018837300137407722, + 0.033522803303598081, + 0.085321406045468104, + -0.18159710344354829, + -0.08329422243050183, + 0.053185813803881703 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.036572790292263e-09, + 1.3244037876826533, + 1.7053769198883248, + -3.02978070757255, + 4.6445154995418667e-12, + 6.0362137166028265e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 181262753, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0140814808330676, + -1.1816114366712658, + 1.5920507647948154, + -5.1235959786589937, + -4.7126007024869345, + -0.11581331063855582 + ], + "velocities": [ + 7.1134065671214482e-10, + 0.14377731777783379, + 0.21527558665288965, + -0.35905290443087834, + 5.4732597860945385e-13, + 7.1133801926543427e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.8316639279765605e-09, + 1.2393664808915632, + 1.155173833336653, + -2.3945403142288511, + 3.7180589940496474e-12, + 4.8322306141400071e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 225413855, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0140814808723153, + -1.1735431674365608, + 1.6037706287215481, + -5.1433841118204402, + -4.7126007024869043, + -0.11581331059930869 + ], + "velocities": [ + 9.8603968243030447e-10, + 0.20764895369163489, + 0.28866374946522394, + -0.49631270315707277, + 7.5869030544971411e-13, + 9.8603786911900163e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.8767581839826377e-09, + -1.0788982730272438, + -1.9077943789446976, + 2.9866926519729406, + -4.5221629950775975e-12, + -5.8769960601420754e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 261648211, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0140814809115621, + -1.1651166609482575, + 1.6150713468408318, + -5.1631113364280354, + -4.7126007024868741, + -0.11581331056006151 + ], + "velocities": [ + 9.6119686682627391e-10, + 0.21016876549871027, + 0.27229214726098816, + -0.48246091275990444, + 7.3957569026183863e-13, + 9.6120150595833913e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.1571966970235998e-09, + -1.3396495065537715, + -1.7523196949480571, + 3.0919692015032596, + -4.7374103651120961e-12, + -6.1572184983965132e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 308413149, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0140814809508099, + -1.1563350559045615, + 1.6259538168730909, + -5.1827754115039992, + -4.7126007024868439, + -0.11581331052081381 + ], + "velocities": [ + 5.9071073052937891e-10, + 0.13370486348663896, + 0.16197074883112966, + -0.29567561231789607, + 4.5450896096668094e-13, + 5.9070955372814488e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9662283748573625e-09, + -1.3884427316250125, + -1.5908443343411938, + 2.9792870659674211, + -4.5906527732676374e-12, + -5.9661925103825721e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 423114186, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0140814809900567, + -1.1472016520745882, + 1.6364186516157941, + -5.2023736500766837, + -4.7126007024868137, + -0.11581331048156722 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44008022764735838, + "y": -0.0081128234946525202, + "z": 0.13189178182404157 + }, + "43": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42028542691955834, + -0.073530318070918504, + 0.18189178182404159 + ], + "xaxis": [ + -0.90668576407669466, + 0.42180612123368305, + -0.00072201832110489381 + ], + "yaxis": [ + -0.42180598749239007, + -0.90668605155797766, + -0.00033589548108917447 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42028542691955834, + -0.073530318070918504, + 0.13189178182404157 + ], + "xaxis": [ + -0.90668576407669466, + 0.42180612123368305, + -0.00072201832110489381 + ], + "yaxis": [ + -0.42180598749239007, + -0.90668605155797766, + -0.00033589548108917458 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0665209126089694, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1440945704532473, + -0.98223250614894364, + 1.0097649557488917, + -0.0090221951154053764, + 0.0025943791006709017, + 0.11189219173897172 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 374623989, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2883946496616956, + -1.1068307764324272, + 1.5614072547380762, + -2.0241593608631288, + -1.5714133470469174, + -3.2011538471666663 + ], + "velocities": [ + -0.9893094351013727, + -0.30906573069662274, + 0.31772899178827463, + -0.002838891309717516, + 0.00081633795199536068, + 0.035207592685605874 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9365034409729267, + -0.91737989093821504, + 0.94309449053978056, + -0.0084264981245772818, + 0.0024230833346752956, + 0.10450442844415639 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 527863623, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.073212073754356, + -1.174055001428491, + 1.6305158070955468, + -2.0247768420303669, + -1.5712357871277569, + -3.1934959191041399 + ], + "velocities": [ + -1.6042714835327785, + -0.50118327057399059, + 0.51523167871669884, + -0.0046035671059391683, + 0.001323779649566884, + 0.057092892218871802 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8184067239451349, + -0.88048582438429934, + 0.90516626555433899, + -0.0080876114913766214, + 0.0023256347218396545, + 0.10030159668786476 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 647123259, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85802949784701643, + -1.2412792264245547, + 1.6996243594530174, + -2.0253943231976046, + -1.5710582272085964, + -3.185837991041613 + ], + "velocities": [ + -1.9600138160004625, + -0.61231913971950291, + 0.62948273973057112, + -0.0056243941397334189, + 0.001617323769152648, + 0.069753067789994461 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.795527670675229, + -0.87333828179985662, + 0.89781837391333907, + -0.0080219584781259182, + 0.0023067558566158171, + 0.099487375818205978 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 748830412, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.64284692193967685, + -1.3085034514206186, + 1.768732911810488, + -2.0260118043648423, + -1.570880667289436, + -3.1781800629790862 + ], + "velocities": [ + -2.2498697139897557, + -0.70287172289546929, + 0.72257355536863788, + -0.0064561555287167005, + 0.0018565010798533284, + 0.080068473700259365 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.795527670675229, + 0.87333828179985662, + -0.89781837391333907, + 0.0080219584781259182, + -0.0023067558566158171, + -0.099487375818205978 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 839090347, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42766434603233727, + -1.3757276764166821, + 1.8378414641679583, + -2.0266292855320804, + -1.5707031073702755, + -3.1705221349165598 + ], + "velocities": [ + -2.2498697139897557, + -0.70287172289546929, + 0.72257355536863788, + -0.0064561555287167005, + 0.0018565010798533284, + 0.080068473700259365 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8184067239451349, + 0.88048582438429934, + -0.90516626555433899, + 0.0080876114913766214, + -0.0023256347218396545, + -0.10030159668786476 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 940797500, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.21248177012499769, + -1.4429519014127461, + 1.9069500165254289, + -2.0272467666993181, + -1.5705255474511151, + -3.1628642068540329 + ], + "velocities": [ + -1.9600138160004625, + -0.61231913971950291, + 0.62948273973057112, + -0.0056243941397334189, + 0.001617323769152648, + 0.069753067789994461 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9365034409729267, + 0.91737989093821504, + -0.94309449053979111, + 0.0084264981245772818, + -0.0024230833346752956, + -0.10450442844415639 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 60057136, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.0027008057823418863, + -1.5101761264088098, + 1.9760585688828995, + -2.0278642478665558, + -1.5703479875319546, + -3.1552062787915061 + ], + "velocities": [ + -1.6042714835327785, + -0.50118327057399059, + 0.51523167871669817, + -0.0046035671059391683, + 0.001323779649566884, + 0.057092892218871802 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1440945704532473, + 0.98223250614894364, + -1.0097649557488841, + 0.0090221951154053764, + -0.0025943791006709017, + -0.11189219173897172 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 213296770, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.21788338168968147, + -1.5774003514048736, + 2.0451671212403699, + -2.028481729033794, + -1.5701704276127941, + -3.1475483507289796 + ], + "velocities": [ + -0.9893094351013727, + -0.30906573069662274, + 0.31772899178827418, + -0.002838891309717516, + 0.00081633795199536068, + 0.035207592685605874 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0665209126089694, + 0.9579980670606365, + -0.98485121367620787, + 0.0087995921811623544, + -0.0025303684698950025, + -0.10913149659991916 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 587920759, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43306595759702105, + -1.6446245764009373, + 2.1142756735978407, + -2.0290992102010317, + -1.5699928676936337, + -3.1398904226664528 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.19878259296391598, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43306595759702105, + -1.6446245764009373, + 2.1142756735978407, + -2.0290992102010317, + -1.5699928676936337, + -3.1398904226664528 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.11968818941034383, + 1.8890436899148644, + 2.012868281549947, + -2.523114935312154, + 0.053687418588043379, + -0.19602556247802891 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 102678541, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43201808681101989, + -1.6447272441115457, + 2.1182478628975043, + -2.0450401079949163, + -1.5704629013608304, + -3.1381742177278338 + ], + "velocities": [ + 0.0051026765521031458, + 0.079535865594732899, + 0.12450046566084494, + -0.26281870243451372, + -0.0022888602775771624, + 0.008357174263395814 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.538775511068359e-09, + 1.4919468486176068, + 1.5175095314417821, + -3.0094563800590115, + 1.1090615857077545e-12, + -1.538706885584958e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 170532340, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43201808682426668, + -1.6338657762048141, + 2.1325185515922489, + -2.0701722645963878, + -1.5704629013608209, + -3.1381742177410805 + ], + "velocities": [ + -2.3931047713406624e-10, + 0.20281497992047329, + 0.25379095936973484, + -0.4566059392901286, + 1.7248702264830503e-13, + -2.3930769295703676e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.9623326477693911e-10, + 1.216635803797474, + 0.8286426999564932, + -2.0452785037534, + 7.1809333011071625e-13, + -9.9627934622663138e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 217276066, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43201808683751364, + -1.6223874646113603, + 2.1464139034276783, + -2.0955459280252668, + -1.5704629013608113, + -3.1381742177543273 + ], + "velocities": [ + -3.0513089470766012e-10, + 0.27210244686241181, + 0.31534569044622257, + -0.58744813730853163, + 2.1992804725548994e-13, + -3.0512714984111673e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6178661743114407e-09, + -1.2206083576108291, + -1.8093587514841811, + 3.0299671090943496, + -1.1660589592270878e-12, + 1.6177847765016189e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 257802869, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43201808685076049, + -1.6102842742721488, + 2.159926541114888, + -2.1211617560516833, + -1.5704629013608018, + -3.138174217767574 + ], + "velocities": [ + -2.8916860481788077e-10, + 0.27020528397298699, + 0.29126502146025685, + -0.56147030543314413, + 2.0842491812027839e-13, + -2.891677619818504e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6376481212612059e-09, + -1.520494821029494, + -1.6559533673188485, + 3.1764481883477935, + -1.180391050992189e-12, + 1.637669053955628e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 310479674, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43201808686400717, + -1.5975489188680581, + 2.1730486139188199, + -2.1470191842597015, + -1.5704629013607923, + -3.1381742177808207 + ], + "velocities": [ + -1.7678008063713639e-10, + 0.17241641929253995, + 0.17357967148958023, + -0.34599609078206095, + 1.2741874901156782e-13, + -1.7678017973330499e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5735403040997942e-09, + -1.5886382063351583, + -1.5113429531319016, + 3.0999811594665321, + -1.1341591403788422e-12, + 1.5735271162028132e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 440237135, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43201808687725402, + -1.5841749691246412, + 2.1857718536216355, + -2.1731163737059296, + -1.5704629013607827, + -3.1381742177940675 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42028542691955834, + "y": -0.073530318070918504, + "z": 0.13189178182404157 + }, + "44": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38304313389148736, + -0.13113672302572901, + 0.18189178182404159 + ], + "xaxis": [ + -0.76088355218378656, + 0.64888816670264848, + -0.00060591208847698985 + ], + "yaxis": [ + -0.64888796096086798, + -0.76088379343581514, + -0.00051672697942405717 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.38304313389148736, + -0.13113672302572901, + 0.13189178182404157 + ], + "xaxis": [ + -0.76088355218378656, + 0.64888816670264848, + -0.00060591208847698985 + ], + "yaxis": [ + -0.64888796096086798, + -0.76088379343581514, + -0.00051672697942405717 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2846113194322903, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3046647733829277, + -0.68635531360829771, + -2.6252664786197633, + -1.8711417494832838, + 0.0099554318530162781, + 3.1722675134901555 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 380747580, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5966914545735869, + -1.0885918901637213, + 1.3049328218300567, + -2.1570857025352206, + -1.5708803854740341, + -2.9824063033094532 + ], + "velocities": [ + 0.41978530488914695, + -0.220839774678871, + -0.84469843259820943, + -0.60205335947022509, + 0.0032032320339923578, + 1.0206999625562414 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2748722100448262, + -0.67068210423658825, + -2.5653174254688813, + -1.8284134485255776, + 0.0097280954213846901, + 3.0998274639470158 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 537238325, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6898056835781388, + -1.137577228891079, + 1.1175669412795077, + -2.2906295253745506, + -1.5701698639819903, + -2.7560008313897129 + ], + "velocities": [ + 0.68334846930293036, + -0.35949453263463166, + -1.3750442767190232, + -0.98005393909943517, + 0.0052143885975914185, + 1.6615487700660549 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.222724583605002, + -0.64324839005252565, + -2.4603851712798281, + -1.7536236611727127, + 0.0093301754714703901, + 2.9730315048350531 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 657902213, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7829199125826904, + -1.1865625676184366, + 0.93020106072895858, + -2.4241733482138805, + -1.5694593424899468, + -2.5295953594699729 + ], + "velocities": [ + 0.8399098091767182, + -0.441857994667396, + -1.6900794074313465, + -1.204593196515948, + 0.0064090523776894797, + 2.0422246819804313 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1117040864853891, + -0.58484295926900087, + -2.2369880232353427, + -1.5943987848312955, + 0.0084830176299060915, + 2.7030872835076973 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 760435457, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8760341415872421, + -1.2355479063457944, + 0.74283518017840966, + -2.5577171710532101, + -1.568748820997903, + -2.303189887550233 + ], + "velocities": [ + 0.9621032058088137, + -0.50614124104402669, + -1.9359588353361368, + -1.3798421728155259, + 0.0073414666329669632, + 2.339335595379211 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0852080842624017, + -0.5709039978697783, + -2.1836723609498989, + -1.5563983904271745, + 0.0082808360811361843, + 2.6386627594428353 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 852077056, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.969148370591794, + -1.2845332450731521, + 0.55546929962786062, + -2.6912609938925396, + -1.5680382995058593, + -2.0767844156304927 + ], + "velocities": [ + 1.0636648191116911, + -0.55957056202455169, + -2.1403226722068429, + -1.5255011793840387, + 0.0081164471036188034, + 2.5862807211090697 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2980689105851986, + -0.682885375911362, + -2.6119941822769421, + -1.8616820058721202, + 0.0099051011750261094, + 3.1562297988959691 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 935868620, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0622625995963459, + -1.3335185838005099, + 0.36810341907731159, + -2.8248048167318696, + -1.5673277780138155, + -1.8503789437107525 + ], + "velocities": [ + 1.1633145477349307, + -0.61199408271396338, + -2.3408393853850624, + -1.6684181733549477, + 0.008876838663749529, + 2.828577135704478 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0050513097815115, + -0.52873528970116057, + -2.0223796692392719, + -1.4414380647596259, + 0.0076691883060276871, + 2.4437630910686701 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 12482583, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1553768286008976, + -1.3825039225278677, + 0.18073753852676266, + -2.9583486395711991, + -1.5666172565217718, + -1.6239734717910126 + ], + "velocities": [ + 1.2527537437586596, + -0.65904606778179664, + -2.5208103081738886, + -1.7966912877476071, + 0.0095593172890396406, + 3.0460468350227736 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.36287128880773623, + -0.19089856820713155, + -0.73017517602658533, + -0.52042764703172095, + 0.0027689414635739865, + 0.88231461793694677 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 84656403, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2484910576054493, + -1.4314892612552255, + -0.00662834202378626, + -3.0918924624105291, + -1.565906735029728, + -1.3975679998712724 + ], + "velocities": [ + 1.3031044755430774, + -0.68553447538606815, + -2.6221268233618193, + -1.8689039804491725, + 0.0099435257763489729, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.53889552538536012, + 0.28350103020642597, + 1.0843738461676236, + 0.77288046456847515, + -0.0041121196710954492, + -1.3103141919842545 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 155408113, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.341605286610001, + -1.4804745999825832, + -0.19399422257433541, + -3.2254362852498586, + -1.5651962135376845, + -1.1711625279515321 + ], + "velocities": [ + 1.2967176508758231, + -0.68217450803131852, + -2.6092751567530121, + -1.8597440379678964, + 0.0098947901938229166, + 3.1529442366842315 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.98524782843019143, + 0.51831711567605554, + 1.9825308001562285, + 1.4130360403486126, + -0.0075180749985570457, + -2.3956113038610645 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 228303670, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4347195156145531, + -1.5294599387099408, + -0.38136010312488433, + -3.3589801080891886, + -1.5644856920456407, + -0.94475705603179216 + ], + "velocities": [ + 1.2403502413452101, + -0.65252085918989589, + -2.4958517902711757, + -1.7789022650966428, + 0.0094646705832075601, + 3.0158879554680929 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0098755490895219, + 0.53127321542026029, + 2.0320870776084581, + 1.4483569574613133, + -0.0077060003566428413, + -2.4554931369366737 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 305683773, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5278337446191048, + -1.5784452774372986, + -0.56872598367543326, + -3.4925239309285185, + -1.5637751705535969, + -0.7183515841120518 + ], + "velocities": [ + 1.1628541709424276, + -0.6117518886544302, + -2.3399130081381658, + -1.6677579039474204, + 0.0088733256925419314, + 2.8274577383139672 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1437266777393784, + 0.60168933705978456, + 2.3014243727811206, + 1.6403253773510398, + -0.0087273706096831823, + -2.7809496033965115 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 388645718, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6209479736236565, + -1.6274306161646563, + -0.7560918642259824, + -3.6260677537678481, + -1.5630646490615532, + -0.49194611219231188 + ], + "velocities": [ + 1.0726223719029777, + -0.56428293265082752, + -2.1583471973976787, + -1.5383480434543531, + 0.0081847989961530403, + 2.6080608398797285 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2716581796267081, + 0.6689912738404572, + 2.5588501041383762, + 1.8238039069619743, + -0.0097035703008811966, + -3.0920126102843888 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 479677864, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7140622026282082, + -1.6764159548920139, + -0.9434577447765311, + -3.7596115766071776, + -1.5623541275695094, + -0.26554064027257196 + ], + "velocities": [ + 0.96100873010119592, + -0.50556546155425652, + -1.9337565145212501, + -1.3782724828598396, + 0.0073331150789553478, + 2.3366743985703344 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.161701502851521, + 0.61114549543746088, + 2.3375935917166593, + 1.6661047548533852, + -0.0088645300932119926, + -2.8246550478350305 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 583236440, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8071764316327599, + -1.7254012936193717, + -1.1308236253270803, + -3.8931553994465071, + -1.5616436060774657, + -0.039135168352832039 + ], + "velocities": [ + 0.83388630441873457, + -0.43868916189017071, + -1.6779588187195493, + -1.1959543250902591, + 0.0063630891598898988, + 2.0275786450436306 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2541458645011136, + 0.65977843174856332, + 2.5236115548955182, + 1.79868785828015, + -0.0095699400662064161, + -3.049431750056983 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 704380008, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.900290660637312, + -1.7743866323467294, + -1.3181895058776294, + -4.0266992222858367, + -1.5609330845854221, + 0.18727030356690832 + ], + "velocities": [ + 0.68153075456470269, + -0.35853827306921826, + -1.3713866432277864, + -0.97744698442054889, + 0.005200518264327404, + 1.6571290313481015 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3021359072461027, + 0.68502493300340161, + 2.6201778553708461, + 1.867514866084611, + -0.0099361349769114087, + -3.1661186237098584 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 861023411, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9934048896418632, + -1.8233719710740872, + -1.5055553864281781, + -4.1602430451251671, + -1.5602225630933784, + 0.41367577548664825 + ], + "velocities": [ + 0.4194940409428366, + -0.22068654715154745, + -0.84411234681565783, + -0.6016356306090076, + 0.0032010095026357398, + 1.019991759825871 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2845834497626012, + 0.6757909729038567, + 2.5848585310593641, + 1.8423412454936936, + -0.0098021984302251071, + -3.1234401581048501 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 241775121, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0865191186464154, + -1.872357309801445, + -1.6929212669787272, + -4.2937868679644966, + -1.5595120416013346, + 0.64008124740638839 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.49169472229035621, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0865191186464154, + -1.872357309801445, + -1.6929212669787272, + -4.2937868679644966, + -1.5595120416013346, + 0.64008124740638839 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.26043275176935993, + -1.230769736704806, + -2.3426282859727645, + 2.7327772586830248, + 1.6200228538164856, + -1.307820707439318 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 86071851, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846977920374239, + -1.8731463619777293, + -1.6903169412880203, + -4.2897232918850534, + -1.5708416103011911, + 0.64922744218948847 + ], + "velocities": [ + -0.010580268592004628, + -0.05916827623130097, + -0.064913389584501491, + 0.15823249185247845, + -0.065814599193467008, + 0.053131161532968089 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8307199632444947e-09, + -1.405735139950119, + -1.7046862258765532, + 3.110421365826773, + 1.447129644830937e-12, + 1.8306720703904406e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 162502891, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846977920495027, + -1.8814902764292556, + -1.7025523551729933, + -4.2691439635485535, + -1.5708416103011815, + 0.64922744220156747 + ], + "velocities": [ + 2.135604344819143e-10, + -0.15180487103964235, + -0.21178717219376314, + 0.36359204323341721, + 1.6881316744590455e-13, + 2.1356188706325181e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4095535718863181e-09, + -1.2708459964181404, + -1.1101665713554543, + 2.3810125677732339, + 1.1139781097634549e-12, + 1.4094068000700475e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 207391105, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846977920615815, + -1.8902183657879847, + -1.7143799502338741, + -4.2485882791289429, + -1.570841610301172, + 0.64922744221364626 + ], + "velocities": [ + 2.9792997524343245e-10, + -0.22044628384531298, + -0.28620768126346585, + 0.50665396510878624, + 2.3550003014351954e-13, + 2.9792697180482287e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7432511990861082e-09, + 1.1269263892932542, + 1.8498885615082883, + -2.9768149508014337, + -1.3777640056914439e-12, + -1.7431093946779741e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 244356170, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846977920736607, + -1.8993284803463533, + -1.7257993966949035, + -4.228058718109545, + -1.5708416103011624, + 0.64922744222572526 + ], + "velocities": [ + 2.898517991455416e-10, + -0.22258354208589756, + -0.26974445792614382, + 0.49232800001204374, + 2.2911447236181233e-13, + 2.8984879570693202e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8174152594747412e-09, + 1.38769876901441, + 1.700344453979775, + -3.0880432229941244, + -1.4366126724771842e-12, + -1.817403431501232e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 292111704, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846977920857395, + -1.9088182248591017, + -1.7368100818576022, + -4.2075582884340976, + -1.5708416103011529, + 0.64922744223780404 + ], + "velocities": [ + 1.7888942359610921e-10, + -0.14218132681522691, + -0.16129285868283694, + 0.30347418549807098, + 1.4140676522358718e-13, + 1.7888990545835422e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8202812052395719e-09, + 1.4869205517782846, + 1.5975893668920287, + -3.0845099186704803, + -1.4388781173076508e-12, + -1.8202979363804706e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 407312992, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846977920978182, + -1.9186849365337284, + -1.7474111550882609, + -4.1870905035288111, + -1.5708416103011433, + 0.64922744224988294 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.38304313389148736, + "y": -0.13113672302572901, + "z": 0.13189178182404157 + }, + "45": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.37848046342921038, + 0.22261531614527999, + 0.20189178182404161 + ], + "xaxis": [ + -0.84548121690415245, + -0.5340047364555881, + -0.00067327948991953261 + ], + "yaxis": [ + 0.53400456713968603, + -0.84548148497941589, + 0.00042524223529766166 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.37848046342921038, + 0.22261531614527999, + 0.15189178182404159 + ], + "xaxis": [ + -0.84548121690415245, + -0.5340047364555881, + -0.00067327948991953261 + ], + "yaxis": [ + 0.53400456713968603, + -0.84548148497941589, + 0.0004252422352976615 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1582075553687001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1869740576268795, + -0.16826060653784861, + 0.062033352969916584, + 3.1420815233253001, + -3.0462748720472916, + 2.8336201590374794 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 363190458, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4271892049277328, + -1.0504350060287313, + 1.4962908747593255, + -1.821332415455118, + -1.767634709532635, + -3.0264534213904204 + ], + "velocities": [ + -0.36219439009611176, + -0.051343201117656723, + 0.018928916179917502, + 0.95877773710435088, + -0.92954320463599516, + 0.8646535437501951 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2049477625883516, + -0.17080848572619284, + 0.062972690419533031, + 3.1896603612133561, + -3.092402961730361, + 2.8765281336340349 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 511786835, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3508011842864305, + -1.0612634606210991, + 1.5002830471380455, + -1.619122951214345, + -1.9636785120991922, + -2.8440950675516481 + ], + "velocities": [ + -0.59306550947887249, + -0.084070550405374228, + 0.030994647142786207, + 1.5699249427411186, + -1.5220556400494831, + 1.4158038016846319 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1014979024221632, + -0.15614385501591455, + 0.057566218686521523, + 2.9158145327133869, + -2.8269070921988986, + 2.6295660308543516 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 625448118, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2744131636451281, + -1.0720919152134667, + 1.5042752195167655, + -1.4169134869735718, + -2.1597223146657489, + -2.6617367137128758 + ], + "velocities": [ + -0.7300594285143609, + -0.10349025023857319, + 0.038154190419790152, + 1.9325664503996112, + -1.8736396788914469, + 1.7428444207699541 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0925562443668775, + -0.15487632199934082, + 0.057098911901916023, + 2.892144749551016, + -2.8039590352692185, + 2.6082199345703456 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 722380877, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1980251430038258, + -1.0829203698058345, + 1.5082673918954854, + -1.2147040227327988, + -2.3557661172323066, + -2.479378359874103 + ], + "velocities": [ + -0.83802398953433821, + -0.11879486654849898, + 0.043796608363940087, + 2.2183633051624079, + -2.1507221704534976, + 2.0005843053125796 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.010367501371898, + -0.14322558063893817, + 0.052803583565461346, + 2.6745799854936467, + -2.5930281383875151, + 2.4120137264395378 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 808403778, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1216371223625234, + -1.0937488243982023, + 1.5122595642742054, + -1.0124945584920257, + -2.5518099197988633, + -2.2970200060353303 + ], + "velocities": [ + -0.92959241581598095, + -0.13177523359769083, + 0.048582135454385146, + 2.4607573646541177, + -2.3857252813153904, + 2.2191822914907755 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2085485362818746, + -0.17131891673502772, + 0.063160873189038375, + 3.199192098170319, + -3.1016440621167258, + 2.8851241302024424 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 887057943, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0452491017212211, + -1.1045772789905701, + 1.5162517366529253, + -0.8102850942512525, + -2.7478537223654205, + -2.114661652196558 + ], + "velocities": [ + -1.0166815347770151, + -0.14412063229033584, + 0.053133566062017787, + 2.6912940893717883, + -2.6092326048454, + 2.4270869896053928 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.93573868029627127, + -0.13264650300981531, + 0.048903350051707047, + 2.4770273614050091, + -2.4014991821205198, + 2.2338550459812501 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 958974578, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.96886108107991875, + -1.1154057335829379, + 1.5202439090316453, + -0.60807563001047948, + -2.9438975249319776, + -1.9323032983577855 + ], + "velocities": [ + -1.0948471343215922, + -0.15520106922596721, + 0.057218637842228609, + 2.8982090463673038, + -2.8098384228252957, + 2.6136888931512843 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.32466349559607277, + 0.046022974418637924, + -0.016967485590274511, + -0.85942836261320743, + 0.8332231375660305, + -0.77505739920205896 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 26723302, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89247306043861641, + -1.1262341881753057, + 1.5242360814103653, + -0.40586616576970647, + -3.1399413274985348, + -1.7499449445190129 + ], + "velocities": [ + -1.1164114076455784, + -0.15825793275699862, + 0.058345624712791866, + 2.9552926063152776, + -2.8651814217212905, + 2.6651685014992621 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.89922647933700539, + 0.12747068215676824, + -0.046995158179008172, + -2.3803746070563454, + 2.3077935113093808, + -2.1466907916117415 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 95833774, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.81608503979731406, + -1.1370626427676733, + 1.528228253789085, + -0.20365670152893345, + -3.335985130065092, + -1.5675865906802404 + ], + "velocities": [ + -1.0732743204799453, + -0.15214299502594414, + 0.056091204629180443, + 2.8411028785092673, + -2.754473505367411, + 2.5621888963349519 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0428175160321789, + 0.14782556251201898, + -0.05449947843390078, + -2.7604795810580747, + 2.6763085299191811, + -2.489480470646495 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 169195934, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.73969701915601171, + -1.1478910973600411, + 1.532220426167805, + -0.0014472372881604301, + -3.5320289326316492, + -1.3852282368414679 + ], + "velocities": [ + -1.0014091533194234, + -0.14195568171637854, + 0.05233540453223328, + 2.6508660216421402, + -2.5700372479025546, + 2.3906277867300911 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.9904592700440279, + 0.14040347087436544, + -0.051763144363750672, + -2.6218801936022511, + 2.5419352400622968, + -2.3644875271441035 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 248636640, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.66330899851470937, + -1.1587195519524089, + 1.5362125985465249, + 0.20076222695261281, + -3.7280727351982064, + -1.2028698830026952 + ], + "velocities": [ + -0.92038853051087166, + -0.13047052831454528, + 0.048101124212262494, + 2.4363934303506114, + -2.3621042389261278, + 2.1972101895948262 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0589194084265199, + 0.15010810117686973, + -0.055340991664930297, + -2.8031034768861649, + 2.7176327609569104, + -2.5279199349246895 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 335519771, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.58692097787340702, + -1.1695480065447768, + 1.5402047709252449, + 0.40297169119338605, + -3.9241165377647631, + -1.0205115291639228 + ], + "velocities": [ + -0.83032586322564805, + -0.11770361152604618, + 0.043394290736654517, + 2.197985319406663, + -2.1309655392235838, + 1.9822068473092103 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0634477226010857, + 0.15075001654532796, + -0.055577649332167856, + -2.8150905394577377, + 2.7292543204967354, + -2.5387302152749736 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 433271733, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51053295723210468, + -1.1803764611371443, + 1.5441969433039648, + 0.60518115543415885, + -4.1201603403313207, + -0.83815317532515055 + ], + "velocities": [ + -0.72509002795659483, + -0.10278580826142406, + 0.037894480801986777, + 1.919411772271449, + -1.8608861060976776, + 1.730981150879312 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1442612996063284, + 0.16220581997763436, + -0.059801109074119167, + -3.0290150523908581, + 2.9366559628236253, + -2.7316535394661225 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 547499780, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.43414493659080233, + -1.1912049157295121, + 1.5481891156826848, + 0.80739061967493209, + -4.3162041428978775, + -0.6557948214863778 + ], + "velocities": [ + -0.59396853288092089, + -0.084198559323826486, + 0.031041840734827603, + 1.5723153683182189, + -1.5243731780620906, + 1.4179595567322587 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2105430289554862, + 0.17160164789064206, + -0.063265108885870114, + -3.2044717911323692, + 3.1067627695350111, + -2.8898855102938175 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 694624907, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.35775691594949999, + -1.20203337032188, + 1.5521812880614048, + 1.0096000839157049, + -4.5122479454644342, + -0.47343646764760505 + ], + "velocities": [ + -0.36476470916706921, + -0.051707559077374704, + 0.019063245577556395, + 0.9655817207382078, + -0.93613972487895247, + 0.87078957333553075 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1582075553686983, + 0.16418278437582856, + -0.06052996494148797, + -3.0659326853154565, + 2.9724479232418748, + -2.7649469305199625 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 57815364, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.2813688953081977, + -1.2128618249142478, + 1.5561734604401247, + 1.2118095481564783, + -4.7082917480309918, + -0.29107811380883303 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.14503614956528232, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.2813688953081977, + -1.2128618249142478, + 1.5561734604401247, + 1.2118095481564783, + -4.7082917480309918, + -0.29107811380883303 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.073936207324918957, + 0.25718897459220003, + 1.5517780182613263, + -3.155603685303717, + 0.350139523931569, + -0.74947231113423185 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 106247402, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28055027427095219, + -1.2085825461653474, + 1.5526641498136287, + 1.2259495287876427, + -4.7121684895365066, + -0.28277996349838219 + ], + "velocities": [ + -0.0038524287293923332, + 0.053677319294590742, + 0.047825406424561588, + -0.031336545034079372, + -0.018243935605941026, + 0.039051073906342701 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.3382591630890578e-09, + 1.2133935768864987, + 1.9959376732391454, + -3.2093312501273208, + -5.5864367522421295e-12, + -7.3382664963437333e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 208419037, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28055027422545098, + -1.2017290681159436, + 1.5658116394467303, + 1.2059485611051273, + -4.7121684895365412, + -0.28277996354388335 + ], + "velocities": [ + -7.1718271523649341e-10, + 0.11202758391622053, + 0.20261883544542991, + -0.31464641936181031, + -5.459736143719683e-13, + -7.1718244358012342e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.8826177646067954e-09, + 1.3420068869142552, + 1.6364007052689757, + -2.9784075921846251, + -5.2394527453101705e-12, + -6.8826177646067954e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 254425193, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28055027417994977, + -1.1945071561846643, + 1.5785349750859947, + 1.1860033135345733, + -4.7121684895365759, + -0.28277996358938456 + ], + "velocities": [ + -1.1298042706839636e-09, + 0.18442702073116035, + 0.31002883425481409, + -0.49445585498622502, + -8.6008992613827967e-13, + -1.1298042706839636e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.1932237095612728e-09, + -1.0113273158490255, + -2.1626643335252638, + 3.1739916493758695, + 5.4759323581649684e-12, + 7.1932524934785888e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 290236626, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28055027413444833, + -1.1869195385796203, + 1.5908362174404549, + 1.1661144535750592, + -4.7121684895366105, + -0.282779963634886 + ], + "velocities": [ + -1.1221502406210748e-09, + 0.1910079905749173, + 0.29887334778512609, + -0.48988133836028985, + -8.5426264857406296e-13, + -1.1221496466583154e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.1488871423932839e-09, + -1.2102447703185268, + -1.9119234580902633, + 3.1221682284103363, + 5.4422612714642385e-12, + 7.1488724234134505e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 336966114, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28055027408894706, + -1.1789690293586712, + 1.6027170155192012, + 1.1462831462753538, + -4.7121684895366451, + -0.28277996368038721 + ], + "velocities": [ + -6.8523359869827211e-10, + 0.12130137282900347, + 0.17709341533552586, + -0.29839478816468079, + -5.2165108323761658e-13, + -6.8523300473551269e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.9189883494758655e-09, + -1.2637043292887118, + -1.7428763675888825, + 3.0065806968791473, + 5.2672561631873779e-12, + 6.9189883494758655e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 451650736, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28055027404344585, + -1.1706585541708479, + 1.6141786608365387, + 1.1265110257701827, + -4.7121684895366798, + -0.28277996372588843 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.37848046342921038, + "y": 0.22261531614527999, + "z": 0.15189178182404159 + }, + "46": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41171228694536333, + 0.160621607788455, + 0.20189178182404161 + ], + "xaxis": [ + -0.91605742636686971, + -0.40104645548270917, + -0.00072948122847678245 + ], + "yaxis": [ + 0.40104632832364528, + -0.91605771681960935, + 0.00031936400474577966 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41171228694536333, + 0.160621607788455, + 0.15189178182404159 + ], + "xaxis": [ + -0.91605742636686971, + -0.40104645548270917, + -0.00072948122847678234 + ], + "yaxis": [ + 0.40104632832364528, + -0.91605771681960935, + 0.0003193640047457796 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9825085727758764, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.98159121335912, + -0.41476908492764408, + -3.1010337411575133, + 0.7492960333227231, + -2.7587939785173874, + 0.22743115752533258 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 377490096, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6448297448954829, + -1.0691722750779411, + 1.2712496658781243, + -1.9701302821299469, + -1.7682442818605051, + -3.1925999431635241 + ], + "velocities": [ + 0.63867551921098809, + -0.13368189103936001, + -0.99947674443267243, + 0.24150139034674617, + -0.88917137134399371, + 0.073302057274980112 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.965684855972647, + -0.41143970737828905, + -3.0761415481452041, + 0.74328138690424883, + -2.7366489656196067, + 0.22560555330987547 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 533887800, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7860822642219305, + -1.0987379987195189, + 1.0502006293756427, + -1.9167186845640027, + -1.9648976567549323, + -3.1763881110978551 + ], + "velocities": [ + 1.0390943450965762, + -0.21749400570796995, + -1.6261005815261842, + 0.39291114422590717, + -1.4466390459536123, + 0.11925892085620229 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7625853662020743, + -0.36892872481363331, + -2.7583068876237102, + 0.66648368966528282, + -2.4538915302607509, + 0.20229542166419617 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 654100016, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9273347835483783, + -1.1283037223610966, + 0.82915159287316131, + -1.8633070869980586, + -2.1615510316493598, + -3.1601762790321861 + ], + "velocities": [ + 1.2733728662163353, + -0.26653110638138255, + -1.9927279635629187, + 0.48149852056483061, + -1.772804285789086, + 0.14614753182822388 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7141086119709585, + -0.35878200087927592, + -2.6824445959870356, + 0.64815324925514206, + -2.3864016379110544, + 0.196731648342268 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 757074807, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0685873028748261, + -1.1578694460026742, + 0.60810255637067989, + -1.8098954894321144, + -2.3582044065437868, + -3.1439644469665171 + ], + "velocities": [ + 1.4551868221998072, + -0.30458678993606736, + -2.277252444857079, + 0.55024755169834627, + -2.0259277572680268, + 0.16701468050390128 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6404694989429016, + -0.3433685153331052, + -2.567205200177582, + 0.62030820486993343, + -2.2838804215089739, + 0.18827994114746352 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 848877446, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2098398222012738, + -1.1874351696442518, + 0.38705351986819858, + -1.7564838918661703, + -2.5548577814382143, + -3.1277526149008481 + ], + "velocities": [ + 1.6107288607448522, + -0.3371434689121241, + -2.5206634503383558, + 0.60906242315670622, + -2.2424751644484333, + 0.18486654905865879 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7271889715749051, + -0.36151986565529437, + -2.7029143256693668, + 0.65309930548490247, + -2.4046122643352628, + 0.19823290718189043 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 932816255, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3510923415277216, + -1.2170008932858294, + 0.16600448336571705, + -1.7030722943002261, + -2.7515111563326418, + -3.1115407828351791 + ], + "velocities": [ + 1.7525192581119491, + -0.36682177641117009, + -2.7425542234923919, + 0.6626774077176838, + -2.4398773793103121, + 0.20114011445487928 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4893632243237631, + -0.31174029109183865, + -2.3307358149000224, + 0.56317062199263335, + -2.0735085356605127, + 0.17093717402454267 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 10332336, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4923448608541694, + -1.2465666169274072, + -0.055044553136764485, + -1.649660696734282, + -2.9481645312270688, + -3.0953289507695101 + ], + "velocities": [ + 1.8782871213462413, + -0.39314638927547796, + -2.9393709962018844, + 0.71023381612604775, + -2.6149728386778399, + 0.21557474179982483 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.26621000849660315, + -0.055720716199316955, + -0.41659763780535575, + 0.10066158047756563, + -0.37062062221000108, + 0.030553451170539363 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 83355991, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6335973801806167, + -1.2761323405689848, + -0.2760935896392458, + -1.5962490991683378, + -3.1448179061214963, + -3.0791171187038415 + ], + "velocities": [ + 1.9440109042628828, + -0.4069031081761959, + -3.0422235255464756, + 0.73508584892796947, + -2.7064742418600063, + 0.22311799084377676 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5192994251328853, + 0.31800627094277784, + 2.3775836047795034, + -0.57449035149467509, + 2.1151860572272532, + -0.1743730112225147 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 155656640, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.774849899507065, + -1.3056980642105624, + -0.49714262614172711, + -1.5428375016023936, + -3.3414712810159237, + -3.0629052866381725 + ], + "velocities": [ + 1.8970699925597079, + -0.39707785316823296, + -2.9687647061639031, + 0.71733615428730868, + -2.6411225670646195, + 0.21773048921782628 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7619054699035366, + 0.36878641495497594, + 2.7572429036153236, + -0.66622660152516633, + 2.4529449708484656, + -0.20221738861625202 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 232405236, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9161024188335123, + -1.3352637878521403, + -0.71819166264420842, + -1.4894259040364495, + -3.5381246559103507, + -3.0466934545725035 + ], + "velocities": [ + 1.7700444506930659, + -0.37048999417528183, + -2.7699797657273164, + 0.66930418179486062, + -2.4642761531034152, + 0.20315151559942812 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6302542335707328, + 0.34123034665222735, + 2.5512191166804685, + -0.61644552230901861, + 2.2696586120824365, + -0.18710751486077085 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 315512967, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0573549381599601, + -1.3648295114937179, + -0.93924069914669017, + -1.4360143064705053, + -3.7347780308047782, + -3.0304816225068345 + ], + "velocities": [ + 1.6288086767964178, + -0.34092777553844178, + -2.5489569344998984, + 0.61589891615249304, + -2.2676460913881069, + 0.18694160543998087 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7916138260816481, + 0.37500470439001538, + 2.8037341346429345, + -0.67746017648788959, + 2.4943052845112095, + -0.20562707563353208 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 406176512, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1986074574864078, + -1.3943952351352955, + -1.1602897356491715, + -1.3826027089045612, + -3.9314314056992057, + -3.0142697904411655 + ], + "velocities": [ + 1.4717112178659233, + -0.30804552977262467, + -2.3031118189638087, + 0.55649589597955007, + -2.0489332101358975, + 0.16891121819967592 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8412670621893641, + 0.38539767906877487, + 2.881437527496904, + -0.69623547817792941, + 2.563433088401478, + -0.21132587611605597 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 508131751, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3398599768128556, + -1.4239609587768731, + -1.3813387721516528, + -1.329191111338617, + -4.1280847805936327, + -2.9980579583754965 + ], + "velocities": [ + 1.2834728096499892, + -0.26864513689764447, + -2.0085335773345157, + 0.48531759661876206, + -1.7868655426922659, + 0.14730672238708914 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0097585213694713, + 0.42066481583799792, + 3.1451133535158897, + -0.75994689411541838, + 2.798008827274268, + -0.23066397538502681 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 627684388, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4811124961393034, + -1.4535266824184507, + -1.6023878086541345, + -1.2757795137726728, + -4.3247381554880597, + -2.9818461263098275 + ], + "velocities": [ + 1.0429710353519441, + -0.21830544010419006, + -1.6321672955915625, + 0.39437703114102146, + -1.4520362185192692, + 0.11970385629303797 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9871692009120452, + 0.41593661977411978, + 3.1097628511236715, + -0.75140522916450792, + 2.7665597166623508, + -0.22807135423052205 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 783862360, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6223650154657507, + -1.4830924060600286, + -1.8234368451566159, + -1.2223679162067287, + -4.5213915303824876, + -2.9656342942441585 + ], + "velocities": [ + 0.6393108630560177, + -0.13381487557393057, + -1.0004710073701502, + 0.24174163193626663, + -0.89005590432039405, + 0.073374976949395154 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9825085727758764, + 0.41496109845861862, + 3.102469336190901, + -0.74964291302599828, + 2.7600711368021038, + -0.22753644468678741 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 161352456, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7636175347921985, + -1.5126581297016062, + -2.0444858816590972, + -1.1689563186407845, + -4.7180449052769147, + -2.9494224621784895 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.058737053095194142, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7636175347921985, + -1.5126581297016062, + -2.0444858816590972, + -1.1689563186407845, + -4.7180449052769147, + -2.9494224621784895 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.037793640140815592, + -2.0263980579047742, + -2.7276423952174786, + 3.0879167558283096, + -0.60247419508963029, + -1.9575188216269863 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105310592, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7632918284130414, + -1.5120058358383663, + -2.0477733885458362, + -1.1519624249178468, + -4.7128527730173833, + -2.9325525338154619 + ], + "velocities": [ + -0.0015464093256938598, + -0.076720408206355326, + -0.14282456824382311, + 0.28771798951410543, + 0.024651519716467139, + 0.080096065805073696 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2777118717087755e-08, + -1.4355888197209596, + -1.6977158060867485, + 3.1333046258136292, + 8.2667007153126539e-12, + -1.2777118717087755e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 163668552, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7632918283114574, + -1.5213217980643723, + -2.0626215144439586, + -1.1277983367936715, + -4.7128527730173175, + -2.932552533917046 + ], + "velocities": [ + -2.0631396225538787e-09, + -0.19586219570139701, + -0.29727409532567722, + 0.49313629102803025, + 1.3348541943935072e-12, + -2.0631396225538787e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.2857916604121865e-09, + -0.76929218278452016, + -0.38375306817278065, + 1.1530452509592868, + 2.7730842506290286e-12, + -4.2857916604121865e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 206251413, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7632918282098728, + -1.53120483634847, + -2.077104639960627, + -1.1034321729928582, + -4.7128527730172518, + -2.9325525340186305 + ], + "velocities": [ + -2.4736847617557965e-09, + -0.24790551223033128, + -0.34800591156950028, + 0.59591142380097784, + 1.6004781396338115e-12, + -2.4736847617557965e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2931680626671035e-08, + 1.0836055991203042, + 1.9570176199599116, + -3.0406232190863034, + -8.3668364295370577e-12, + 1.2931680626671035e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 245904863, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7632918281082888, + -1.5416623014439716, + -2.0912171248776334, + -1.0788622229803031, + -4.7128527730171861, + -2.9325525341202145 + ], + "velocities": [ + -2.2670953912703973e-09, + -0.23902705940570618, + -0.31129686086438768, + 0.55032392027114219, + 1.4668175666042345e-12, + -2.2670953912703973e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3138726663378587e-08, + 1.3755196776836218, + 1.8106179778639779, + -3.1861376555536198, + -8.5007958407324723e-12, + 1.3138726663378587e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 297407792, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7632918280067047, + -1.5527010618143497, + -2.1049528635712211, + -1.0540877239162905, + -4.7128527730171204, + -2.9325525342217986 + ], + "velocities": [ + -1.3878306580417924e-09, + -0.15313354854554545, + -0.18614084573385078, + 0.33927439428003803, + 8.9793062811833727e-13, + -1.3878306580417924e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.270353111396245e-08, + 1.4539269652766591, + 1.6697845053498999, + -3.1237114706324736, + -8.2192230056194958e-12, + 1.270353111396245e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 423871405, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7632918279051206, + -1.5643274217462677, + -2.1183053332148689, + -1.0291088943406774, + -4.7128527730170546, + -2.9325525343233827 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.41171228694536333, + "y": 0.160621607788455, + "z": 0.15189178182404159 + }, + "47": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43364584958894836, + 0.094564869644608696, + 0.20189178182404161 + ], + "xaxis": [ + -0.97636105748275726, + -0.21614458337141645, + -0.00077750263591462847 + ], + "yaxis": [ + 0.21614451483884994, + -0.97636136705586463, + 0.00017212170511897153 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43364584958894836, + 0.094564869644608696, + 0.15189178182404159 + ], + "xaxis": [ + -0.97636105748275726, + -0.21614458337141645, + -0.00077750263591462847 + ], + "yaxis": [ + 0.21614451483884994, + -0.97636136705586463, + 0.00017212170511897153 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4235937998012056, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4465108705665717, + 0.089255115063656826, + -1.4491111131784506, + 3.1446018415824142, + -2.7306176898925694, + 2.477892609502832 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 333277836, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6381764953265636, + -1.0346960180501332, + 1.412573204334415, + -1.850535858489391, + -1.7218208329673526, + -3.0724859817127235 + ], + "velocities": [ + 0.6917440709817968, + 0.02523663286882695, + -0.40973209348662482, + 0.88912733055190718, + -0.77207447546054175, + 0.70061716944517172 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2959951745605718, + 0.083763908820706834, + -1.3599580379094474, + 2.9511377779063537, + -2.5626230052724921, + 2.3254462275004011 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 470676874, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7727757650840923, + -1.029785484663903, + 1.3328477062882245, + -1.6775298372828908, + -1.8720507589686273, + -2.9361601881962534 + ], + "velocities": [ + 1.1198076682339313, + 0.040853512436770233, + -0.66328163761007297, + 1.4393352173951512, + -1.2498479630498438, + 1.1341715986485124 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2676235093996633, + 0.082728836273533071, + -1.3431530051672274, + 2.9146705005330351, + -2.5309566138772341, + 2.2967106350012498 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 577502349, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9073750348416207, + -1.0248749512776727, + 1.2531222082420339, + -1.5045238160763907, + -2.022280684969902, + -2.7998343946797837 + ], + "velocities": [ + 1.3719724182534592, + 0.05005314201895112, + -0.81264322271537104, + 1.7634530240370425, + -1.5312959367558441, + 1.3895709013729745 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4051994894319013, + 0.087747967835749743, + -1.4246416606927139, + 3.0915026108544592, + -2.6845089276231313, + 2.436051321473498 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 668205563, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0419743045991492, + -1.0199644178914424, + 1.1733967101958434, + -1.3315177948698906, + -2.1725106109711767, + -2.6635086011633136 + ], + "velocities": [ + 1.5864145337673872, + 0.057876551236117971, + -0.93966103263532386, + 2.0390843647642356, + -1.7706406464503892, + 1.6067636960549172 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0741270497225881, + 0.07566957936171663, + -1.2285416729831176, + 2.665961479551255, + -2.3149899234847737, + 2.1007321690287295 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 747903084, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1765735743566781, + -1.0150538845052122, + 1.093671212149653, + -1.1585117736633908, + -2.322740536972451, + -2.5271828076468439 + ], + "velocities": [ + 1.7679879010778952, + 0.064500822555232096, + -1.0472101089923631, + 2.2724681408578675, + -1.9732996473795836, + 1.7906661304786196 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1837707852750161, + 0.079669669592449421, + -1.2934855723096059, + 2.8068911181168383, + -2.4373662952748862, + 2.2117823201939224 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 820773703, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3111728441142065, + -1.0101433511189819, + 1.0139457141034625, + -0.98550575245689065, + -2.4729704629737257, + -2.3908570141303742 + ], + "velocities": [ + 1.9236216102287491, + 0.070178747303151365, + -1.1393946728252899, + 2.4725105989952998, + -2.1470066864382393, + 1.948296175100134 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8830758831070422, + 0.068699533136099888, + -1.1153787305824912, + 2.4203954951104607, + -2.1017524915520367, + 1.9072303622354689 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 888068496, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.445772113871735, + -1.0052328177327516, + 0.9342202160572719, + -0.81249973125039077, + -2.6232003889750004, + -2.2545312206139041 + ], + "velocities": [ + 2.0616684696112926, + 0.075215057775588373, + -1.2211622384132172, + 2.6499479500660064, + -2.3010845615047826, + 2.0881137809584982 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7508989764490874, + 0.063877373891092409, + -1.0370880405029335, + 2.2505030376142323, + -1.9542262312527225, + 1.7733580038108196 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 951463235, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5803713836292634, + -1.0003222843465214, + 0.85449471801108123, + -0.63949371004389044, + -2.7734303149762756, + -2.1182054270974344 + ], + "velocities": [ + 2.1773451382009399, + 0.079435245181810069, + -1.2896795493336044, + 2.7986319675585936, + -2.4301944548467125, + 2.2052742504412319 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9340817487455026, + 0.070560360513260062, + -1.1455903955389137, + 2.4859554486538262, + -2.1586815331009421, + 1.9588904872842849 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 11781154, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7149706533867919, + -0.99541175096029111, + 0.77476921996489079, + -0.46648768883739056, + -2.9236602409775498, + -1.9818796335809645 + ], + "velocities": [ + 2.2884116227855662, + 0.083487241018240038, + -1.3554661677580568, + 2.9413903244352184, + -2.5541587957411833, + 2.3177654004404822 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3154660974211708e-13, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 69171585, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8495699231443208, + -0.99050121757406084, + 0.69504372191870023, + -0.29348166763089045, + -3.0738901669788246, + -1.8455538400644946 + ], + "velocities": [ + 2.3453260155366014, + 0.085563626917394192, + -1.3891775565066506, + 3.0145447528134612, + -2.6176825059871502, + 2.3754098421099652 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9340817487454109, + -0.070560360513261672, + 1.1455903955389355, + -2.4859554486538173, + 2.1586815331009936, + -1.9588904872843893 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 126562016, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9841691929018492, + -0.98559068418783058, + 0.61531822387250967, + -0.12047564642439035, + -3.2241200929800993, + -1.7092280465480247 + ], + "velocities": [ + 2.2884116227855618, + 0.083487241018239983, + -1.3554661677580562, + 2.9413903244352189, + -2.554158795741182, + 2.3177654004404791 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7508989764490088, + -0.063877373891089273, + 1.0370880405028868, + -2.2505030376142394, + 1.9542262312526224, + -1.7733580038105614 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 186879935, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1187684626593777, + -0.98068015080160031, + 0.53559272582631923, + 0.052530374782109757, + -3.3743500189813735, + -1.5729022530315551 + ], + "velocities": [ + 2.1773451382009403, + 0.079435245181810069, + -1.2896795493336044, + 2.7986319675585936, + -2.4301944548467125, + 2.2052742504412337 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8830758831070447, + -0.068699533136099972, + 1.1153787305825469, + -2.4203954951104638, + 2.1017524915521482, + -1.9072303622356821 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 250274674, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2533677324169061, + -0.97576961741537005, + 0.45586722778012856, + 0.22553639598860986, + -3.5245799449826487, + -1.4365764595150849 + ], + "velocities": [ + 2.0616684696112952, + 0.075215057775588484, + -1.2211622384132172, + 2.6499479500660064, + -2.3010845615047817, + 2.0881137809585013 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9288913602245856, + -0.070371001565293356, + 1.1425160377758463, + -2.4792840271213628, + 2.1528883985257878, + -1.9536335209201792 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 317569467, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3879670021744346, + -0.97085908402913978, + 0.37614172973393822, + 0.39854241719510952, + -3.674809870983923, + -1.3002506659986153 + ], + "velocities": [ + 1.9329025443548149, + 0.070517340053049146, + -1.1448919321853677, + 2.4844397683668902, + -2.1573653908316048, + 1.9576961570732054 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4670459973139298, + -0.090004290194133391, + 1.4612744273652045, + -3.170996491270468, + 2.7535375064504821, + -2.4986911432081946 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 389715080, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5225662719319635, + -0.96594855064290952, + 0.29641623168774744, + 0.57154843840161007, + -3.8250397969851981, + -1.1639248724821454 + ], + "velocities": [ + 1.7716828752150053, + 0.064635624875439585, + -1.0493987067008066, + 2.2772174442907538, + -1.9774237090642857, + 1.7944085005685371 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1136390554071274, + -0.077111080667189039, + 1.2519453239663769, + -2.7167478984203668, + 2.3590903536049148, + -2.1407510007660138 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 469943312, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6571655416894915, + -0.96103801725667926, + 0.21669073364155689, + 0.74455445960811018, + -3.9752697229864729, + -1.0275990789656753 + ], + "velocities": [ + 1.5878307941595113, + 0.057928220119252812, + -0.94049990839838604, + 2.0409047429570411, + -1.7722213734059722, + 1.6081981230182323 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2199188333325077, + -0.080988444925726308, + 1.3148966924439747, + -2.8533537027955775, + 2.4777121202896044, + -2.2483940443464534 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 559798539, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7917648114470204, + -0.95612748387044899, + 0.13696523559536655, + 0.91756048081460984, + -4.1254996489877467, + -0.89127328544920559 + ], + "velocities": [ + 1.389805224798089, + 0.050703729440898626, + -0.82320590545423433, + 1.7863742695444533, + -1.5511996198324298, + 1.4076324518345842 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2617307662185198, + -0.082513853590640923, + 1.3396626304733195, + -2.9070963134396788, + 2.5243795620577725, + -2.2907423047746356 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 664818561, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9263640812045493, + -0.95121695048421873, + 0.057239737549175995, + 1.0905665020211099, + -4.2757295749890218, + -0.75494749193273591 + ], + "velocities": [ + 1.1471092579744919, + 0.041849545833977334, + -0.67945284599359568, + 1.4744270824709085, + -1.2803200140039888, + 1.1618233897195012 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3843087118006561, + -0.086985817630872181, + 1.4122676882765801, + -3.0646508283419638, + 2.6611921593874834, + -2.4148925749003003 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 797747564, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0609633509620773, + -0.94630641709798846, + -0.022485760497014562, + 1.26357252322761, + -4.425959500990297, + -0.61862169841626624 + ], + "velocities": [ + 0.79380871874985504, + 0.028960218155149473, + -0.47018676676142146, + 1.0203152533987709, + -0.88599162010154586, + 0.80399101480127888 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9368142502233532, + -0.6602760105046751, + -0.54615722986252579, + 0.66241813447946363, + 2.4783754071638504, + 1.4805424810024475 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 31811946, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1955626207196062, + -0.9413958837117582, + -0.10221125854320517, + 1.4365785444341099, + -4.5761894269915713, + -0.4822959048997959 + ], + "velocities": [ + 0.2155540967536187, + -0.059845604586829165, + -0.40746917060819998, + 0.82022584521809172, + -0.33845133682833639, + 0.76366323543621262 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.47962873172734549, + -0.46872120248788501, + -1.5804727847237539, + 3.0032180465333651, + -0.11685835062165836, + 3.1484445851860432 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 287391389, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1587734565553269, + -0.97734840307710935, + -0.22343892671266441, + 1.6669356403010371, + -4.5851528621667397, + -0.24079943680997884 + ], + "velocities": [ + -0.19283854357807023, + -0.18845308475663236, + -0.6354416443595694, + 1.2074676845467205, + -0.046983828632733607, + 1.2658571686416542 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.4428041088385769, + -0.43273403078657358, + -1.4591282729516981, + 2.7726389241821576, + -0.10788627616403935, + 2.9067153540828623 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 439580676, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1219842923910468, + -1.0133009224424605, + -0.34466659488212364, + 1.8972927361679641, + -4.594116297341909, + 0.00069703127983822277 + ], + "velocities": [ + -0.27204954803375092, + -0.26586270349450258, + -0.89645777727966736, + 1.7034511449382932, + -0.066283063060240718, + 1.7858248886059822 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.42982396650648624, + -0.42004907778037998, + -1.4163561028527598, + 2.6913631474828086, + -0.10472375081188189, + 2.8215093267179672 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 561251583, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0851951282267676, + -1.0492534418078117, + -0.46589426305158288, + 2.1276498320348916, + -4.6030797325170774, + 0.24219349936965529 + ], + "velocities": [ + -0.32670193468596698, + -0.31927220692063346, + -1.0765483431908427, + 2.0456596554438273, + -0.079598753591777677, + 2.1445815673457784 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.40862006411401092, + -0.39932738625234354, + -1.3464849953806326, + 2.5585939072151045, + -0.099557561014453053, + 2.6823197676772108 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 666052755, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0484059640624883, + -1.0852059611731628, + -0.58712193122104206, + 2.3580069279018185, + -4.6120431676922466, + 0.48368996745947235 + ], + "velocities": [ + -0.37133969271039208, + -0.36289483049078886, + -1.223638700923618, + 2.3251610939272034, + -0.090474446462377761, + 2.4375988497773635 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.40807515177767267, + -0.39879486609941983, + -1.3446894000362137, + 2.5551819127824067, + -0.099424796747935307, + 2.6787427795164969 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 759988532, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0116167998982091, + -1.121158480538514, + -0.70834959939050135, + 2.5883640237687455, + -4.621006602867415, + 0.72518643554928941 + ], + "velocities": [ + -0.40998719712716403, + -0.40066342846060948, + -1.3509899726212482, + 2.5671542754030554, + -0.099890653880814723, + 2.6912940893717874 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.48811806268925279, + -0.47701747240158865, + -1.6084468314359008, + 3.0563743948947635, + -0.11892671965043924, + 3.2041714137325417 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 845877753, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9748276357339294, + -1.1571109999038651, + -0.82957726755996064, + 2.818721119635673, + -4.6299700380425843, + 0.96668290363910647 + ], + "velocities": [ + -0.44839695948712188, + -0.43819969101059131, + -1.4775578366001061, + 2.8076588237170137, + -0.1092489370282575, + 2.9434287100083925 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.24703187876811872, + -0.2414139762897175, + -0.81401954371301599, + 1.5468018225552529, + -0.060187674328537534, + 1.6216004789267533 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 924409688, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9380384715696497, + -1.1930635192692161, + -0.95080493572941971, + 3.0490782155025999, + -4.6389334732177527, + 1.2081793717289235 + ], + "velocities": [ + -0.47797189507067961, + -0.46710204496320917, + -1.5750131759235844, + 2.9928436852446705, + -0.11645467338935232, + 3.1375685511725058 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.2085099893253814e-14, + 5.8844979504696993e-15, + 2.0595742826643946e-14, + 4.1191485653287892e-14, + -1.544680711998296e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 999877334, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9012493074053705, + -1.2290160386345672, + -1.072032603898879, + 3.2794353113695269, + -4.6478969083929211, + 1.4496758398187406 + ], + "velocities": [ + -0.48748259656497328, + -0.47639645779968554, + -1.6063528432142191, + 3.0523953936254236, + -0.11877189255568137, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.36318664400788025, + 0.35492719523669691, + 1.1967727716444245, + -2.2741103928787516, + 0.088488010369585313, + -2.3840794912774772 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 75344981, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8644601432410908, + -1.2649685579999184, + -1.1932602720683383, + 3.5097924072364544, + -4.6568603435680904, + 1.6911723079085579 + ], + "velocities": [ + -0.47335662696418057, + -0.46259173548093069, + -1.5598049426506115, + 2.9639449651510752, + -0.11533019400994302, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.37226502911856341, + 0.36379912325980351, + 1.2266878698182171, + -2.3309551317238713, + 0.0906998985239547, + -2.4436730697121547 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 155455408, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8276709790768111, + -1.3009210773652695, + -1.3144879402377976, + 3.7401495031033818, + -4.6658237787432588, + 1.9326687759983747 + ], + "velocities": [ + -0.44378169138061752, + -0.43368938152831304, + -1.4623496033271328, + 2.7787601036234113, + -0.10812445764884235, + 2.9131325352426174 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.40807515177756631, + 0.39879486609942338, + 1.3446894000361984, + -2.5551819127822579, + 0.099424796747936361, + -2.678742779516496 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 241344629, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7908818149125318, + -1.3368735967306207, + -1.4357156084072566, + 3.9705065989703083, + -4.6747872139184281, + 2.1741652440881918 + ], + "velocities": [ + -0.40998719712716369, + -0.40066342846060932, + -1.3509899726212464, + 2.5671542754030514, + -0.099890653880814667, + 2.6912940893717874 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.40862006411405805, + 0.39932738625234321, + 1.3464849953806202, + -2.5585939072151067, + 0.099557561014452692, + -2.6823197676772086 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 335280405, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7540926507482522, + -1.3728261160959718, + -1.5569432765767159, + 4.2008636948372358, + -4.6837506490935965, + 2.4156617121780091 + ], + "velocities": [ + -0.37133969271039413, + -0.36289483049078852, + -1.2236387009236176, + 2.325161093927206, + -0.090474446462377678, + 2.4375988497773635 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.46883201003009228, + 0.45817001561755238, + 1.5448954231566334, + -2.9356138616722958, + 0.11422780118587063, + -3.0775712664779742 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 440081577, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7173034865839729, + -1.408778635461323, + -1.6781709447461752, + 4.4312207907041632, + -4.6927140842687658, + 2.6571581802678264 + ], + "velocities": [ + -0.32425917118994818, + -0.31688499579772011, + -1.0684989479615923, + 2.0303641759836153, + -0.079003590512043781, + 2.1285464447745364 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.48738350094198435, + 0.47629961577061936, + 1.6060263032784317, + -3.0517749016830202, + 0.11874774856614481, + -3.199349502944528 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 563750687, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6805143224196932, + -1.4447311548266741, + -1.7993986129156343, + 4.6615778865710897, + -4.7016775194439342, + 2.8986546483576427 + ], + "velocities": [ + -0.26275382371518624, + -0.25677837890681277, + -0.86582650286273499, + 1.6452455263370669, + -0.06401822165303668, + 1.7248046223872278 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.48490998583880351, + 0.47388235238161019, + 1.5978755753413254, + -3.0362868695766427, + 0.11814509306191137, + -3.1831125164637077 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 725087549, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.643725158255414, + -1.4806836741920253, + -1.9206262810850936, + 4.8919349824380172, + -4.7106409546191035, + 3.14015111644746 + ], + "velocities": [ + -0.16052700503444317, + -0.15687636259935372, + -0.52896864988978709, + 1.0051474538215919, + -0.039111337160721515, + 1.0537533436678368 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.47046573508412154, + 0.45976658713461754, + 1.5502788745946852, + -2.9458435085650549, + 0.11462584742979684, + -3.0882955881452148 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 120555195, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6069359940911343, + -1.5166361935573764, + -2.0418539492545529, + 5.1222920783049446, + -4.7196043897942719, + 3.3816475845372773 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.61556219182897154, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6069359940911343, + -1.5166361935573764, + -2.0418539492545529, + 5.1222920783049446, + -4.7196043897942719, + 3.3816475845372773 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.31664099094022624, + -1.5148884479087625, + -2.2037642714788954, + 2.5205700780821845, + -1.0663712367888589, + -0.83753095473618899 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 81349594, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6048991737593066, + -1.5167435672456147, + -2.0433696319375159, + 5.1316219040032038, + -4.7127448653711577, + 3.3870350742174833 + ], + "velocities": [ + -0.01251893363245697, + -0.061213564375476967, + -0.10576124088018432, + 0.21434301538557698, + 0.042160778463250906, + 0.033113193371118642 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.1809264334020914e-10, + -1.3355137707103819, + -1.7078986801907816, + 3.0434124509016502, + 4.3870143205128094e-13, + -6.1809264334020914e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 158146720, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6048991737542999, + -1.5260442540614458, + -2.0581830883157379, + 5.1557360471972586, + -4.7127448653711541, + 3.3870350742124766 + ], + "velocities": [ + -8.4510819707401734e-11, + -0.16284651758153801, + -0.24626833695286038, + 0.40911485453443386, + 5.9971917603779127e-14, + -8.4510819707401734e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.8694656261219268e-10, + -1.2835514470240674, + -1.1945822521963303, + 2.4781336992202587, + 3.455666194356022e-13, + -4.8694656261219268e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 206363036, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6048991737492937, + -1.5359086280312535, + -2.0726309100037397, + 5.1800482428550705, + -4.7127448653711506, + 3.3870350742074704 + ], + "velocities": [ + -1.1456199857506505e-10, + -0.23287898676564345, + -0.32597794827341686, + 0.55885693503910794, + 8.130009656706471e-14, + -1.1456199857506505e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.2120883276715027e-10, + 1.0511698245788961, + 1.9059304692784684, + -2.9571002938576796, + -4.408472156601793e-13, + 6.2120883276715027e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 246318257, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6048991737442875, + -1.5463438196528199, + -2.0867075335679939, + 5.2045600580408928, + -4.712744865371147, + 3.3870350742024642 + ], + "velocities": [ + -1.1106096241356747e-10, + -0.23708504196670196, + -0.30863638000529803, + 0.54572142197203721, + 7.8815550368893793e-14, + -1.1106096241356747e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.4247611592095229e-10, + 1.3618040167145968, + 1.7921525831410956, + -3.153956599855912, + -4.5596762755958163e-13, + 6.4247611592095229e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 298021377, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6048991737392813, + -1.5573564767648307, + -2.1004069356782105, + 5.2292721172631218, + -4.7127448653711435, + 3.387035074197458 + ], + "velocities": [ + -6.8163322254149116e-11, + -0.15224352475942907, + -0.1850091624892431, + 0.33725268724869245, + 4.8371557113073155e-14, + -6.8163322254149116e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.2328299741428693e-10, + 1.4436203704708948, + 1.6576869518695689, + -3.1013073223406291, + -4.4227993430142765e-13, + 6.2328299741428693e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 424770944, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6048991737342746, + -1.5689526841425581, + -2.1137226813232806, + 5.2541840702859206, + -4.7127448653711399, + 3.3870350741924513 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43364584958894836, + "y": 0.094564869644608696, + "z": 0.15189178182404159 + }, + "48": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44071043584379233, + 0.026265142682130101, + 0.20189178182404161 + ], + "xaxis": [ + -0.99974891763465668, + 0.022393478293940595, + -0.00079612701956567958 + ], + "yaxis": [ + -0.022393471193681517, + -0.99974923462331233, + -1.7832524911690416e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44071043584379233, + 0.026265142682130101, + 0.15189178182404159 + ], + "xaxis": [ + -0.99974891763465668, + 0.022393478293940595, + -0.00079612701956567947 + ], + "yaxis": [ + -0.022393471193681517, + -0.99974923462331233, + -1.7832524911690419e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6523798012696185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6969894401111876, + -0.16359891327517648, + 0.052790547273589158, + -3.0256706338607859, + 3.1318689664571981, + 3.0360718971652418 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 347558640, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4037759571552186, + -1.0492279307272769, + 1.4954033555113981, + -2.2014839221884825, + -1.3874032579623117, + -3.0302580263544923 + ], + "velocities": [ + -0.49486451367355622, + -0.047707601910674247, + 0.015394420192380267, + -0.88232548262868304, + 0.91329431777347891, + 0.8853586282600463 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6523293712553595, + -0.15929344232825271, + 0.051401246067299698, + -2.946043350597102, + 3.0494468367825354, + 2.9561708814171292 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 489608409, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3039746887414021, + -1.0588493100181904, + 1.4985080086421909, + -2.3794259646810736, + -1.2032156089585455, + -2.8517042774797909 + ], + "velocities": [ + -0.80653672020296341, + -0.077754479682020206, + 0.025090029348071002, + -1.4380257247143606, + 1.4884991412476516, + 1.4429691855239803 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5179778218913125, + -0.14634123004383381, + 0.047221790585539478, + -2.7064994100655348, + 2.8014951182254122, + 2.7158034673817797 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 599220647, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2041734203275856, + -1.0684706893091036, + 1.5016126617729835, + -2.5573680071736651, + -1.0190279599547791, + -2.6731505286050901 + ], + "velocities": [ + -0.98765940177431111, + -0.095215680779781112, + 0.030724457740968041, + -1.7609608979118061, + 1.8227690501385649, + 1.767014503933233 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.526792684043061, + -0.14719103018671309, + 0.047496006432813091, + -2.7222159896293112, + 2.8177633356723675, + 2.7315740753914581 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 692946163, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1043721519137688, + -1.0780920686000171, + 1.504717314903776, + -2.7353100496662561, + -0.83484031095101308, + -2.4945967797303892 + ], + "velocities": [ + -1.1323481802946194, + -0.10916445757799496, + 0.035225487400841957, + -2.0189357431703612, + 2.089798581691019, + 2.0258761821013032 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4119380281273297, + -0.13611842334056712, + 0.043923067203296029, + -2.5174343031010697, + 2.6057939951370557, + 2.5260884165875659 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 776122800, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0045708834999523, + -1.0877134478909305, + 1.5078219680345686, + -2.9132520921588476, + -0.6506526619472468, + -2.3160430308556879 + ], + "velocities": [ + -1.2560765486556198, + -0.12109253805199269, + 0.039074473213399061, + -2.2395389372013561, + 2.3181447504891093, + 2.2472377375617407 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4865767344654235, + -0.14331399625132568, + 0.046244954459702899, + -2.6505124098816317, + 2.743543024418913, + 2.6596240022532314 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 852174512, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.90476961508613574, + -1.0973348271818439, + 1.5109266211653614, + -3.0911941346514391, + -0.46646501294348064, + -2.1374892819809865 + ], + "velocities": [ + -1.3666473574974098, + -0.13175215898946085, + 0.042514149014126729, + -2.4366826797416294, + 2.5222080620351055, + 2.4450591956312664 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2818821535372802, + -0.12358033721875865, + 0.039877243090584852, + -2.2855493949175969, + 2.3657701341120521, + 2.29340636414166 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 922406991, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.80496834667231931, + -1.1069562064727572, + 1.5140312742961539, + -3.2691361771440306, + -0.28227736393971448, + -1.9589355331062859 + ], + "velocities": [ + -1.4647234939801659, + -0.14120722627954094, + 0.045565136131089298, + -2.6115488745595226, + 2.703211903862333, + 2.6205265230757564 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.3697052696543652e-14, + 2.936557569342231e-15, + 4.9816601622769993e-14, + -4.6984921109475696e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 988569164, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.70516707825850267, + -1.1165775857636706, + 1.5171359274269465, + -3.4470782196366216, + -0.098089714935948313, + -1.7803817842315848 + ], + "velocities": [ + -1.5084339616717923, + -0.14542115056455818, + 0.046924896808726066, + -2.68948305338282, + 2.7838815026453205, + 2.698728614045637 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4805632239723274, + 0.1427342614820265, + -0.046057884050004647, + 2.6397905387402076, + -2.7324448251917728, + -2.6488652728353794 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 54731337, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60536580984468613, + -1.1261989650545841, + 1.5202405805577393, + -3.6250202621292131, + 0.086097934067818072, + -1.6018280353568835 + ], + "velocities": [ + -1.4576887760282422, + -0.14052904161620317, + 0.045346297638747118, + -2.5990062275509258, + 2.6902290211639208, + 2.607940758560384 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4572852999367436, + 0.14049014434997686, + -0.045333746161889725, + 2.5982868443109393, + -2.6894843882157851, + -2.6072189023168377 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 125666141, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50556454143086949, + -1.1358203443454975, + 1.5233452336885318, + -3.8029623046218042, + 0.27028558307158423, + -1.4232742864821823 + ], + "velocities": [ + -1.3531161955419913, + -0.13044768216778302, + 0.042093216845668552, + -2.4125571086550739, + 2.4972357049852532, + 2.4208506887438279 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.474314843611835, + 0.14213188399362744, + -0.045863507225289368, + 2.6286499031420489, + -2.7209131632502328, + -2.6376863393859242 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 202478370, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.40576327301705284, + -1.1454417236364107, + 1.5264498868193244, + -3.9809043471143957, + 0.45447323207535062, + -1.2447205376074812 + ], + "velocities": [ + -1.239812941851727, + -0.1195246388440401, + 0.038568539184862083, + -2.2105415160365105, + 2.2881295457813886, + 2.218140632773264 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.23292607754873587, + -0.022455327216373843, + 0.0072459467439170604, + -0.41529874968066971, + 0.42987536428381834, + 0.41672641057589888 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 287031562, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.3059620046032363, + -1.1550631029273242, + 1.5295545399501171, + -4.1588463896069872, + 0.63866088107911656, + -1.0661667887327804 + ], + "velocities": [ + -1.190104245804561, + -0.11473245306997495, + 0.037022183499576249, + -2.1219127135687881, + 2.1963899516310734, + 2.1292071535504133 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5267926840431085, + 0.14719103018671778, + -0.047496006432814729, + 2.7222159896291225, + -2.8177633356723746, + -2.7315740753914906 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 370208199, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20616073618941999, + -1.1646844822182376, + 1.5326591930809097, + -4.3367884320995778, + 0.8228485300828825, + -0.88761303985807949 + ], + "velocities": [ + -1.1323481802946169, + -0.10916445757799498, + 0.035225487400841957, + -2.0189357431703634, + 2.089798581691019, + 2.0258761821013009 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5588494458844497, + 0.15028147452090268, + -0.048493239510064699, + 2.7793720335195955, + -2.8769255055733889, + -2.788926603014847 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 463933716, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.10635946777560346, + -1.1743058615091511, + 1.5357638462117023, + -4.5147304745921701, + 1.0070361790866489, + -0.70905929098337861 + ], + "velocities": [ + -0.98536536927898188, + -0.094994523703383821, + 0.030653094167318533, + -1.7568707211610421, + 1.8185353118427674, + 1.7629102664962617 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6163866100024582, + 0.15582836674083303, + -0.050283125946917064, + 2.8819587106739153, + -2.9831128833258775, + -2.8918659395199917 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 574101097, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.0065581993617866985, + -1.1839272408000645, + 1.5388684993424948, + -4.6926725170847607, + 1.1912238280904153, + -0.53050554210867729 + ], + "velocities": [ + -0.80393542936428264, + -0.07750370124801137, + 0.025009107473281507, + -1.4333877174794898, + 1.4836983441078271, + 1.4383152343413748 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6940489378695021, + 0.16331543303666535, + -0.052699073090586836, + 3.0204278249951857, + -3.1264421396904125, + -3.0308110652422227 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 716275220, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.093243069052029837, + -1.1935486200909777, + 1.5419731524732876, + -4.8706145595773522, + 1.3754114770941812, + -0.35195179323397641 + ], + "velocities": [ + -0.49455725533020256, + -0.047677980553062597, + 0.015384861891240244, + -0.88177765214458126, + 0.91272725892945217, + 0.8848089145144109 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6523798012696185, + 0.15929830405299955, + -0.051402814862019225, + 2.9461332654837551, + -3.0495399076012921, + -2.9562611054017323 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 63833860, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19304433746584646, + -1.2031699993818912, + 1.5450778056040801, + -5.0485566020699437, + 1.5595991260979478, + -0.17339804435927497 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.77467011436979671, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19304433746584646, + -1.2031699993818912, + 1.5450778056040801, + -5.0485566020699437, + 1.5595991260979478, + -0.17339804435927497 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.4072492936770804, + 1.1351732312450615, + 2.2151112610487105, + -2.3656185288969067, + -1.667729778628233, + -0.82229180681384251 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 83452042, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.190346841863474, + -1.2031382032437825, + 1.5449800743425808, + -5.0550127951453456, + 1.5706456614931954, + -0.16795143324031825 + ], + "velocities": [ + 0.016161950813729339, + 0.04543109241521192, + 0.086737011556100765, + -0.17124520752790529, + 0.066184931424934701, + 0.032633180519161094 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.502030742140479e-10, + 1.2047301083473523, + 1.8956713735054791, + -3.1004014818527681, + 4.1679212649642779e-13, + 5.502030742140479e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 158742579, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19034684185995604, + -1.1963258271222348, + 1.5581291998648037, + -5.0749742967891169, + 1.5706456614931981, + -0.16795143323680028 + ], + "velocities": [ + 6.3160510876564577e-11, + 0.12646814233134435, + 0.23127147755422817, + -0.35773961988557945, + 4.7840204228984727e-14, + 6.3160510876564577e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.4552106863297375e-10, + 1.160626193636926, + 1.3187097214478483, + -2.4793359150851089, + 3.3734660262774897e-13, + 4.4552106863297375e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 202937621, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.1903468418564383, + -1.1891461167104236, + 1.5708528562834989, + -5.0948776636196236, + 1.5706456614932007, + -0.16795143323328254 + ], + "velocities": [ + 8.8537911963744915e-11, + 0.18575007710468791, + 0.31436569114452451, + -0.50011576824922421, + 6.706126100596986e-14, + 8.8537911963744915e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3434918879438677e-10, + -0.95845036797661154, + -2.0862044973985263, + 3.044654865375469, + -4.0464437701358155e-13, + -5.3434918879438677e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 239026710, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19034684185292033, + -1.1816018714744405, + 1.5831532289558263, + -5.1147222815279347, + 1.5706456614932034, + -0.16795143322976458 + ], + "velocities": [ + 8.6423769100077553e-11, + 0.1892137616757831, + 0.29766793206635489, + -0.48688169374214962, + 6.5459665152258658e-14, + 8.6423769100077553e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.5396507258096963e-10, + -1.2062268085078252, + -1.9160965742938076, + 3.1223233828015955, + -4.1960779348525839e-13, + -5.5396507258096963e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 285701559, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19034684184940256, + -1.1736959697860656, + 1.5950320857282205, + -5.1345070399887041, + 1.5706456614932061, + -0.16795143322624681 + ], + "velocities": [ + 5.3025699753437961e-11, + 0.12073437907722157, + 0.17722458552066642, + -0.29795896459789428, + 4.0164053581170842e-14, + 5.3025699753437961e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3526864253139228e-10, + -1.25751935739212, + -1.7435373181761, + 3.0010566755683556, + -4.0542976143260166e-13, + -5.3526864253139228e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 400349938, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19034684184588471, + -1.165431394795486, + 1.6064908317349806, + -5.1542303609860447, + 1.5706456614932087, + -0.16795143322272896 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44071043584379233, + "y": 0.026265142682130101, + "z": 0.15189178182404159 + }, + "49": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43018282728345836, + -0.040821570782785498, + 0.20189178182404161 + ], + "xaxis": [ + -0.95698672592787837, + 0.29013070440846206, + -0.00076207433330305254 + ], + "yaxis": [ + -0.29013061241725191, + -0.95698702935800006, + -0.00023103882952431554 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43018282728345836, + -0.040821570782785498, + 0.15189178182404159 + ], + "xaxis": [ + -0.95698672592787837, + 0.29013070440846206, + -0.00076207433330305254 + ], + "yaxis": [ + -0.29013061241725191, + -0.95698702935800006, + -0.00023103882952431545 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0837806042226932, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0401180850381873, + -1.0102826800998308, + 0.95172316872348228, + 0.045401807572410517, + -0.0094468500038621915, + 0.002847173980476778 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 365330220, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2977870331357724, + -1.1079941144632528, + 1.5567222834903964, + -2.0204685626549752, + -1.5722303785345506, + -3.208619045715094 + ], + "velocities": [ + -0.95679301467926536, + -0.31795850823301769, + 0.29952852299538379, + 0.014288962179753242, + -0.0029731345433252868, + 0.00089606919859579041 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1142615374390594, + -1.0349218038799211, + 0.97493412286579872, + 0.046509082574399715, + -0.0096772430524072611, + 0.0029166118452549146 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 517735010, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0919968407025098, + -1.1763816774901423, + 1.6211458646001873, + -2.0173952456140594, + -1.5728698501030236, + -3.2084263162009949 + ], + "velocities": [ + -1.5595274569933895, + -0.51825736200663264, + 0.48821735589339049, + 0.023290333969186963, + -0.0048460689851557394, + 0.0014605505027068437 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.832047935166722, + -0.94113744863810722, + 0.88658583628662135, + 0.042294441134074198, + -0.0088002937053399469, + 0.0026523092086958807 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 634081637, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88620664826924711, + -1.2447692405170316, + 1.6855694457099781, + -2.0143219285731435, + -1.5735093216714964, + -3.2082335866868958 + ], + "velocities": [ + -1.9213938006082374, + -0.63851167096402217, + 0.60150130525523793, + 0.028694527372262191, + -0.0059705309218138092, + 0.0017994506405077473 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5499583289039109, + -0.84739429936834776, + 0.79827636723745476, + 0.03808165147800318, + -0.0079237296629607462, + 0.0023881226986168244 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 733304515, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68041645583598442, + -1.3131568035439209, + 1.749993026819769, + -2.0112486115322277, + -1.5741487932399691, + -3.2080408571727967 + ], + "velocities": [ + -2.1939688022498358, + -0.7290929561259214, + 0.6868321828793178, + 0.032765223781878218, + -0.0068175293222988275, + 0.002054726399769126 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7537086033556699, + 0.91510396313346454, + -0.86206134249346067, + -0.041124503924758998, + 0.0085568623989760589, + -0.0025789417601490149 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 822240334, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.47462626340272163, + -1.3815443665708105, + 1.8144166079295596, + -2.0081752944913123, + -1.5747882648084421, + -3.2078481276586976 + ], + "velocities": [ + -2.1837013785192445, + -0.7256809174898855, + 0.68361791791520488, + 0.032611887765499489, + -0.0067856243734791474, + 0.0020451106082522972 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7762454025749639, + 0.92259332284885087, + -0.86911659277191133, + -0.041461073555606701, + 0.0086268931529653956, + -0.0026000482390901806 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 922455440, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.26883607096945905, + -1.4499319295976998, + 1.8788401890393505, + -2.0051019774503964, + -1.5754277363769149, + -3.2076553981445985 + ], + "velocities": [ + -1.9023700996121167, + -0.63218977323170522, + 0.59554584678736444, + 0.028410423140853659, + -0.0059114167542710996, + 0.0017816342975324234 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8785130980125975, + 0.95657860846745313, + -0.90113197258198074, + -0.04298836233165227, + 0.0089446793546791928, + -0.0026958254139723917 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 39965534, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.063045878536196254, + -1.5183194926245891, + 1.9432637701491413, + -2.0020286604094806, + -1.5760672079453877, + -3.2074626686304994 + ], + "velocities": [ + -1.5582127502757852, + -0.51782046271882409, + 0.48780578081366543, + 0.023270699843229613, + -0.0048419836710946254, + 0.0014593192351528808 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1075842705273469, + 1.0327028351022123, + -0.97284377326559113, + -0.046409362767815009, + 0.0096564941416295222, + -0.0029103583576995263 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 190708800, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14274431389706632, + -1.5867070556514786, + 2.0076873512589319, + -1.9989553433685647, + -1.5767066795138607, + -3.2072699391164003 + ], + "velocities": [ + -0.96423458522719052, + -0.3204314680414902, + 0.30185814141941958, + 0.014400096268825697, + -0.0029962584479872028, + 0.00090303848250032279 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0837806042226932, + 1.0247924740182648, + -0.96539192432782583, + -0.046053873458896125, + 0.0095825267302167821, + -0.0028880654146470446 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 556039020, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.34853450633032912, + -1.6550946186783679, + 2.072110932368723, + -1.9958820263276489, + -1.5773461510823334, + -3.2070772096023012 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.31369139803001733, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.34853450633032912, + -1.6550946186783679, + 2.072110932368723, + -1.9958820263276489, + -1.5773461510823334, + -3.2070772096023012 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.15322593600909057, + 0.81514780184536362, + 1.5994349363971583, + -3.1448923921130376, + -0.68059180317475387, + -0.97530886516740767 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 98962829, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35007059687914938, + -1.6542984924922712, + 2.0704298317100207, + -1.9876756949725236, + -1.570523215830212, + -3.197299734747777 + ], + "velocities": [ + -0.0077609470120274544, + 0.049332219455898982, + 0.064024744216215429, + -0.076366525136039767, + 0.034472212067914156, + 0.049399734046362061 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.6342405559476944e-10, + 1.3505622697149096, + 1.8334726516412052, + -3.1840349213562291, + -5.6868359721916541e-13, + 7.6345922450902253e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 202601394, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35007059687318665, + -1.6449067926703809, + 2.0854612252810503, + -2.0120987883654449, + -1.5705232158302165, + -3.1972997347418142 + ], + "velocities": [ + 8.7072208474926225e-11, + 0.14287553620760146, + 0.21597718939953503, + -0.35885272560715376, + -6.485324173902143e-14, + 8.7074104848955192e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.9957842439260189e-10, + 1.4943936143540801, + 1.5200961176210455, + -3.0144897319757424, + -5.2091899489677585e-13, + 6.9962826118441076e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 253730358, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35007059686722447, + -1.6349299297785937, + 2.1001310299225673, + -2.0367454558987501, + -1.5705232158302209, + -3.1972997347358518 + ], + "velocities": [ + 1.3257335036873217e-10, + 0.22923008073500709, + 0.32160291973344501, + -0.55083300046848782, + -9.8742896770198804e-14, + 1.3257774465931706e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.2946139498155479e-10, + -1.0408706356310029, + -1.9065342878614624, + 2.947404923492805, + 5.4328240660269354e-13, + -7.2965146139702249e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 293872523, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35007059686126191, + -1.6243593405017507, + 2.1144332072784131, + -2.061618222531441, + -1.5705232158302254, + -3.197299734729889 + ], + "velocities": [ + 1.3175886086579638e-10, + 0.23938922431947574, + 0.31243862284561519, + -0.551827847165133, + -9.8133836894798763e-14, + 1.3176002087060496e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.6074892614409259e-10, + -1.3718432129497766, + -1.8106037425351371, + 3.1824469554851205, + 5.6660783431424535e-13, + -7.6072767835030575e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 345728744, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.3500705968552994, + -1.6131869374970249, + 2.1283612230822007, + -2.0867186413399561, + -1.5705232158302298, + -3.1972997347239267 + ], + "velocities": [ + 8.0959723974938592e-11, + 0.15409875857576347, + 0.1876162214785542, + -0.34171498005434264, + -6.0299018890012089e-14, + 8.0957462761730224e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.390067412090237e-10, + -1.4602552402130828, + -1.6790299229501335, + 3.1392851631634642, + 5.5041419683944756e-13, + -7.3898610067664227e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 472758450, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35007059684933689, + -1.6014051993164089, + 2.1419080951665164, + -2.1120472516048898, + -1.5705232158302342, + -3.1972997347179644 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43018282728345836, + "y": -0.040821570782785498, + "z": 0.15189178182404159 + }, + "5": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44997747142183836, + 0.061528425640359999, + 0.10189178182404157 + ], + "xaxis": [ + -0.9909261239018966, + -0.13440533578721248, + -0.00078910119102532593 + ], + "yaxis": [ + 0.13440529317155925, + -0.99092643809312442, + 0.00010703055895243037 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.44997747142183836, + 0.061528425640359999, + 0.051891781824041562 + ], + "xaxis": [ + -0.9909261239018966, + -0.13440533578721248, + -0.00078910119102532593 + ], + "yaxis": [ + 0.13440529317155925, + -0.99092643809312442, + 0.00010703055895243043 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4086885609329074, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4474585629649956, + -0.21749641419119869, + 0.35570548564754378, + 3.1471636749408822, + -0.007019300787009887, + -0.084530522093365992 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 464351355, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7632605658775233, + -1.0626836307368872, + 1.5300402151795409, + -1.6896175436629646, + -1.5723356776856248, + -3.2177807394712814 + ], + "velocities": [ + 0.96010702048996932, + -0.085321090765838173, + 0.13953876039611851, + 1.2345924808145452, + -0.0027535828661281207, + -0.033160254042954335 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3207010223842675, + -0.20623194950722687, + 0.33728296638040972, + 2.9841673597929659, + -0.0066557606977748268, + -0.080152559889330732 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 655158176, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0229439061860117, + -1.0857607100374109, + 1.5677817279784763, + -1.3556932076300381, + -1.5730804484051717, + -3.2267497037133697 + ], + "velocities": [ + 1.5575650968287227, + -0.13841493725606324, + 0.22637132966367218, + 2.0028581354842925, + -0.0044670900972240569, + -0.053795309478020178 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3918178951478746, + -0.2125518378390005, + 0.34761885608529175, + 3.0756158696978484, + -0.0068597235875094194, + -0.082608800201392163 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 803197165, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2826272464945001, + -1.1088377893379346, + 1.6055232407774118, + -1.0217688715971116, + -1.5738252191247184, + -3.2357186679554575 + ], + "velocities": [ + 1.9173120711150515, + -0.17038429441184744, + 0.27865575814597937, + 2.4654533461963539, + -0.0054988428949806507, + -0.066220279615652369 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2399490478582229, + -0.19905582601159116, + 0.32554674303817205, + 2.8803291642239115, + -0.0064241643770447396, + -0.077363541652205006 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 928016775, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.542310586802988, + -1.1319148686384584, + 1.6432647535763472, + -0.68784453556418512, + -1.5745699898442653, + -3.2446876321975457 + ], + "velocities": [ + 2.2123968685976747, + -0.19660736772797127, + 0.32154240096153841, + 2.8449000791124508, + -0.0063451448436832964, + -0.076411942253162612 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3408477327044825, + -0.11915608225307142, + 0.19487434890962244, + 1.7241833393421973, + -0.0038455456152979841, + -0.046310307601658676 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 38787841, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8019939271114769, + -1.1549919479389821, + 1.6810062663752825, + -0.35392019953125864, + -1.5753147605638123, + -3.253656596439634 + ], + "velocities": [ + 2.416436248821439, + -0.21473957810488625, + 0.35119680571100748, + 3.1072723764067307, + -0.0069303289215091584, + -0.083459070894648935 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.2557110044835869e-14, + 0.0, + 2.0746591146857487e-14, + 0.0, + 2.0389177917965309e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 143139196, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0616772674199648, + -1.1780690272395058, + 1.7187477791742178, + -0.019995863498332156, + -1.5760595312833592, + -3.2626255606817223 + ], + "velocities": [ + 2.4885478514666359, + -0.22114786433054184, + 0.36167726614775597, + 3.2000000000000002, + -0.0071371446923078185, + -0.085949667267893937 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.0214627271297037e-14, + -2.0746591146857487e-14, + 0.0, + -2.0389177917965309e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 247490551, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3213606077284532, + -1.2011461065400295, + 1.7564892919731534, + 0.31392847253459433, + -1.5768043020029059, + -3.2715945249238105 + ], + "velocities": [ + 2.4885478514666381, + -0.22114786433054079, + 0.36167726614775597, + 3.2000000000000002, + -0.0071371446923078185, + -0.085949667267893937 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.2557110044835869e-14, + -2.0214627271297037e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 351841906, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5810439480369416, + -1.224223185840553, + 1.7942308047720887, + 0.64785280856752081, + -1.5775490727224528, + -3.2805634891658988 + ], + "velocities": [ + 2.4885478514666359, + -0.22114786433054079, + 0.36167726614775486, + 3.2000000000000002, + -0.0071371446923088819, + -0.085949667267893937 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.0858509085188148e-14, + 0.0, + 0.0, + 0.0, + 0.0, + 4.0695236480374298e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 456193261, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8407272883454295, + -1.2473002651410767, + 1.8319723175710241, + 0.98177714460044729, + -1.5782938434419997, + -3.2895324534079871 + ], + "velocities": [ + 2.4885478514666381, + -0.22114786433054184, + 0.36167726614775486, + 3.2000000000000002, + -0.0071371446923088819, + -0.085949667267891813 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1064848611657319e-13, + 2.6598193778022398e-15, + -4.2557110044835837e-15, + 0.0, + 9.1431291111952007e-17, + -3.9631308729253378e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 560544616, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1004106286539184, + -1.2703773444416004, + 1.8697138303699594, + 1.3157014806333738, + -1.5790386141615467, + -3.2985014176500749 + ], + "velocities": [ + 2.4885478514666364, + -0.2211478643305417, + 0.36167726614775464, + 3.2000000000000002, + -0.0071371446923088767, + -0.085949667267891758 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.957995406277021e-14, + -5.585620693384708e-15, + 9.0433858845276226e-15, + 0.0, + 2.0206315335741404e-14, + -2.2608464711319056e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 664895971, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3600939689624063, + -1.2934544237421242, + 1.9074553431688948, + 1.6496258166663007, + -1.5797833848810936, + -3.3074703818921631 + ], + "velocities": [ + 2.4885478514666337, + -0.22114786433054184, + 0.36167726614775486, + 3.2000000000000002, + -0.0071371446923078185, + -0.085949667267893937 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.1068532053803074e-14, + 2.9258013155824678e-15, + 1.5958916266813463e-14, + 0.0, + -2.0297746626853372e-14, + 1.1969187200110097e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 769247326, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6197773092708942, + -1.3165315030426479, + 1.9451968559678301, + 1.9835501526992267, + -1.5805281556006403, + -3.3164393461342514 + ], + "velocities": [ + 2.4885478514666395, + -0.22114786433054201, + 0.36167726614775619, + 3.2000000000000002, + -0.0071371446923078228, + -0.085949667267893992 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7521657131705746, + 0.15570836027625065, + -0.25465393587024948, + -2.2530932161264778, + 0.0050252038402356994, + 0.060516441328006161 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 873598681, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8794606495793831, + -1.3396085823431716, + 1.9829383687667657, + 2.3174744887321532, + -1.5812729263201872, + -3.3254083103763397 + ], + "velocities": [ + 2.3933400203202417, + -0.21268710336379593, + 0.34784007669423833, + 3.0775731559716997, + -0.0068640890360424098, + -0.08266137148386557 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1525470076346278, + 0.19128873625193063, + -0.31284402127003635, + -2.7679397124597953, + 0.0061734956960666828, + 0.074344842907375697 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 986596246, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.139143989887871, + -1.3626856616436953, + 2.0206798815657008, + 2.6513988247650797, + -1.5820176970397342, + -3.3343772746184279 + ], + "velocities": [ + 2.168803910006543, + -0.192733425868024, + 0.31520674537941296, + 2.788844308511373, + -0.0062201204231774306, + -0.074906325118283323 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1866771752131573, + 0.19432175555463857, + -0.31780438628605473, + -2.8118273701500334, + 0.0062713808720592156, + 0.075523633399709966 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 113924730, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3988273301963599, + -1.385762740944219, + 2.0584213943646366, + 2.9853231607980062, + -1.5827624677592811, + -3.3433462388605157 + ], + "velocities": [ + 1.8881314051280349, + -0.16779111865315394, + 0.27441473722595444, + 2.4279302055006964, + -0.0054151528685885408, + -0.065212435410140199 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2670522695514022, + 0.20146438712903433, + -0.32948583511551899, + -2.9151809390721519, + 0.0065018963019971981, + 0.078299634918424399 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 263444108, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6585106705048478, + -1.4088398202447427, + 2.0961629071635719, + 3.3192474968309327, + -1.5835072384788278, + -3.352315203102604 + ], + "velocities": [ + 1.5429523832905296, + -0.13711636050209797, + 0.22424756648974725, + 1.9840677862070422, + -0.0044251808967207019, + -0.053290614394200686 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4050664963114792, + 0.21372919106970817, + -0.34954436370465763, + -3.0926521198541406, + 0.0068977205194921225, + 0.083066381461503205 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 455927953, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.9181940108133357, + -1.4319168995452665, + 2.1339044199625072, + 3.6531718328638592, + -1.5842520091983747, + -3.3612841673446923 + ], + "velocities": [ + 0.95531039843925458, + -0.084894833050162294, + 0.13884163530405969, + 1.2284245501664606, + -0.0027398261744132754, + -0.032994587922037369 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4282332023678683, + 0.21578792888538709, + -0.35291133569484068, + -3.1224419667066776, + 0.0069641625342884601, + 0.083866515031796041 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 918406770, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1778773511218246, + -1.4549939788457902, + 2.1716459327614426, + 3.9870961688967856, + -1.5849967799179216, + -3.3702531315867805 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.21369435172954204, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1778773511218246, + -1.4549939788457902, + 2.1716459327614426, + 3.9870961688967856, + -1.5849967799179216, + -3.3702531315867805 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.11753163886775127, + 1.3591407087502048, + 1.1953115348343211, + -3.1555681310347818, + -1.0940357089981962, + 0.99524739249076677 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 119846662, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1763426813790199, + -1.4532433640598907, + 2.1680515515743082, + 3.9967890077750208, + -1.5707114054142048, + -3.3832485773766332 + ], + "velocities": [ + -0.0064026387601991922, + 0.088647497899874361, + 0.035124138632648218, + -0.091025324028863833, + 0.059598549905316149, + -0.054216970335132751 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0341210577126299e-09, + 2.0401095589714942, + 1.0532056485412724, + -3.0933152075125818, + 1.60960700135521e-12, + -2.0339552567583225e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 217903490, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1763426813619029, + -1.437290707076283, + 2.1778807462626117, + 3.9710071561031111, + -1.5707114054141913, + -3.3832485773937497 + ], + "velocities": [ + -2.5100884740819973e-10, + 0.23936000387307388, + 0.13982173032394116, + -0.37918173419699219, + 1.9862416578326306e-13, + -2.5099808732089562e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8160356939567931e-09, + 2.0419189334587506, + 0.75896288762661523, + -2.8008818210849729, + 1.4373966965003729e-12, + -1.8168548551064129e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 270176098, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1763426813447859, + -1.4207708834189563, + 2.1872586445590065, + 3.9451094341493911, + -1.5707114054141778, + -3.3832485774108658 + ], + "velocities": [ + -3.7002251519646177e-10, + 0.363893277994145, + 0.19719323962739801, + -0.56108651762150408, + 2.9280856199725243e-13, + -3.7002472447961032e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.941674792181461e-09, + -1.7192962219623955, + -1.1963974875926027, + 2.9156937095546835, + -1.5368110007131052e-12, + 1.9421260069339641e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 311660678, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1763426813276698, + -1.4036894239765629, + 2.1961771156538457, + 3.9191095036121606, + -1.5707114054141642, + -3.3832485774279828 + ], + "velocities": [ + -3.6652351628699122e-10, + 0.37096468219480805, + 0.18659865738480044, + -0.55756333957956783, + 2.9003979210469195e-13, + -3.6653422120928672e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0582425968250216e-09, + -2.0756292121764628, + -1.0554196748506051, + 3.1310488870268363, + -1.6286944583635106e-12, + 2.0582425968250216e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 365074788, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1763426813105529, + -1.3860534232449269, + 2.2046280033811345, + 3.8930226151532374, + -1.5707114054141507, + -3.3832485774450998 + ], + "velocities": [ + -2.2542111662845254e-10, + 0.23433533590375011, + 0.10948182328632312, + -0.34381715919005074, + 1.7837650625694795e-13, + -2.2542111662845254e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9863404950783107e-09, + -2.1099138691178094, + -0.92548288586873617, + 3.0353967549863654, + -1.5717980775188998e-12, + 1.9863404950783107e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 496355720, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1763426812934359, + -1.3678715747684027, + 2.2126032055184224, + 3.866865564539427, + -1.5707114054141371, + -3.3832485774622167 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.44997747142183836, + "y": 0.061528425640359999, + "z": 0.051891781824041562 + }, + "50": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40166428040552338, + -0.10233352054832399, + 0.20189178182404161 + ], + "xaxis": [ + -0.84147989671453105, + 0.54028801060221432, + -0.0006700931307640481 + ], + "yaxis": [ + -0.54028783929408608, + -0.84148016352110278, + -0.00043024577433147947 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40166428040552338, + -0.10233352054832399, + 0.15189178182404159 + ], + "xaxis": [ + -0.84147989671453105, + 0.54028801060221432, + -0.000670093130764048 + ], + "yaxis": [ + -0.54028783929408608, + -0.84148016352110278, + -0.00043024577433147947 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0830510821264778, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0552299308432058, + -1.0024686542842238, + 0.94190300256916892, + 0.038508052812924534, + -0.023131679503073991, + 0.16721380507100755 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 381060442, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2797368330496828, + -1.1130520799702501, + 1.5613069088274614, + -2.0207206001680285, + -1.573285641678948, + -3.1965609120833811 + ], + "velocities": [ + -0.99957769134938745, + -0.32797705108335451, + 0.30816182418169297, + 0.012598655878734523, + -0.0075679773104131987, + 0.0547072374315523 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.061329308690977, + -1.0044699554109759, + 0.94378339207788609, + 0.038584929241083733, + -0.023177858958217026, + 0.16754762615861785 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 539616718, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0558964405303302, + -1.1864976085041365, + 1.6303151152743169, + -2.0178993206401659, + -1.5749803763918182, + -3.1843100489375691 + ], + "velocities": [ + -1.6261640300331992, + -0.53356981429639583, + 0.50133339134168908, + 0.02049613671260226, + -0.012311971934555401, + 0.08900052738629867 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8194072018307681, + -0.92509153401705302, + 0.86920073741768478, + 0.035535748171750585, + -0.021346224427504466, + 0.15430714444876861 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 661230303, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.83205604801097766, + -1.2599431370380232, + 1.6993233217211727, + -2.0150780411123033, + -1.5766751111046884, + -3.1720591857917575 + ], + "velocities": [ + -1.9994100937020722, + -0.65603767682475156, + 0.61640217373274453, + 0.025200522129516012, + -0.015137883082326041, + 0.10942841528559763 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7965200269556072, + -0.91758189450811278, + 0.8621448040761408, + 0.035247278708262754, + -0.021172941628524716, + 0.15305452134513028 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 764944953, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60821565549162515, + -1.3333886655719098, + 1.7683315281680283, + -2.0122567615844407, + -1.5783698458175586, + -3.1598083226459455 + ], + "velocities": [ + -2.2950920952409506, + -0.7530555592389031, + 0.70755857484140627, + 0.028927291763492638, + -0.017376543166589195, + 0.12561119487583533 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7965200269556121, + 0.91758189450811178, + -0.86214480407613869, + -0.035247278708262685, + 0.021172941628524684, + -0.15305452134512987 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 856986440, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.38437526297227254, + -1.4068341941057962, + 1.8373397346148841, + -2.0094354820565785, + -1.5800645805304288, + -3.1475574595001334 + ], + "velocities": [ + -2.2950920952409501, + -0.75305555923890322, + 0.70755857484140638, + 0.028927291763492645, + -0.017376543166589195, + 0.12561119487583536 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8194072018307597, + 0.92509153401705579, + -0.86920073741768866, + -0.035535748171750703, + 0.021346224427504539, + -0.15430714444876933 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 960701090, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.16053487045292014, + -1.4802797226396829, + 1.9063479410617397, + -2.0066142025287159, + -1.5817593152432989, + -3.1353065963543214 + ], + "velocities": [ + -1.9994100937020722, + -0.65603767682475156, + 0.61640217373274453, + 0.025200522129516012, + -0.01513788308232604, + 0.10942841528559763 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0613293086909841, + 1.0044699554109722, + -0.94378339207788231, + -0.038584929241083595, + 0.023177858958216942, + -0.16754762615861718 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 82314675, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.063305522066432474, + -1.5537252511735695, + 1.9753561475085955, + -2.0037929230008533, + -1.5834540499561691, + -3.1230557332085098 + ], + "velocities": [ + -1.6261640300331992, + -0.53356981429639583, + 0.50133339134168908, + 0.020496136712602264, + -0.012311971934555403, + 0.089000527386298683 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0552299308432018, + 1.0024686542842254, + -0.94190300256917014, + -0.03850805281292459, + 0.023131679503074019, + -0.16721380507100778 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 240870951, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.28714591458578487, + -1.6271707797074559, + 2.044364353955451, + -2.0009716434729907, + -1.5851487846690393, + -3.1108048700626978 + ], + "velocities": [ + -0.99957769134938756, + -0.32797705108335462, + 0.30816182418169313, + 0.01259865587873453, + -0.0075679773104132013, + 0.05470723743155232 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0830510821264805, + 1.0115972085072775, + -0.95048004145718223, + -0.038858710009660312, + 0.023342318299321204, + -0.1687364664329459 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 621931393, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51098630710513759, + -1.7006163082413426, + 2.1133725604023068, + -1.9981503639451281, + -1.5868435193819095, + -3.0985540069168858 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.74644063740211952, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51098630710513759, + -1.7006163082413426, + 2.1133725604023068, + -1.9981503639451281, + -1.5868435193819095, + -3.0985540069168858 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.3810393473704774, + 0.66104292028743683, + 1.4482612475688572, + -3.1472486173776137, + -1.2271675195154081, + -0.86959312357491236 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 116950857, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51609102912928362, + -1.6995692672457119, + 2.1100124201052148, + -1.9819320919224255, + -1.5704033560141901, + -3.0869042094411387 + ], + "velocities": [ + -0.021824217893164945, + 0.046814391040724934, + 0.054218668182143992, + -0.041584274236431712, + 0.070286630506633932, + 0.049806379386648031 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.4361142315564795e-09, + 1.3210430714511248, + 1.8243384224799672, + -3.1453814939333142, + -3.7705007027839338e-12, + 5.436126268714472e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 229101991, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51609102908542526, + -1.6900727630679742, + 2.1253960287440656, + -2.0068122047390311, + -1.5704033560142205, + -3.0869042093972805 + ], + "velocities": [ + 6.145975649324625e-10, + 0.13899718171589215, + 0.2121852613324085, + -0.35118244304854451, + -4.2628492600859832e-13, + 6.1459706996509733e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.9528256883072747e-09, + 1.4718676085670344, + 1.5084109123298179, + -2.9802785208987173, + -3.4353635589750878e-12, + 4.9529416800639358e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 281430667, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51609102904156701, + -1.6799566665769698, + 2.1404249276786445, + -2.0319572001646318, + -1.570403356014251, + -3.0869042093534222 + ], + "velocities": [ + 9.5371032089661e-10, + 0.2276661671675308, + 0.32240250858034791, + -0.55006867574825746, + -6.6149597405296509e-13, + 9.5371302770030416e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.964682431558707e-09, + -0.95429312691812662, + -1.8111827109815191, + 2.7654758379015152, + 3.4436188595285515e-12, + -4.9648437747013104e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 322446683, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51609102899770898, + -1.6692098993811366, + 2.1550923798016846, + -2.0573714194835224, + -1.5704033560142814, + -3.086904209309564 + ], + "velocities": [ + 9.5338263997597934e-10, + 0.23973457369131468, + 0.31531837172020427, + -0.55505294541189765, + -6.6126795914787743e-13, + 9.5338428679480846e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.4872676172190986e-09, + -1.3678263642904005, + -1.8218944463323203, + 3.1897208106249937, + 3.8059627408750815e-12, + -5.487253726844133e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 374816441, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51609102895385062, + -1.6578218218952061, + 2.1693910885288523, + -2.0830582056966382, + -1.5704033560143118, + -3.0869042092657057 + ], + "velocities": [ + 5.9102495870875975e-10, + 0.15602194964932403, + 0.19120683445795014, + -0.34722878410750707, + -4.0993425666247352e-13, + 5.9102346259833395e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.4143335959185339e-09, + -1.4862793692798955, + -1.7186961735855111, + 3.2049755428674622, + 3.7553757844924409e-12, + -5.4143198901674951e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 502098940, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51609102890999226, + -1.6457823388184338, + 2.183313244701969, + -2.1090198449465438, + -1.5704033560143422, + -3.0869042092218475 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.40166428040552338, + "y": -0.10233352054832399, + "z": 0.15189178182404159 + }, + "51": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39509637518728735, + 0.19161846196686799, + 0.22189178182404157 + ], + "xaxis": [ + -0.88327463027287678, + -0.46885544977034643, + -0.00070337540401728773 + ], + "yaxis": [ + 0.46885530111120921, + -0.88327491033123218, + 0.00037336211812498421 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39509637518728735, + 0.19161846196686799, + 0.17189178182404158 + ], + "xaxis": [ + -0.88327463027287678, + -0.46885544977034643, + -0.00070337540401728773 + ], + "yaxis": [ + 0.46885530111120921, + -0.88327491033123218, + 0.00037336211812498432 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1546373873094926, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1165539321534874, + -1.4759005013191422, + 1.2537043412936397, + 0.21477007567849032, + 0.039034501134687934, + -0.48894908315276386 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 303134039, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3586370234506573, + -1.1082456065031878, + 1.5506041784222884, + -2.0135536623072343, + -1.5697755466010019, + -3.2315511150514911 + ], + "velocities": [ + -0.81274737929351371, + -0.38489122622570998, + 0.32694602435172065, + 0.056008597944511233, + 0.010179573076513262, + -0.12751009435148236 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0571469800198532, + -1.447767264306544, + 1.2298065505239795, + 0.21067618355172418, + 0.038290435480482332, + -0.4796288610705815 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 429459461, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2136968213322796, + -1.1768846615700121, + 1.6089096544639712, + -2.003565444918578, + -1.5679601862359263, + -3.254290454873789 + ], + "velocities": [ + -1.3182896104928781, + -0.62429989641341921, + 0.53031182637523, + 0.090846866627492529, + 0.01651143487867781, + -0.20682346925885139 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9100177647839529, + -1.3780915624727914, + 1.17062049442228, + 0.20053711540829136, + 0.036447657962701878, + -0.45654609194147511 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 526785488, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.068756619213902, + -1.2455237166368367, + 1.667215130505654, + -1.9935772275299215, + -1.5661448258708504, + -3.2770297946960865 + ], + "velocities": [ + -1.6202394509250593, + -0.76729370642560579, + 0.651777982278128, + 0.11165503856755693, + 0.020293323992603626, + -0.25419569539434528 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8229694622247421, + -0.86330017120155111, + 0.73333071674381844, + 0.12562570643248422, + 0.022832495471190081, + -0.28600154740603839 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 609549086, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.92381641709552409, + -1.314162771703661, + 1.7255206065473367, + -1.983589010141265, + -1.5643294655057745, + -3.2997691345183844 + ], + "velocities": [ + -1.8238070818847678, + -0.86369684114632439, + 0.73366766820591089, + 0.1256834290458517, + 0.022842986566929395, + -0.2861329596561446 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.878524823918402, + 1.3631775105348873, + -1.1579517463297446, + -0.19836685253456335, + -0.036053212282369081, + 0.45160523582366774 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 685979880, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.77887621497714621, + -1.3828018267704854, + 1.7838260825890195, + -1.9736007927526082, + -1.5625141051406988, + -3.3225084743406823 + ], + "velocities": [ + -1.7785514532389692, + -0.84226521940644572, + 0.71546256752857262, + 0.12256474250914222, + 0.022276164709781193, + -0.27903290664388225 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.894402619594215, + 1.3706967279487188, + -1.1643389489267022, + -0.19946103394551909, + -0.036252079957028109, + 0.45409626720234741 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 773254129, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.63393601285876855, + -1.4514408818373097, + 1.8421315586307023, + -1.9636125753639517, + -1.5606987447756229, + -3.3452478141629802 + ], + "velocities": [ + -1.5217441685734239, + -0.72064948342642254, + 0.61215602617873133, + 0.10486746495094405, + 0.019059681227416345, + -0.23874299377290181 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1233939558007644, + 1.0055716256124503, + -0.8541832673579286, + -0.14632876263671205, + -0.026595279780666278, + 0.3331344653302305 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 878074824, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.48899581074039067, + -1.5200799369041342, + 1.9004370346723851, + -1.9536243579752952, + -1.558883384410547, + -3.3679871539852777 + ], + "velocities": [ + -1.2593699777165381, + -0.59639743829935199, + 0.50661007084421494, + 0.086786556982352603, + 0.015773472846724545, + -0.19757970160623045 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0546651223725982, + 1.4465919357142532, + -1.2288081671253386, + -0.21050515209634874, + -0.038259350481688513, + 0.47923948804915167 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 5663500, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.34405560862201301, + -1.5887189919709583, + 1.9587425107140679, + -1.9436361405866387, + -1.5570680240454713, + -3.3907264938075756 + ], + "velocities": [ + -0.80706740022301071, + -0.38220136937094773, + 0.32466112424276405, + 0.055617175379274339, + 0.010108431952599075, + -0.1266189753080425 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1546373873094931, + 1.4939356105392405, + -1.2690242728911472, + -0.21739450853736172, + -0.039511492294118392, + 0.49492391012100678 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 308797539, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.1991154065036351, + -1.6573580470377829, + 2.0170479867557507, + -1.9336479231979822, + -1.5552526636803954, + -3.4134658336298735 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.23924961158232144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.1991154065036351, + -1.6573580470377829, + 2.0170479867557507, + -1.9336479231979822, + -1.5552526636803954, + -3.4134658336298735 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.12553554162151681, + 0.77787261022992815, + 1.6341758863412672, + -2.6408452969141831, + 1.5086959229065087, + 1.5084325131807554 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 104508610, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.200421954573797, + -1.656611360229526, + 2.0174222173500409, + -1.9323875706125631, + -1.5709548602006194, + -3.429165288634767 + ], + "velocities": [ + 0.0062509111220452858, + 0.045878093357474649, + 0.08495293951628842, + -0.11943833529201074, + -0.075123936902651456, + -0.075110820679693727 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.312885269265778e-10, + 1.1688855335146828, + 1.9055849138027861, + -3.0744704473174411, + -1.1290649274198103e-13, + 1.3124563282684255e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 199175820, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20042195457483025, + -1.6486014306367758, + 2.0331677428761128, + -1.956143025731385, + -1.5709548602006203, + -3.4291652886337336 + ], + "velocities": [ + 1.5680164628991652e-11, + 0.12703993572306729, + 0.23549440021730578, + -0.36253433594036971, + -1.3480419669451614e-14, + 1.5680073603723061e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2240026230902242e-10, + 1.3267991523845957, + 1.6249981334082166, + -2.9517972857926615, + -1.0522351047269142e-13, + 1.2237494267974018e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 249701574, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20042195457586329, + -1.6400389107467475, + 2.0485611100438645, + -1.9800989127891648, + -1.5709548602006211, + -3.4291652886327006 + ], + "velocities": [ + 2.3208939074153722e-11, + 0.19942141332761293, + 0.34134872330645022, + -0.54077013663405538, + -1.995418698915333e-14, + 2.3206719468385325e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2755057099285263e-10, + -0.88223249816278571, + -2.0118508638847041, + 2.8940833620474358, + 1.0966196323942194e-13, + -1.2753686324744778e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 289477322, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20042195457689635, + -1.6309153723424881, + 2.0635976818550459, + -2.0042590230046051, + -1.570954860200622, + -3.4291652886316677 + ], + "velocities": [ + 2.3070508560316834e-11, + 0.20930439527742456, + 0.33226584303840501, + -0.54157023831581963, + -1.9834934818112269e-14, + 2.3068029193464573e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3506891684459341e-10, + -1.215971189373706, + -1.9513383147087029, + 3.1673095040823309, + 1.1612588229519044e-13, + -1.3505440110930648e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 340698027, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20042195457792941, + -1.621222653524877, + 2.0782723124752485, + -2.0286263724424183, + -1.5709548602006229, + -3.4291652886306347 + ], + "velocities": [ + 1.4166892324745551e-11, + 0.13520120926165502, + 0.19978789600406172, + -0.33498910526571157, + -1.2180025641909125e-14, + 1.4165369821540312e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.290652187555341e-10, + -1.2830432970609946, + -1.7874485450483089, + 3.0704918421092757, + 1.1096418592630554e-13, + -1.2905134823229334e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 467222253, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20042195457896247, + -1.6109529312854214, + 2.0925793901218204, + -2.0532031723284456, + -1.5709548602006238, + -3.4291652886296018 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.39509637518728735, + "y": 0.19161846196686799, + "z": 0.17189178182404158 + }, + "52": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42267906826715634, + 0.127593238716532, + 0.22189178182404157 + ], + "xaxis": [ + -0.95071504705857934, + -0.31006503531716872, + -0.0007570800263147526 + ], + "yaxis": [ + 0.31006493700541687, + -0.95071534850015083, + 0.0002469130696875143 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42267906826715634, + 0.127593238716532, + 0.17189178182404158 + ], + "xaxis": [ + -0.95071504705857934, + -0.31006503531716872, + -0.0007570800263147526 + ], + "yaxis": [ + 0.31006493700541687, + -0.95071534850015083, + 0.00024691306968751419 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9395490036385954, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9756719469401487, + -0.21809346630099968, + -1.6848647678358839, + 0.38853047501777005, + 1.516356384203257, + 3.1584947655125482 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 395961074, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3515309630332828, + -1.0563908644828142, + 1.3626327468436177, + -1.9936408595902078, + -1.4548932329178075, + -2.9657363369821224 + ], + "velocities": [ + -0.65982753942350936, + -0.072838041485888599, + -0.56270484365803242, + 0.12975995722319544, + 0.50642704292458951, + 1.0548622875563423 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8844744758998182, + -0.20802622178306526, + -1.6070910230046482, + 0.37059581901446792, + 1.4463610250803176, + 3.0126979213780611 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 558462322, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1994847004975302, + -1.0731751775292648, + 1.23296679130663, + -1.9637398394845242, + -1.3381955588695371, + -2.7226608987350511 + ], + "velocities": [ + -1.0715454138880509, + -0.11828737760625005, + -0.91382029177073487, + 0.21072731700514763, + 0.82242638097350684, + 1.7130731577254665 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7926733470059459, + -0.19789233976796178, + -1.5288024751713873, + 0.35254244923740613, + 1.3759023499491254, + 2.8659360130924174 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 684387987, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0474384379617776, + -1.0899594905757155, + 1.1033008357696421, + -1.9338388193788409, + -1.2214978848212668, + -2.4795854604879803 + ], + "velocities": [ + -1.311970314658216, + -0.14482776558677843, + -1.1188560747839382, + 0.25800864883101293, + 1.0069559197812574, + 2.0974389891872849 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7321689036953127, + -0.19121328366829127, + -1.4772039266423664, + 0.34064380374793646, + 1.3294643271645754, + 2.7692079263354521 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 791726485, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89539217542602523, + -1.106743803622166, + 0.97363488023265432, + -1.9039377992731576, + -1.1048002107729964, + -2.2365100222409096 + ], + "velocities": [ + -1.5043475925576528, + -0.16606419982355514, + -1.2829165597075294, + 0.29584106087728257, + 1.1546082230749544, + 2.4049913772191096 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6318966230338281, + -0.18014427532544477, + -1.3916911302802091, + 0.32092451943206063, + 1.2525039222881023, + 2.6089032390689941 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 887221939, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.74334591289027274, + -1.1235281166686166, + 0.84396892469566642, + -1.8740367791674741, + -0.98810253672472614, + -1.9934345839938385 + ], + "velocities": [ + -1.6667653198101158, + -0.18399341382089041, + -1.4214273619403976, + 0.32778170609342722, + 1.2792661441475746, + 2.6646476132393939 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9519890262234829, + -0.21547912018993032, + -1.6646678324201774, + 0.3838730538046714, + 1.4981794049325183, + 3.120633023723133 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 974537235, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.59129965035452026, + -1.1403124297150673, + 0.71430296915867864, + -1.8441357590617908, + -0.87140486267645578, + -1.7503591457467678 + ], + "velocities": [ + -1.8229166832973633, + -0.20123088696682701, + -1.5545941719447951, + 0.35849002460973511, + 1.3991145416979118, + 2.9142858514934584 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2471096487991251, + -0.13766782819651563, + -1.0635425137984977, + 0.24525332001476591, + 0.95717443408905367, + 1.9937466358485501 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 54373088, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.43925338781876766, + -1.157096742761518, + 0.58463701362169085, + -1.8142347389561073, + -0.75470718862818542, + -1.5072837074996968 + ], + "velocities": [ + -1.9530599481846673, + -0.21559733874489712, + -1.6655811210277931, + 0.38408365851507054, + 1.4990013528046635, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.0923913877840256e-14, + 0.0, + -1.7538820233360112e-14, + 0.0, + 1.7538820233360112e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 130334162, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28720712528301529, + -1.1738810558079686, + 0.45497105808470306, + -1.784333718850424, + -0.63800951457991517, + -1.264208269252626 + ], + "velocities": [ + -2.001633910950158, + -0.22095939489389932, + -1.7070052849050505, + 0.39363608692100999, + 1.5362825616913809, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.7694101166800476e-14, + 5.4808813229250298e-15, + 4.0923913877840218e-14, + 2.8500582879210155e-14, + -3.5077640466720185e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 206295237, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.13516086274726269, + -1.1906653688544193, + 0.32530510254771516, + -1.7544326987447407, + -0.52131184053164481, + -1.0211328310055552 + ], + "velocities": [ + -2.0016339109501562, + -0.2209593948938991, + -1.7070052849050497, + 0.39363608692101104, + 1.5362825616913802, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.7694101166800476e-14, + 3.3250680025745177e-14, + -2.9231367055600157e-15, + -2.8500582879210155e-14, + 3.5077640466720185e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 282256311, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.016885399788489686, + -1.20744968190087, + 0.19563914701072727, + -1.7245316786390572, + -0.40461416648337445, + -0.77805739275848396 + ], + "velocities": [ + -2.0016339109501562, + -0.22095939489389765, + -1.7070052849050481, + 0.39363608692101104, + 1.5362825616913802, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.0923913877840256e-14, + -3.8731561348670246e-14, + -3.8000777172280237e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 358217385, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.16893166232424228, + -1.2242339949473204, + 0.06597319147373959, + -1.6946306585333739, + -0.28791649243510409, + -0.53498195451141317 + ], + "velocities": [ + -2.001633910950158, + -0.22095939489389785, + -1.7070052849050499, + 0.39363608692100999, + 1.5362825616913816, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.0923913877840256e-14, + 0.0, + 0.0, + 3.8000777172280237e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 434178460, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.32097792485999466, + -1.2410183079937711, + -0.063692764063248308, + -1.6647296384276906, + -0.17121881838683373, + -0.29190651626434239 + ], + "velocities": [ + -2.001633910950158, + -0.22095939489389932, + -1.7070052849050512, + 0.39363608692101143, + 1.5362825616913816, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2616460700080284e-14, + 5.4808813229250298e-15, + 7.8924691050120424e-14, + -4.7500971465350255e-14, + -3.5077640466720185e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 510139534, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.47302418739574725, + -1.2578026210402218, + -0.19335871960023621, + -1.6348286183220071, + -0.054521144338563365, + -0.048831078017271601 + ], + "velocities": [ + -2.001633910950158, + -0.2209593948938991, + -1.7070052849050481, + 0.39363608692101104, + 1.5362825616913802, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -7.8924691050120348e-14, + 3.8000777172280167e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 586100609, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.62507044993149985, + -1.2745869340866725, + -0.32302467513722388, + -1.6049275982163238, + 0.062176529709706996, + 0.19424436022979963 + ], + "velocities": [ + -2.0016339109501557, + -0.2209593948938989, + -1.7070052849050481, + 0.39363608692101071, + 1.5362825616913789, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3385093644480148e-14, + 2.7769798702820174e-14, + 3.5077640466720223e-14, + -1.9000388586140118e-14, + 3.5077640466720223e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 662061683, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.77711671246725245, + -1.2913712471331231, + -0.452690630674212, + -1.5750265781106403, + 0.17887420375797736, + 0.43731979847687086 + ], + "velocities": [ + -2.0016339109501566, + -0.22095939489389785, + -1.7070052849050499, + 0.39363608692101143, + 1.5362825616913802, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.0155280933440371e-14, + -6.1020478728565329e-14, + -3.2154503761160172e-14, + 9.5001942930700513e-15, + -3.5077640466720185e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 738022758, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.9291629750030046, + -1.3081555601795736, + -0.58235658621119946, + -1.545125558004957, + 0.2955718778062475, + 0.6803952367239412 + ], + "velocities": [ + -2.0016339109501549, + -0.2209593948938991, + -1.7070052849050499, + 0.39363608692101104, + 1.5362825616913802, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9292702256696121e-13, + 5.590498949383535e-14, + -8.7694101166800558e-15, + -3.8731561348670246e-14, + 7.307841763900046e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 813983832, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0812092375387572, + -1.3249398732260245, + -0.7120225417481878, + -1.5152245378992735, + 0.41226955185451808, + 0.92347067497101287 + ], + "velocities": [ + -2.0016339109501597, + -0.22095939489389932, + -1.7070052849050512, + 0.39363608692100993, + 1.5362825616913818, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9292702256696121e-13, + -1.7538820233360112e-14, + 8.7694101166800552e-14, + 3.8731561348670246e-14, + -1.110791948112807e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 889944907, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2332555000745098, + -1.3417241862724749, + -0.84168849728517525, + -1.4853235177935904, + 0.52896722590278822, + 1.1665461132180828 + ], + "velocities": [ + -2.0016339109501597, + -0.22095939489389785, + -1.7070052849050483, + 0.39363608692100993, + 1.5362825616913802, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3385093644480104e-14, + -1.0596370557655047e-14, + -8.1847827755680361e-14, + 1.9000388586140084e-14, + 7.3078417639000321e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 965905981, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3853017626102624, + -1.3585084993189256, + -0.97135445282216315, + -1.4554224976879069, + 0.64566489995105858, + 1.4096215514651544 + ], + "velocities": [ + -2.0016339109501531, + -0.22095939489389893, + -1.7070052849050481, + 0.39363608692101215, + 1.5362825616913787, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2471096487990687, + 0.13766782819651355, + 1.0635425137984811, + -0.24525332001483441, + -0.95717443408905689, + -1.9937466358485507 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 41867056, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5373480251460145, + -1.3752928123653763, + -1.101020408359151, + -1.4255214775822234, + 0.76236257399932894, + 1.6526969897122252 + ], + "velocities": [ + -1.9530599481846669, + -0.21559733874489717, + -1.6655811210277949, + 0.38408365851507076, + 1.4990013528046648, + 3.122345100170798 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7526979857249252, + 0.19347947905903484, + 1.4947112496983985, + -0.34468099929801527, + -1.3452206902822872, + -2.8020276453336996 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 121702908, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6893942876817671, + -1.3920771254118269, + -1.2306863638961389, + -1.3956204574765401, + 0.8790602480475993, + 1.895772427959296 + ], + "velocities": [ + -1.8316234202032426, + -0.20219201942351589, + -1.56201932887849, + 0.3602022687052856, + 1.4057970863953018, + 2.9282052590066852 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7365209379814834, + 0.19169370261862062, + 1.4809153673237592, + -0.34149966342192017, + -1.3328045755212741, + -2.7761654971677312 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 208153697, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8414405502175197, + -1.4088614384582776, + -1.3603523194331264, + -1.3657194373708568, + 0.99575792209586966, + 2.1388478662063668 + ], + "velocities": [ + -1.6800073325235907, + -0.18545519317041953, + -1.4327202290131535, + 0.33038584566109458, + 1.2894295776816067, + 2.6858175386944434 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.742219883732087, + 0.19232280647102146, + 1.4857754621002022, + -0.34262040317991754, + -1.3371785976282555, + -2.7852763671934504 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 303108201, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9934868127532723, + -1.4256457515047281, + -1.4900182749701147, + -1.3358184172651733, + 1.11245559614414, + 2.3819233044534376 + ], + "velocities": [ + -1.5134431868971769, + -0.16706825806340964, + -1.290673336569665, + 0.29762977665814683, + 1.1615892213961709, + 2.419532448754345 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0005882146209268, + 0.22084396098419476, + 1.7061135088661756, + -0.39343044301732744, + -1.5354799748514245, + -3.1983282516172498 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 409759990, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1455330752890243, + -1.4424300645511787, + -1.6196842305071022, + -1.3059173971594902, + 1.2291532701924104, + 2.6249987427005084 + ], + "velocities": [ + -1.3084558269133408, + -0.14443980299221063, + -1.1158588987661779, + 0.25731749886804722, + 1.0042585003349793, + 2.0918203989335615 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8681541917358886, + 0.20622463354376183, + 1.5931729877602432, + -0.36738631463878785, + -1.4338349743246162, + -2.9866067820150275 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 537392770, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2975793378247769, + -1.4592143775976294, + -1.7493501860440901, + -1.2760163770538067, + 1.3458509442406807, + 2.86807418094758 + ], + "velocities": [ + -1.0542493006526901, + -0.11637806806987858, + -0.89907006369977838, + 0.20732590863788208, + 0.80915136749418848, + 1.685421966341083 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8985163543746406, + 0.20957629792535909, + 1.6190660203482523, + -0.37335725808963521, + -1.4571383669889655, + -3.035146587377171 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 703161445, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4496256003605295, + -1.4759986906440801, + -1.879016141581078, + -1.2461153569481231, + 1.4625486182889511, + 3.1111496191946499 + ], + "velocities": [ + -0.65060623246495153, + -0.071820105891099092, + -0.5548408583279093, + 0.12794651912764415, + 0.49934955837612333, + 1.0401202400190961 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9395490036385954, + 0.21410587214103233, + 1.6540589072912883, + -0.38142663151696116, + -1.4886315102552576, + -3.1007452350251827 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 99122519, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6016718628962821, + -1.4927830036905307, + -2.0086820971180659, + -1.2162143368424398, + 1.5792462923372217, + 3.3542250574417216 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.64040993099750709, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6016718628962821, + -1.4927830036905307, + -2.0086820971180659, + -1.2162143368424398, + 1.5792462923372217, + 3.3542250574417216 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.36095486220047218, + -1.3652035884847307, + -1.9192190860323839, + 2.6109613702746204, + 0.99927929087531431, + -1.717171813280318 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 99982268, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.598470948725017, + -1.4910087599497777, + -2.0119466718746213, + -1.208751813553647, + 1.5703847764313763, + 3.3694527775255287 + ], + "velocities": [ + 0.016007409266536102, + -0.042797644424747872, + -0.11776391231401302, + 0.19042781403285097, + -0.044315437608430638, + 0.076152103775834812 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.2297635553581549e-10, + -1.188591272913337, + -1.8587371242729547, + 3.0473283971866372, + 5.6890477923980567e-13, + -9.2297635553581549e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 177389597, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5984709487323538, + -1.4990081008878111, + -2.0276507833639408, + -1.1850483611262908, + 1.5703847764313814, + 3.3694527775181919 + ], + "velocities": [ + -1.2373041532136653e-10, + -0.14062048052385728, + -0.26117470503546458, + 0.40179518555937571, + 8.3819431251917616e-14, + -1.2373041532136653e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.3517084449316917e-10, + -1.1764207262842254, + -1.3322076891781247, + 2.5086284154626615, + 6.169465345276814e-13, + -7.3517084449316917e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 225440391, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5984709487396902, + -1.5075563414341664, + -2.0430017206845785, + -1.1611491832592946, + 1.5703847764313863, + 3.3694527775108556 + ], + "velocities": [ + -1.6880237230377779e-10, + -0.20370049887713876, + -0.34869014088089112, + 0.55239063975810143, + 1.1519328908726232e-13, + -1.6880237230377779e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.1425542294279985e-10, + 0.89151657605110513, + 2.0244602250138941, + -2.9159768010654825, + -6.363983635277644e-13, + 9.1425542294279985e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 265114711, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.598470948747027, + -1.5166616340257146, + -2.0579949303410472, + -1.1370506810112746, + 1.5703847764313914, + 3.3694527775035188 + ], + "velocities": [ + -1.6416356756877438e-10, + -0.20925525007571805, + -0.33193321564267508, + 0.54118846571846047, + 1.1427159536595275e-13, + -1.6416356756877438e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.6141393256372908e-10, + 1.2162251111899933, + 1.9499567779958906, + -3.1661818891862819, + -6.6922463679455772e-13, + 9.6141393256372908e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 316277332, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5984709487543638, + -1.5263318599398599, + -2.0726253560160228, + -1.1127500294221508, + 1.5703847764313965, + 3.369452777496182 + ], + "velocities": [ + -1.0070550516178123e-10, + -0.13499750356692378, + -0.19936244577016382, + 0.33435994933712632, + 7.0099467911172691e-14, + -1.0070550516178123e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 9.1732124152525977e-10, + 1.2806465015834627, + 1.7831963054820161, + -3.0638428070658126, + -6.3853243009142823e-13, + 9.1732124152525977e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 442753165, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5984709487617006, + -1.5365745579785424, + -2.086887481651913, + -1.0882452057475756, + 1.5703847764314016, + 3.3694527774888452 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42267906826715634, + "y": 0.127593238716532, + "z": 0.17189178182404158 + }, + "53": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43717814271637034, + 0.060415006163369402, + 0.22189178182404157 + ], + "xaxis": [ + -0.99522748721412091, + -0.097578791728742717, + -0.00079252648260946931 + ], + "yaxis": [ + 0.097578760789614249, + -0.99522780276917444, + 7.770459825467563e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43717814271637034, + 0.060415006163369402, + 0.17189178182404158 + ], + "xaxis": [ + -0.99522748721412091, + -0.097578791728742717, + -0.0007925264826094692 + ], + "yaxis": [ + 0.097578760789614249, + -0.99522780276917444, + 7.7704598254675657e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3599167326290473, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3454136774516754, + -0.30688749799982129, + 0.26307554999550703, + 0.036543100410579746, + 3.1509764896048025, + -0.062827631251569593 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 468935128, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.76305025284197, + -1.0735575038435092, + 1.5214027406213104, + -2.0194991178664417, + -1.2229984959625178, + -3.2157623937209148 + ], + "velocities": [ + 0.94252972246217326, + -0.12332604311882303, + 0.10571974040556262, + 0.014685238096381378, + 1.2662538062193267, + -0.025247959631086364 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3486769548246964, + -0.30731448409524542, + 0.26344157859759459, + 0.036593944436010981, + 3.1553605820062169, + -0.062915046102721875 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 663773386, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0225232801149051, + -1.107508456250655, + 1.5505067788620155, + -2.0154563560369918, + -0.87440608495895789, + -3.2227130122126364 + ], + "velocities": [ + 1.5338974053945083, + -0.20070401288074596, + 0.17205105753424271, + 0.02389913875054836, + 2.0607344061860045, + -0.041089186735099849 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1304725013679997, + -0.27876335069924901, + 0.238966469086446, + 0.033194174353091049, + 2.8622109728864493, + -0.057069907110348407 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 813234310, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.28199630738784, + -1.1414594086578007, + 1.5796108171027203, + -2.0114135942075424, + -0.52581367395539802, + -3.2296636307043585 + ], + "velocities": [ + 1.8836988704676241, + -0.24647406080235598, + 0.21128687068654228, + 0.029349277540486034, + 2.530679731000637, + -0.050459472953755788 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3379009683673435, + -0.30590449166866124, + 0.26223287985450533, + 0.036426047421163767, + 3.1408834429386507, + -0.062626384997832657 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 940969316, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5414693346607748, + -1.1754103610649467, + 1.6087148553434252, + -2.007370832378093, + -0.17722126295183793, + -3.2366142491960801 + ], + "velocities": [ + 2.1715955419196442, + -0.28414412729586369, + 0.24357907393932132, + 0.033834898594839374, + 2.9174582562143359, + -0.058171488145971714 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.63345931438529524, + -0.082885482397120569, + 0.071052564898789791, + 0.0098697161844224831, + 0.85102914933022267, + -0.016968754211544226 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 53205287, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8009423619337097, + -1.2093613134720924, + 1.6378188935841302, + -2.0033280705486431, + 0.17137114805172216, + -3.2435648676878017 + ], + "velocities": [ + 2.3468783602029006, + -0.30707914556681964, + 0.26323983752569713, + 0.036565921139115151, + 3.1529442366842311, + -0.062866866354817891 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.2996309003336083e-14, + 7.6436984139427042e-15, + -6.114958731154164e-15, + 1.7835296299199645e-14, + 0.0, + -3.592538254553071e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 162140416, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0604153892066446, + -1.2433122658792382, + 1.6669229318248351, + -1.9992853087191937, + 0.5199635590552818, + -3.2505154861795234 + ], + "velocities": [ + 2.3819040835771714, + -0.31166211389999776, + 0.26716853101344296, + 0.037111645135918712, + 3.2000000000000002, + -0.063805115864334655 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2996309003336083e-14, + -7.6436984139427042e-15, + 2.4969414818879503e-14, + -1.7835296299199645e-14, + 0.0, + 3.592538254553071e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 271075544, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3198884164795794, + -1.2772632182863839, + 1.6960269700655399, + -1.9952425468897441, + 0.86855597005884233, + -3.2574661046712454 + ], + "velocities": [ + 2.3819040835771714, + -0.31166211389999776, + 0.26716853101344396, + 0.037111645135918712, + 3.2000000000000002, + -0.063805115864334655 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4459834924616672e-14, + -1.4777816933622571e-14, + -2.1911935453302435e-14, + 1.8281178706679646e-14, + 0.0, + 7.6436984139427099e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 380010673, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5793614437525143, + -1.3112141706935296, + 1.725131008306245, + -1.9911997850602947, + 1.217148381062402, + -3.264416723162967 + ], + "velocities": [ + 2.3819040835771732, + -0.31166211389999898, + 0.26716853101344418, + 0.037111645135918733, + 3.2000000000000002, + -0.063805115864332657 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.8344876193462492e-14, + 1.8854456087725339e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 488945801, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8388344710254492, + -1.3451651231006756, + 1.7542350465469498, + -1.9871570232308451, + 1.5657407920659621, + -3.2713673416546887 + ], + "velocities": [ + 2.3819040835771719, + -0.31166211389999876, + 0.26716853101344396, + 0.037111645135919732, + 3.2000000000000002, + -0.063805115864332615 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -1.8854456087725339e-14, + -1.8727061114159626e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 597880930, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.098307498298384, + -1.3791160755078213, + 1.7833390847876549, + -1.9831142614013955, + 1.9143332030695221, + -3.2783179601464103 + ], + "velocities": [ + 2.3819040835771719, + -0.31166211389999776, + 0.26716853101344396, + 0.037111645135918712, + 3.2000000000000002, + -0.063805115864332615 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2996309003336153e-14, + -7.1341185196798664e-15, + 6.1149587311541718e-15, + 1.9618825929119635e-14, + 0.0, + -3.8982861911107844e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 706816058, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3577805255713189, + -1.4130670279149671, + 1.8124431230283597, + -1.9790714995719461, + 2.2629256140730822, + -3.2852685786381319 + ], + "velocities": [ + 2.381904083577175, + -0.31166211389999815, + 0.26716853101344329, + 0.037111645135918761, + 3.2000000000000002, + -0.063805115864334738 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.2996309003336153e-14, + 7.1341185196798664e-15, + -6.1149587311541718e-15, + -8.917648149599833e-16, + 0.0, + 3.8982861911107844e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 815751186, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6172535528442538, + -1.4470179803221128, + 1.8415471612690646, + -1.9750287377424964, + 2.6115180250766414, + -3.292219197129854 + ], + "velocities": [ + 2.381904083577175, + -0.31166211389999815, + 0.26716853101344329, + 0.037111645135919781, + 3.2000000000000002, + -0.063805115864334738 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.83620163048340124, + 0.1094134602648196, + -0.093793349105703361, + -0.013028575913944407, + -1.1234059490456476, + 0.02239970210673204 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 924686315, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8767265801171886, + -1.4809689327292586, + 1.8706511995097694, + -1.9709859759130468, + 2.9601104360802015, + -3.2991698156215756 + ], + "velocities": [ + 2.3354335451690917, + -0.30558163973892977, + 0.26195611899085536, + 0.036387603331478932, + 3.1375685511725062, + -0.062560289043702408 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1099323196247286, + 0.27607575445800375, + -0.23666256011677023, + -0.032874144700690736, + -2.8346159987514574, + 0.05651968819725732 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 38044646, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.1361996073901235, + -1.5149198851364043, + 1.8997552377504745, + -1.9669432140835974, + 3.3087028470837625, + -3.3061204341132973 + ], + "velocities": [ + 2.1619066343076465, + -0.28287637455612946, + 0.24249230842610431, + 0.033683938989230999, + 2.9044415673509372, + -0.057911947101878157 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1235736393555347, + 0.27786066367117357, + -0.23819265168454343, + -0.033086685508091282, + -2.8529426070475292, + 0.056885104249027235 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 165559202, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3956726346630584, + -1.54887083754355, + 1.9288592759911793, + -1.9629004522541478, + 3.6572952580873226, + -3.3130710526050189 + ], + "velocities": [ + 1.8880415637931216, + -0.24704228392736571, + 0.21177397300288436, + 0.029416939582272282, + 2.5365139787931499, + -0.050575802596375369 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3460901638385581, + 0.30697601339338226, + -0.26315142873280506, + -0.036553640517088162, + -3.1518853240339011, + 0.062845752590978257 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 314576047, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6551456619359932, + -1.582821789950696, + 1.9579633142318842, + -1.9588576904246982, + 4.0058876690908818, + -3.320021671096741 + ], + "velocities": [ + 1.540185872539916, + -0.20152683231215945, + 0.17275640941685944, + 0.023997117238749213, + 2.0691827291071698, + -0.041257638679738709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3715690935783398, + 0.3103098240020209, + -0.26600929705643028, + -0.03695061913828504, + -3.1861153233565167, + 0.063528267926215035 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 508337150, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.9146186892089281, + -1.6167727423578417, + 1.987067352472589, + -1.9548149285952487, + 4.3544800800944419, + -3.3269722895884626 + ], + "velocities": [ + 0.94623140370389325, + -0.12381039251338219, + 0.10613494299346216, + 0.014742912744825056, + 1.2712268779963052, + -0.025347118200127521 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3599167326290473, + 0.30878516166552233, + -0.26470229893710323, + -0.036769067627659933, + -3.1704608075870411, + 0.063216130991067723 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 977272279, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740917164818629, + -1.6507236947649875, + 2.0161713907132941, + -1.9507721667657991, + 4.703072491098002, + -3.3339229080801842 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.46234427528298555, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1740917164818629, + -1.6507236947649875, + 2.0161713907132941, + -1.9507721667657991, + 4.703072491098002, + -3.3339229080801842 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.24730379658827958, + 0.66786609557443255, + 1.5311683099922833, + -3.1621599981966066, + -0.65947687073567884, + 1.2637678483420494 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 123523612, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1705644728840685, + -1.6510481147227491, + 2.0123961695327397, + -1.9329356624673273, + 4.7124784746997559, + -3.3519477703613489 + ], + "velocities": [ + -0.014277609420142732, + 0.03593158158349264, + 0.057836301741580567, + -0.038163683689911632, + 0.038073625970233914, + -0.07296120218110573 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0122974093360302e-08, + 1.2007271558580586, + 1.9982971277810249, + -3.1990242836372289, + 1.5930623904740254e-11, + -2.0123085461053465e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 230932290, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1705644727326101, + -1.6430472913623346, + 2.0281031154321831, + -1.9566434317271717, + 4.7124784746998758, + -3.3519477705128073 + ], + "velocities": [ + -2.2045306558533697e-09, + 0.12189200630136236, + 0.22512438698098586, + -0.34701639328214889, + 1.745246433351932e-12, + -2.204535052441663e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9065001746405466e-08, + 1.3922166612526563, + 1.7299261892670268, + -3.1221428505182005, + 1.5093065823973548e-11, + -1.9065309399923878e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 281436133, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1705644725811517, + -1.6344972700619991, + 2.0434569615287566, + -1.9805472991240669, + 4.7124784746999957, + -3.3519477706642662 + ], + "velocities": [ + -3.4269269414616917e-09, + 0.20054751375643759, + 0.34284750614395809, + -0.54339501990008987, + 2.7129729432719064e-12, + -3.4269426409692745e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9784640082280796e-08, + -0.9454391402348058, + -2.1156896144390913, + 3.0611287546722519, + -1.5663081053401619e-11, + 1.9785523685629502e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 320725913, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1705644724296933, + -1.6253898771758304, + 2.0584531471913405, + -2.0046508776728063, + 4.7124784747001156, + -3.3519477708157255 + ], + "velocities": [ + -3.4074901984714731e-09, + 0.21042012097758162, + 0.33383676739503088, + -0.54425688837231068, + 2.6975787125149712e-12, + -3.4074928222455149e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9843643220177914e-08, + -1.216283101575423, + -1.949993723941712, + 3.1662768255153808, + -1.5709333140442175e-11, + 1.9843447795853203e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 371893303, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.170564472278234, + -1.6157172099491233, + 2.0730866085155015, + -2.0289570062236608, + 4.7124784747002355, + -3.3519477709671839 + ], + "velocities": [ + -2.0787827265223769e-09, + 0.13502236674934692, + 0.19938922020072541, + -0.33441158694988554, + 1.6456895177650015e-12, + -2.0787740473771289e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.893568692096109e-08, + -1.2809168501783903, + -1.7834705928659829, + 3.0643874430426523, + -1.4990691997922601e-11, + 1.893568692096109e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 498373097, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1705644721267756, + -1.6054717079383616, + 2.0873518213923545, + -2.0534677211112617, + 4.7124784747003554, + -3.3519477711186423 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43717814271637034, + "y": 0.060415006163369402, + "z": 0.17189178182404158 + }, + "54": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43544663156362534, + -0.0072782140503277002, + 0.22189178182404157 + ], + "xaxis": [ + -0.9874838679492618, + 0.15771807815804961, + -0.00078636002979592739 + ], + "yaxis": [ + -0.15771802815066793, + -0.98748418104905944, + -0.00012559511840277136 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43544663156362534, + -0.0072782140503277002, + 0.17189178182404158 + ], + "xaxis": [ + -0.9874838679492618, + 0.15771807815804961, + -0.00078636002979592728 + ], + "yaxis": [ + -0.15771802815066793, + -0.98748418104905944, + -0.00012559511840277136 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.586868359272675, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.60589623133926429, + -0.065771264054416537, + 0.013354143496777732, + -1.0218094070150177, + 1.0766916316651161, + 3.202173428483452 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 482170970, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4353570524034707, + -1.0470119895147498, + 1.4938022964528348, + -2.1385913074414389, + -1.4503620797199497, + -2.8482668262790334 + ], + "velocities": [ + -0.24429299733355567, + -0.02651850003878602, + 0.0053842944928684695, + -0.41198619471780107, + 0.43411431248224264, + 1.2910932670714472 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.58622860642633068, + -0.063636303504147534, + 0.01292066285809894, + -0.98864108031116771, + 1.0417418068218673, + 3.0982296462975607 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 678713939, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3671368792379064, + -1.0544174275931359, + 1.4953058905250642, + -2.2536407351869872, + -1.3291332524738213, + -2.4877218773288736 + ], + "velocities": [ + -0.3981618704216881, + -0.043221278102392943, + 0.0087756128484291502, + -0.67147726569001243, + 0.70754286255184817, + 2.1042932696270333 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.55105511780985894, + -0.059818150018689606, + 0.012145428106733788, + -0.92932299961211218, + 0.97923770316351921, + 2.9123370712838454 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 830576476, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2989167060723421, + -1.0618228656715223, + 1.4968094845972935, + -2.368690162932535, + -1.2079044252276931, + -2.1271769283787139 + ], + "velocities": [ + -0.48798635367614168, + -0.052971907832540105, + 0.01075537270970494, + -0.82296112913439345, + 0.86716304903978536, + 2.5790174197820592 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.54658180340568463, + -0.059332562672776611, + 0.012046834850355176, + -0.92177901022528508, + 0.97128851989476073, + 2.8886955172002047 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 960088076, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2306965329067776, + -1.0692283037499086, + 1.4983130786695229, + -2.4837395906780833, + -1.086675597981565, + -1.7666319794285539 + ], + "velocities": [ + -0.56015203005894887, + -0.060805638282633689, + 0.012345926913726974, + -0.94466442282968388, + 0.99540312685488053, + 2.9604144303737336 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.10483453654188984, + -0.011380001439634654, + 0.002310586156501533, + -0.17679746147587155, + 0.18629339871394515, + 0.55405257524025164 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 75023046, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1624763597412131, + -1.076633741828295, + 1.4998166727417521, + -2.5987890184236311, + -0.96544677073543672, + -1.4060870304783941 + ], + "velocities": [ + -0.59951976496910309, + -0.065079085704936257, + 0.013213604172539452, + -1.0110558604776008, + 1.0653605032882729, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -9.8537330481132722e-15, + -1.8598921128313801e-14, + -1.7274825749973579e-14, + -5.3210158459811672e-14, + 7.8829864384906178e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 187693343, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0942561865756488, + -1.0840391799066811, + 1.5013202668139816, + -2.7138384461691789, + -0.84421794348930845, + -1.0455420815282341 + ], + "velocities": [ + -0.60548498811443141, + -0.065726622768779303, + 0.01334507956676154, + -1.0211158687918451, + 1.075960842932892, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.9414932192453081e-15, + 1.4780599572169904e-15, + 1.719784346053519e-14, + 5.7151651679056958e-14, + -1.3795226267358578e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 300363639, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0260360134100845, + -1.0914446179850674, + 1.5028238608862108, + -2.8288878739147272, + -0.7229891162431803, + -0.68499713257807482 + ], + "velocities": [ + -0.60548498811443219, + -0.06572662276878026, + 0.013345079566761536, + -1.0211158687918451, + 1.0759608429328917, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0839106352924589e-14, + -7.3902997860849473e-16, + -1.7336411581524273e-14, + -9.8537330481132643e-15, + 1.1824479657735916e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 413033936, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.95781584024452004, + -1.0988500560634538, + 1.5043274549584402, + -2.943937301660275, + -0.60176028899705203, + -0.32445218362791461 + ], + "velocities": [ + -0.60548498811443174, + -0.065726622768780218, + 0.013345079566761528, + -1.0211158687918425, + 1.0759608429328915, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7736719486603885e-14, + 1.7490376160401052e-14, + 1.7490376160401052e-14, + -3.5473438973207771e-14, + -9.8537330481132691e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 525704232, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88959566707895577, + -1.1062554941418401, + 1.5058310490306694, + -3.0589867294058228, + -0.48053146175092376, + 0.036092765322245146 + ], + "velocities": [ + -0.60548498811443219, + -0.065726622768779275, + 0.013345079566761536, + -1.0211158687918449, + 1.0759608429328917, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7736719486603885e-14, + -1.7490376160401052e-14, + -1.7490376160401052e-14, + 3.5473438973207771e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 638374529, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.82137549391339126, + -1.1136609322202262, + 1.5073346431028989, + -3.1740361571513711, + -0.3593026345047956, + 0.39663771427240491 + ], + "velocities": [ + -0.60548498811443219, + -0.065726622768779275, + 0.013345079566761536, + -1.0211158687918449, + 1.0759608429328911, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9707466096226529e-15, + 7.3902997860849473e-16, + 1.7336411581524273e-14, + -2.3648959315471831e-14, + 5.9122398288679578e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 751044825, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.75315532074782698, + -1.1210663702986126, + 1.5088382371751281, + -3.2890855848969189, + -0.23807380725866745, + 0.75718266322256467 + ], + "velocities": [ + -0.6054849881144313, + -0.065726622768780218, + 0.013345079566761528, + -1.0211158687918442, + 1.0759608429328913, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3795226267358578e-14, + -1.4780599572169904e-15, + -1.719784346053519e-14, + 1.1824479657735924e-14, + 5.9122398288679618e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 863715122, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.68493514758226259, + -1.1284718083769989, + 1.5103418312473575, + -3.4041350126424672, + -0.11684498001253907, + 1.1177276121727249 + ], + "velocities": [ + -0.60548498811443219, + -0.06572662276878026, + 0.013345079566761536, + -1.0211158687918449, + 1.0759608429328922, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 1.7490376160401074e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 976385418, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.6167149744166982, + -1.1358772464553852, + 1.5118454253195868, + -3.519184440388015, + 0.0043838472335890888, + 1.4782725611228842 + ], + "velocities": [ + -0.60548498811443296, + -0.065726622768779358, + 0.013345079566760567, + -1.0211158687918442, + 1.0759608429328924, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3795226267358578e-14, + -1.6012316203184062e-14, + 1.719784346053519e-14, + 2.1678212705849194e-14, + -2.3648959315471847e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 89055715, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.54849480125113381, + -1.1432826845337714, + 1.513349019391816, + -3.6342338681335629, + 0.12561267447971725, + 1.8388175100730435 + ], + "velocities": [ + -0.60548498811443219, + -0.065726622768779275, + 0.013345079566761536, + -1.0211158687918429, + 1.0759608429328911, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.8683597433019316e-15, + 0.0, + -1.7490376160401033e-14, + -3.3502692363585074e-14, + 1.7736719486603863e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 201726011, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.48027462808556942, + -1.1506881226121577, + 1.5148526134640454, + -3.7492832958791107, + 0.2468415017258454, + 2.1993624590232037 + ], + "velocities": [ + -0.60548498811443197, + -0.065726622768780177, + 0.013345079566761519, + -1.0211158687918438, + 1.0759608429328908, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.9414932192453081e-15, + 1.6012316203184062e-14, + 1.7782908860266917e-14, + -2.3648959315471847e-14, + 5.9122398288679618e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 314396308, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.41205445492000492, + -1.158093560690544, + 1.5163562075362746, + -3.864332723624659, + 0.36807032897197378, + 2.5599074079733639 + ], + "velocities": [ + -0.60548498811443219, + -0.065726622768779275, + 0.013345079566761536, + -1.0211158687918469, + 1.0759608429328922, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.280985296254725e-14, + -1.6012316203184062e-14, + -1.7782908860266917e-14, + 9.2625090652264735e-14, + -5.9122398288679618e-15, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 427066605, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.34383428175444064, + -1.1654989987689302, + 1.5178598016085041, + -3.9793821513702072, + 0.48929915621810194, + 2.9204523569235232 + ], + "velocities": [ + -0.6054849881144313, + -0.065726622768779275, + 0.013345079566761536, + -1.0211158687918429, + 1.0759608429328922, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.280985296254725e-14, + -1.4780599572169904e-15, + 1.7782908860266917e-14, + -9.2625090652264735e-14, + -1.1824479657735924e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 539736901, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.27561410858887636, + -1.1729044368473165, + 1.5193633956807333, + -4.0944315791157546, + 0.61052798346423032, + 3.2809973058736834 + ], + "velocities": [ + -0.6054849881144313, + -0.06572662276878026, + 0.013345079566761536, + -1.0211158687918429, + 1.0759608429328911, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4780599572169897e-14, + 2.2170899358254845e-15, + -1.7921476981255999e-14, + 3.3502692363585099e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 652407198, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.20739393542331208, + -1.1803098749257028, + 1.5208669897529628, + -4.2094810068613029, + 0.73175681071035825, + 3.6415422548238428 + ], + "velocities": [ + -0.60548498811443285, + -0.065726622768780218, + 0.013345079566761528, + -1.0211158687918465, + 1.0759608429328904, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9707466096226552e-15, + 1.3918397930460002e-14, + 1.8214009681121883e-14, + -5.5180905069434343e-14, + 5.9122398288679649e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 765077494, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.13917376225774736, + -1.1877153130040892, + 1.522370583825192, + -4.3245304346068512, + 0.85298563795648663, + 4.0020872037740034 + ], + "velocities": [ + -0.60548498811443352, + -0.065726622768779303, + 0.013345079566761543, + -1.0211158687918476, + 1.0759608429328937, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.10483453654193586, + 0.011380001439637721, + -0.0023105861565021922, + 0.1767974614759889, + -0.18629339871402933, + -0.55405257524025253 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 877747791, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.070953589092183078, + -1.1951207510824753, + 1.5238741778974214, + -4.4395798623523994, + 0.97421446520261501, + 4.3626321527241618 + ], + "velocities": [ + -0.59951976496910309, + -0.065079085704936354, + 0.013213604172539473, + -1.0110558604776025, + 1.0653605032882738, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.54658180340567875, + 0.059332562672776229, + -0.012046834850355069, + 0.92177901022524722, + -0.97128851989471654, + -2.8886955172001993 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 992682760, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.0027334159266187985, + -1.2025261891608616, + 1.5253777719696506, + -4.5546292900979468, + 1.0954432924487429, + 4.723177101674322 + ], + "velocities": [ + -0.56015203005894643, + -0.060805638282633641, + 0.012345926913726962, + -0.94466442282968122, + 0.99540312685487919, + 2.9604144303737341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.55105511780983762, + 0.059818150018689759, + -0.012145428106733826, + 0.92932299961209408, + -0.97923770316352321, + -2.9123370712838432 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 122194361, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.065486757238945481, + -1.209931627239248, + 1.5268813660418801, + -4.6696787178434951, + 1.2166721196948713, + 5.0837220506244822 + ], + "velocities": [ + -0.48798635367614118, + -0.052971907832540063, + 0.010755372709704929, + -0.82296112913439434, + 0.86716304903978636, + 2.5790174197820592 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.58622860642632524, + 0.063636303504146743, + -0.012920662858098784, + 0.98864108031119891, + -1.0417418068218636, + -3.0982296462975807 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 274056898, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.13370693040450998, + -1.2173370653176343, + 1.5283849601141093, + -4.7847281455890434, + 1.3379009469409997, + 5.4442669995746424 + ], + "velocities": [ + -0.39816187042168955, + -0.043221278102392957, + 0.0087756128484291519, + -0.67147726569001187, + 0.70754286255184917, + 2.1042932696270324 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.60589623133927217, + 0.065771264054416842, + -0.013354143496777791, + 1.0218094070150059, + -1.0766916316651223, + -3.2021734284834382 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 470599867, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.20192710357007448, + -1.2247425033960204, + 1.5298885541863387, + -4.8997775733345907, + 1.4591297741871281, + 5.8048119485248009 + ], + "velocities": [ + -0.24429299733355628, + -0.026518500038786058, + 0.0053842944928684756, + -0.41198619471779985, + 0.43411431248224308, + 1.291093267071447 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.58686835927267156, + 0.063705749972380807, + -0.01293476321204496, + 0.98971998696672125, + -1.0428786624422932, + -3.101610752598273 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 952770837, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27014727673563871, + -1.2321479414744068, + 1.531392148258568, + -5.014827001080139, + 1.580358601433256, + 6.165356897474962 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.00650991823689642, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27014727673563871, + -1.2321479414744068, + 1.531392148258568, + -5.014827001080139, + 1.580358601433256, + 6.165356897474962 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.0035324552394888978, + 0.80789151442717111, + 2.0219145469467463, + -3.1187913707362442, + 1.1641975362102739, + -0.72536319192917686 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 95456498, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27011761773337584, + -1.2317846674027335, + 1.5312174904178173, + -5.0125892550678373, + 1.5705838313878551, + 6.1714471512159941 + ], + "velocities": [ + 0.00015535349865523977, + 0.039335831918247896, + 0.087091869518936868, + -0.11371844495470022, + -0.051200128880689248, + 0.031900676434882522 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.3834129072255435e-11, + 1.0664759444366168, + 2.0439785996083604, + -3.1104545440449329, + -3.4418312405753321e-14, + -3.4043422878889725e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 175915606, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27011761773359361, + -1.2257610147556832, + 1.5453793756221281, + -5.0327747929191986, + 1.5705838313878548, + 6.1714471512157765 + ], + "velocities": [ + -3.7688351196435676e-12, + 0.10834857095509309, + 0.2401852037473603, + -0.34853377470245478, + -3.8403004630670648e-15, + -3.7733362157678982e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7916093547787794e-11, + 1.0691292344883043, + 1.4709701311324757, + -2.5400993656203328, + -2.8397104814282852e-14, + -2.7346976795404628e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 221038544, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.2701176177338116, + -1.2193611776060407, + 1.5591128555725229, + -5.0529081100192359, + 1.5705838313878546, + 6.171447151215558 + ], + "velocities": [ + -5.4008624783440892e-12, + 0.16365282626936703, + 0.3343805168895998, + -0.49803334315895764, + -5.5004863426341401e-15, + -5.4003183777436313e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.2292993043141593e-11, + -0.81537258732095741, + -2.1849559342601603, + 3.0003285215805691, + 3.2884921632527081e-14, + 3.2227223199876531e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 257558487, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27011761773402965, + -1.2125876584882878, + 1.5724208718294284, + -5.0729896453938936, + 1.5705838313878544, + 6.1714471512153404 + ], + "velocities": [ + -5.2946800549920251e-12, + 0.16840681500033011, + 0.31866769488377877, + -0.48707450988410217, + -5.3917312168961561e-15, + -5.2838965925582331e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.3583335739673248e-11, + -1.0599751689601187, + -2.0295484260843146, + 3.0895235950445401, + 3.4186634116180964e-14, + 3.3502901433857351e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 304768163, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27011761773424769, + -1.2054429884329723, + 1.58530587049675, + -5.093019314116531, + 1.5705838313878542, + 6.1714471512151228 + ], + "velocities": [ + -3.2642393413629636e-12, + 0.10858857833325176, + 0.19107631423223129, + -0.29966489256548345, + -3.3245680068064807e-15, + -3.2580766466703511e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.3470405594253437e-11, + -1.1538708027956819, + -1.9142013725889926, + 3.0680721753846059, + 3.4101279260574065e-14, + 3.3419253675362579e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 418885013, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27011761773446563, + -1.1979297574898295, + 1.597769862955088, + -5.1129965375180113, + 1.570583831387854, + 6.1714471512149052 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43544663156362534, + "y": -0.0072782140503277002, + "z": 0.17189178182404158 + }, + "55": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41592355384449137, + -0.071577545665554604, + 0.22189178182404157 + ], + "xaxis": [ + -0.90789052821154737, + 0.41920671045081359, + -0.00072297770726980129 + ], + "yaxis": [ + -0.41920657753371104, + -0.90789081607482292, + -0.0003338255008506074 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41592355384449137, + -0.071577545665554604, + 0.17189178182404158 + ], + "xaxis": [ + -0.90789052821154737, + 0.41920671045081359, + -0.00072297770726980129 + ], + "yaxis": [ + -0.41920657753371104, + -0.90789081607482292, + -0.00033382550085060746 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0464712648286456, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1437275836070016, + -1.0723865721050005, + 0.92217342247939482, + 0.1309424406110796, + -0.006191598555130004, + 0.099150291127484275 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 375632695, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2886487970989933, + -1.1129228151790547, + 1.555345286157094, + -2.0145896876779426, + -1.5720142103572847, + -3.2020331292786026 + ], + "velocities": [ + -0.98776675386103607, + -0.33694643541504221, + 0.28974910318860009, + 0.041142429191223615, + -0.0019454151300839907, + 0.031153259500621859 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9453191693743448, + -1.004705606258852, + 0.86397277960064156, + 0.12267833969696999, + -0.0058008314742625643, + 0.092892671308295191 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 528785827, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0737203686289514, + -1.1862390789217456, + 1.6183918699335824, + -2.0056374956599941, + -1.5724375137484916, + -3.1952544833280121 + ], + "velocities": [ + -1.6038383231415221, + -0.54710042006597248, + 0.47046604269001646, + 0.066803022460608263, + -0.0031587733924551679, + 0.050583593021900138 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8217394186996292, + -0.9625501517281434, + 0.82772219535053004, + 0.11753099988042984, + -0.0055574400908262869, + 0.088995079061195553 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 647904609, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85879194015890947, + -1.2595553426644368, + 1.6814384537100711, + -1.9966853036420456, + -1.5728608171396985, + -3.1884758373774216 + ], + "velocities": [ + -1.9600138160004648, + -0.66859880238336455, + 0.57494569765940728, + 0.081638432679992712, + -0.0038602640936398636, + 0.061817042126583774 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7988333115271793, + -0.95473643342788883, + 0.82100297344433693, + 0.11657691543819504, + -0.0055123263154431036, + 0.088272641402656157 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 749491638, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.64386351168886757, + -1.332871606407128, + 1.7444850374865595, + -1.987733111624097, + -1.5732841205309054, + -3.1816971914268311 + ], + "velocities": [ + -2.2498697139897574, + -0.76747428207505797, + 0.65997132356555932, + 0.093711501258244789, + -0.004431137781469795, + 0.070958831898867397 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7988333115271846, + 0.95473643342788328, + -0.8210029734443326, + -0.11657691543819435, + 0.0055123263154430698, + -0.088272641402655602 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 839644968, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42893508321882545, + -1.4061878701498189, + 1.8075316212630479, + -1.9787809196061488, + -1.5737074239221123, + -3.1749185454762401 + ], + "velocities": [ + -2.2498697139897574, + -0.7674742820750583, + 0.65997132356555954, + 0.093711501258244831, + -0.0044311377814697968, + 0.070958831898867425 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8217394186996265, + 0.96255015172815417, + -0.82772219535053893, + -0.1175309998804312, + 0.0055574400908263563, + -0.088995079061196664 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 941231998, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.21400665474878378, + -1.4795041338925101, + 1.8705782050395363, + -1.9698287275882003, + -1.5741307273133192, + -3.1681398995256496 + ], + "velocities": [ + -1.9600138160004645, + -0.66859880238336444, + 0.57494569765940717, + 0.081638432679992698, + -0.0038602640936398636, + 0.061817042126583774 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9453191693743492, + 1.0047056062588455, + -0.86397277960063612, + -0.1226783396969692, + 0.0058008314742625218, + -0.092892671308294553 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 60350779, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.00092177372125834545, + -1.5528203976352013, + 1.933624788816025, + -1.9608765355702518, + -1.574554030704526, + -3.161361253575059 + ], + "velocities": [ + -1.6038383231415216, + -0.54710042006597226, + 0.47046604269001624, + 0.066803022460608222, + -0.0031587733924551666, + 0.05058359302190011 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1437275836069976, + 1.0723865721050012, + -0.92217342247939549, + -0.13094244061107968, + 0.0061915985551300092, + -0.099150291127484344 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 213503911, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.21585020219130002, + -1.6261366613778923, + 1.9966713725925134, + -1.9519243435523033, + -1.5749773340957329, + -3.1545826076244685 + ], + "velocities": [ + -0.98776675386103574, + -0.33694643541504227, + 0.28974910318860014, + 0.041142429191223628, + -0.0019454151300839911, + 0.031153259500621866 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0464712648286465, + 1.0392105517481123, + -0.89364448987936329, + -0.12689152353668234, + 0.0060000513975565, + -0.096082915833535454 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 589136606, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43077863066134203, + -1.6994529251205834, + 2.0597179563690018, + -1.9429721515343548, + -1.5754006374869398, + -3.147803961673878 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.21692619372110039, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43077863066134203, + -1.6994529251205834, + 2.0597179563690018, + -1.9429721515343548, + -1.5754006374869398, + -3.147803961673878 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.10802827326491465, + 0.68793648312344591, + 1.5843964653632547, + -3.1548695511096616, + -0.38951936321825031, + -0.52337845589625487 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 112365049, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43214807533754335, + -1.7001790550069431, + 2.0555627827345462, + -1.9269031741993943, + -1.5704628076371534, + -3.1411692368811597 + ], + "velocities": [ + -0.0060937304399570165, + 0.032343339414040023, + 0.052394454993251391, + -0.034955082142832286, + 0.021972267578173742, + 0.029523080722681446 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.6536617012029973e-09, + 1.16264464330217, + 1.9650833361895668, + -3.1277279794934438, + -3.3663927282522348e-12, + 4.6537126231416995e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 225634663, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43214807530101557, + -1.6921200444580007, + 2.0716208058847392, + -1.9510202078985415, + -1.5704628076371798, + -3.141169236844632 + ], + "velocities": [ + 5.1442701956981915e-10, + 0.11910256763908367, + 0.22281863452484621, + -0.34192120216410421, + -3.7212593233385714e-13, + 5.1442813970179419e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.4624416673009414e-09, + 1.376194050595495, + 1.7296453102363736, + -3.1058393608330537, + -3.2280462684857294e-12, + 4.4624620121303652e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 277346325, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43214807526448806, + -1.6834812899338349, + 2.0873343831224864, + -1.9753725396604671, + -1.5704628076372062, + -3.1411692368081043 + ], + "velocities": [ + 8.0878094206125139e-10, + 0.19863960043397053, + 0.34356414422753401, + -0.54220374466177645, + -5.8505690307931772e-13, + 8.0878462939467432e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.3882665023782045e-09, + -0.85339004761937898, + -1.9968364157498644, + 2.85022646337059, + 3.1743722810290893e-12, + -4.3882629114535427e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 317433879, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43214807522796056, + -1.6742522134989253, + 2.1026983058074515, + -1.9999655387803539, + -1.5704628076372327, + -3.1411692367715767 + ], + "velocities": [ + 8.1080690218355484e-10, + 0.21070079123389654, + 0.33757943649794175, + -0.54828022773210661, + -5.8652283497371814e-13, + 8.108111385729956e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.7398026648476833e-09, + -1.2213927378923011, + -1.9795728459137705, + 3.200965583807676, + 3.4287141127097119e-12, + -4.7398265580101704e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 368850522, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43214807519143311, + -1.6644224517103794, + 2.1177068089574629, + -2.0248038037189233, + -1.5704628076372591, + -3.141169236735049 + ], + "velocities": [ + 4.9936071008116501e-10, + 0.13679086151509778, + 0.20375075830285932, + -0.3405416198181232, + -3.6122757374502336e-13, + 4.9936396467150084e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.5509021751490095e-09, + -1.3007548514541627, + -1.8248047510708496, + 3.1255596025265064, + 3.2920069166932795e-12, + -4.5509367550535965e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 495550991, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43214807515490528, + -1.6539819371780213, + 2.132353612312432, + -2.0498911216062625, + -1.5704628076372855, + -3.1411692366985209 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.41592355384449137, + "y": -0.071577545665554604, + "z": 0.17189178182404158 + }, + "56": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40888772172722138, + 0.1596058503417, + 0.24189178182404059 + ], + "xaxis": [ + -0.92042551588627475, + -0.39091729620934901, + -0.00073295965593885731 + ], + "yaxis": [ + 0.39091717226191913, + -0.92042580772399707, + 0.00031129788465913125 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.40888772172722138, + 0.1596058503417, + 0.1918917818240406 + ], + "xaxis": [ + -0.92042551588627475, + -0.39091729620934901, + -0.0007329596559388572 + ], + "yaxis": [ + 0.39091717226191913, + -0.92042580772399707, + 0.00031129788465913131 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0497454661978649, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.918736647574145, + -1.3403528578062247, + 1.0281616694206506, + 0.30451197224640253, + -0.0053707030782848128, + -0.44475294165417023 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 317172239, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.350177729064759, + -1.1100512260857294, + 1.5463356030873585, + -2.0075377008807358, + -1.5718731740040337, + -3.2321865724638972 + ], + "velocities": [ + -0.81305773825713235, + -0.37337533139215007, + 0.2864098075434876, + 0.084826363362607154, + -0.0014960896528001966, + -0.12389258247231436 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9151318227456033, + -1.3386974370388434, + 1.0268918245661249, + 0.30413588065245967, + -0.0053640699194633509, + -0.44420364357074232 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 451442496, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1967782325604828, + -1.1804959007350955, + 1.6003725037941112, + -1.9915335220655808, + -1.5721554410419893, + -3.2555613696986012 + ], + "velocities": [ + -1.3154329808273209, + -0.60407791726254489, + 0.46337780104364484, + 0.13723920302389084, + -0.0024204992818676052, + -0.20044380785711455 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7573805164799516, + -1.2662543084847639, + 0.97132194417346429, + 0.28767767725975962, + -0.0050737952120868887, + -0.42016572375020494 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 554506004, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0433787360562063, + -1.2509405753844614, + 1.6544094045008642, + -1.9755293432504255, + -1.5724377080799452, + -3.2789361669333057 + ], + "velocities": [ + -1.6198266184476802, + -0.74386267051240562, + 0.57060428578898637, + 0.16899660978002018, + -0.0029806073162590135, + -0.24682687769145101 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4389736807741071, + -1.1200343634485823, + 0.85915913427197887, + 0.25445827269375693, + -0.0044879018003158386, + -0.37164734271004685 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 642100019, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88997923955193026, + -1.3213852500338272, + 1.7084463052076171, + -1.9595251644352705, + -1.5727199751179008, + -3.3023109641680097 + ], + "velocities": [ + -1.8525378645306763, + -0.85072917523465796, + 0.65257974714639078, + 0.19327538826027449, + -0.0034088141593566646, + -0.28228708659294094 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.759469458437668, + 1.2672136000073912, + -0.97205780023377497, + -0.2878956167015107, + 0.0050776390282722293, + 0.42048403375652388 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 720612612, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.73657974304765383, + -1.3918299246831933, + 1.76248320591437, + -1.9435209856201152, + -1.5730022421558567, + -3.3256857614027138 + ], + "velocities": [ + -1.8382245519114759, + -0.84415616376075053, + 0.64753770287366352, + 0.1917820794827681, + -0.0033824765477710739, + -0.28010604436102327 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7792532545119872, + 1.2762987867879532, + -0.97902689106150798, + -0.28995966135109708, + 0.0051140427560301925, + 0.42349866048153723 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 809662264, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.58318024654337774, + -1.4622745993325592, + 1.8165201066211227, + -1.9275168068049602, + -1.5732845091938124, + -3.3490605586374178 + ], + "velocities": [ + -1.5873550897243327, + -0.72895097700355516, + 0.5591657816647484, + 0.16560885321019722, + -0.0029208571707924061, + -0.24187891229973954 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2629220614802112, + 1.039187298593236, + -0.79714273860030904, + -0.23609079652801335, + 0.0041639530896597342, + 0.3448208472025111 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 915303381, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42978075003910132, + -1.5327192739819251, + 1.8705570073278757, + -1.9115126279898049, + -1.5735667762317682, + -3.3724353558721223 + ], + "velocities": [ + -1.3191588678667032, + -0.60578893265862432, + 0.46469029158357367, + 0.13762792504568502, + -0.0024273552046204586, + -0.20101155322818592 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1467959516171931, + 1.4450830807872783, + -1.1084984257246866, + -0.3283054133302406, + 0.0057903499852005958, + 0.47950429423990448 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 44619509, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.27638125353482534, + -1.6031639486312912, + 1.9245939080346284, + -1.8955084491746499, + -1.5738490432697239, + -3.3958101531068263 + ], + "velocities": [ + -0.83378392389048739, + -0.38289328573317621, + 0.29371086693821735, + 0.086988727572342828, + -0.001534227450903613, + -0.12705080917884734 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0206093652001265, + 1.3871352176727552, + -1.0640476146325353, + -0.31514035908225912, + 0.0055581568242827409, + 0.46027616156375512 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 363317762, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12298175703054891, + -1.6736086232806571, + 1.9786308087413813, + -1.8795042703594946, + -1.5741313103076797, + -3.4191849503415304 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.74149614145567189, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12298175703054891, + -1.6736086232806571, + 1.9786308087413813, + -1.8795042703594946, + -1.5741313103076797, + -3.4191849503415304 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.31991987917616105, + 0.83191259712427779, + 1.8650711409455483, + -3.1360370199641339, + -0.49417719976930807, + 0.47947148799227618 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 75305583, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12087927039247746, + -1.6739689518783831, + 1.9789480457439448, + -1.8765744379199245, + -1.5708847412481244, + -3.4223367183859406 + ], + "velocities": [ + -0.013959558072176975, + 0.03151597795341908, + 0.085595842940143788, + -0.097936409611425856, + 0.021548296354844263, + -0.020931102110895487 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.6899345062226291e-06, + 1.0226597102477617, + 2.078694166357248, + -3.1011311953073029, + -0.00019935637653035237, + -0.00011901869429109793 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 174541718, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12087929850511978, + -1.6672390705817492, + 1.9955183987922995, + -1.8998729720806449, + -1.5708862633370537, + -3.4223376271662307 + ], + "velocities": [ + 4.2126138336125986e-07, + 0.10605529517311048, + 0.24470385185873139, + -0.35073368800193994, + -2.2792221397333228e-05, + -1.3608005178014294e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.6297451288242642e-06, + 1.2503782005646578, + 1.900827277417519, + -3.1509855265042734, + -0.0001969134941584039, + -0.00011757392252414512 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 224870304, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12087932665049496, + -1.6599769702984581, + 2.0117457782153711, + -1.9233607514183075, + -1.5708877855951624, + -3.4223385360126444 + ], + "velocities": [ + 6.4028253161533617e-07, + 0.17221398198655663, + 0.36487307094326932, + -0.53704835619211766, + -3.4643357811974006e-05, + -2.0683613375008965e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.7910517195067509e-06, + -0.8114574062030212, + -2.2905747305666422, + 3.1018031971193896, + 0.00020495782102975752, + 0.00012236718459213988 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 263859440, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12087935477463303, + -1.6521739100622537, + 2.0276267343309256, + -1.9470430675267734, + -1.5708893077436845, + -3.42233944480934 + ], + "velocities": [ + 6.3599190382942132e-07, + 0.18186741095357684, + 0.35575408959316823, + -0.53758304610266916, + -3.44264966372108e-05, + -2.0554351370298546e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.6966262299028838e-06, + -1.049241378677765, + -2.0754302649517773, + 3.1244479298926917, + 0.00020028058563685783, + 0.00011958098323993987 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 314914730, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12087938288828635, + -1.6438212336493041, + 2.0431572796162665, + -1.9709245890451477, + -1.5708908298381583, + -3.4223403535797483 + ], + "velocities": [ + 3.8684559774207642e-07, + 0.11710644251838931, + 0.21222389512687287, + -0.32930695012760741, + -2.0937801553872592e-05, + -1.2500837556268448e-05 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.5348927251130289e-06, + -1.1191120892212247, + -1.9059170316533796, + 3.0248155712532441, + 0.00019118169549624722, + 0.00011414138351063356 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 441108128, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12087941103446941, + -1.6349104303612907, + 2.0583329281647118, + -1.9950093405169276, + -1.5708923521007603, + -3.4223412624175897 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.40888772172722138, + "y": 0.1596058503417, + "z": 0.1918917818240406 + }, + "57": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42992860549176337, + 0.094004122439950696, + 0.24189178182404059 + ], + "xaxis": [ + -0.97875465824967289, + -0.20503343989848566, + -0.00077940872474451548 + ], + "yaxis": [ + 0.20503337488890905, + -0.97875496858171529, + 0.00016327360478468714 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42992860549176337, + 0.094004122439950696, + 0.1918917818240406 + ], + "xaxis": [ + -0.97875465824967289, + -0.20503343989848566, + -0.00077940872474451537 + ], + "yaxis": [ + 0.20503337488890905, + -0.97875496858171529, + 0.00016327360478468719 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0557843153486002, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1554464885910232, + -0.42001752263279696, + 0.3220052232795223, + 0.0998840379962362, + -0.001678526118242353, + -0.10768407615490201 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 587305559, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0305897357912555, + -1.1097565253751926, + 1.5460789777358634, + -2.0068595693522182, + -1.5718712489925539, + -3.2267968228256416 + ], + "velocities": [ + 1.5494765743879924, + -0.20624888252901419, + 0.15812011140299231, + 0.049047885169352268, + -0.00082423736517752528, + -0.052878080499833627 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9190508333153624, + -0.38855119358902862, + 0.2978816528008007, + 0.092401054938512847, + -0.001552776471378916, + -0.099616739935617399 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 826681130, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5576022460134764, + -1.1799064993140216, + 1.5998592530911215, + -1.9901772590085454, + -1.57215159101903, + -3.2447818704220901 + ], + "velocities": [ + 2.5125166507534749, + -0.33443793866849836, + 0.25639588186477014, + 0.079532424180673689, + -0.001336522370464843, + -0.085743185738828193 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.845278860464405, + -0.24562275365505459, + 0.1883059762303653, + 0.058411354614527053, + -0.00098158811247475502, + -0.062972752051341785 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 13338646, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0846147562356965, + -1.2500564732528507, + 1.6536395284463794, + -1.9734949486648723, + -1.5724319330455059, + -3.2627669180185381 + ], + "velocities": [ + 2.9867098550905427, + -0.39755720107877524, + 0.30478608248844408, + 0.094542766523924737, + -0.0015887673955193508, + -0.10192569978639507 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -7.9630804804112292e-15, + 7.9630804804112292e-15, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 180644205, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6116272664579174, + -1.3202064471916797, + 1.7074198038016373, + -1.9568126383211994, + -1.572712275071982, + -3.2807519656149866 + ], + "velocities": [ + 3.1499999999999999, + -0.41929254737071781, + 0.32144942308414998, + 0.099711632197139771, + -0.0016756288821821658, + -0.10749820702534053 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6543601601370788e-15, + 3.9815402402056185e-15, + -4.6451302802398876e-15, + 9.9538506005140463e-16, + -1.6848965860245129e-17, + -1.0783338150556883e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 347949763, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1386397766801384, + -1.3903564211305088, + 1.7612000791568954, + -1.9401303279775266, + -1.5729926170984581, + -3.2987370132114351 + ], + "velocities": [ + 3.1499999999999995, + -0.41929254737071814, + 0.32144942308415025, + 0.099711632197139854, + -0.0016756288821821673, + -0.10749820702534063 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8452788604643999, + 0.2456227536550615, + -0.18830597623037093, + -0.058411354614528697, + 0.00098158811247478321, + 0.062972752051343589 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 515255322, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6656522869023584, + -1.4605063950693378, + 1.8149803545121532, + -1.9234480176338538, + -1.5732729591249341, + -3.3167220608078836 + ], + "velocities": [ + 2.9867098550905427, + -0.39755720107877529, + 0.30478608248844419, + 0.094542766523924765, + -0.0015887673955193513, + -0.1019256997863951 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0337631773152469, + 0.40382040975745631, + -0.30958775337203681, + -0.096032215272920551, + 0.0016137972068548179, + 0.10353146098439764 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 701912838, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.1926647971245794, + -1.5306563690081669, + 1.8687606298674111, + -1.9067657072901807, + -1.57355330115141, + -3.3347071084043316 + ], + "velocities": [ + 2.4978466942414981, + -0.3324852391650942, + 0.25489885041796184, + 0.07906805424160375, + -0.0013287187505182318, + -0.085242552715914771 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0724477745727667, + 0.40896966795686257, + -0.31353541733098234, + -0.097256756331149607, + 0.0016343753111334805, + 0.1048516276017686 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 944521546, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7196773073467995, + -1.6008063429469961, + 1.922540905222669, + -1.8900833969465078, + -1.5738336431778861, + -3.3526921560007801 + ], + "velocities": [ + 1.5348066178760158, + -0.20429618302561009, + 0.15662307995618444, + 0.048583515230282398, + -0.00081643374523091504, + -0.052377447476920275 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.055784315348602, + 0.4067516158088883, + -0.31183495404393791, + -0.096729283087564566, + 0.0016255112560372613, + 0.1042829634781373 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 531827105, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2466898175690204, + -1.670956316885825, + 1.9763211805779271, + -1.873401086602835, + -1.5741139852043622, + -3.3706772035972286 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.27692406240580381, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2466898175690204, + -1.670956316885825, + 1.9763211805779271, + -1.873401086602835, + -1.5741139852043622, + -3.3706772035972286 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.14528379169201094, + 0.98511046675765512, + 2.3769910114903352, + -2.897704097874529, + -0.43695833035698145, + 1.6711767853168391 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 89634478, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2478022685566428, + -1.671073847420302, + 1.9763881051275607, + -1.8769064128897406, + -1.5707681561924165, + -3.383473553690592 + ], + "velocities": [ + 0.0062054859592091983, + 0.040765663124613265, + 0.10227471753436608, + -0.16287611992910075, + 0.018663739028608621, + -0.071380736364065736 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5349810730372415e-10, + 1.038341163294108, + 2.0280055047721022, + -3.0663466680662097, + -2.0073379537625209e-13, + 2.5378161021338547e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 170851431, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2478022685586057, + -1.6643456282088092, + 1.9929403473133405, + -1.9001868742870132, + -1.5707681561924181, + -3.3834735536886291 + ], + "velocities": [ + 3.2379948519266434e-11, + 0.11647794680611769, + 0.26949678964626705, + -0.38597473645238473, + -2.5640230727925908e-14, + 3.2389132142354598e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.121094575893775e-10, + 1.0970689041844597, + 1.5504036987609591, + -2.6474726029454185, + -1.6795997772914512e-13, + 2.122054347195085e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 219208077, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2478022685605685, + -1.6570866502315891, + 2.009149049304586, + -1.9236545542554788, + -1.5707681561924196, + -3.3834735536866654 + ], + "velocities": [ + 4.5242046759056779e-11, + 0.17416623562575367, + 0.36918289297314089, + -0.54334912859889462, + -3.5825150148574372e-14, + 4.5262518273427395e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5248708325624647e-10, + -0.76701439700886098, + -2.1956193159187984, + 2.9626337129276594, + 2.0023823818801922e-13, + -2.533719173318868e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 258550165, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2478022685625314, + -1.6492882960507695, + 2.0250107956790933, + -1.9473146548108056, + -1.5707681561924212, + -3.3834735536847016 + ], + "velocities": [ + 4.4188141527027268e-11, + 0.18089027985396264, + 0.3535702693888535, + -0.53446054924281616, + -3.4983718445066487e-14, + 4.4190726613337839e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5876540701343684e-10, + -1.0496907646246914, + -2.0750256993582537, + 3.1247164639829448, + 2.0474917611802274e-13, + -2.5864840748422657e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 309578450, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2478022685644952, + -1.6409420365448488, + 2.040521635566896, + -1.9711717542045291, + -1.5707681561924227, + -3.3834735536827387 + ], + "velocities": [ + 2.7020255592315027e-11, + 0.11705915934335547, + 0.21203996878807713, + -0.32909912813143261, + -2.1389238632511544e-14, + 2.7008033170239303e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4658853640446377e-10, + -1.1183933623373288, + -1.9039269340304614, + 3.0223202963677904, + 1.9526241570489215e-13, + -2.4647695788120381e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 435753882, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.247802268566458, + -1.6320394913225056, + 2.0556771221792451, + -1.9952297860392214, + -1.5707681561924243, + -3.3834735536807767 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42992860549176337, + "y": 0.094004122439950696, + "z": 0.1918917818240406 + }, + "58": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43631238713999837, + 0.0265683960565209, + 0.24189178182404059 + ], + "xaxis": [ + -0.99953999024714069, + 0.030317888175094163, + -0.00079596064505364447 + ], + "yaxis": [ + -0.030317878562256984, + -0.99954030716955222, + -2.4142944166851622e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43631238713999837, + 0.0265683960565209, + 0.1918917818240406 + ], + "xaxis": [ + -0.99953999024714069, + 0.030317888175094163, + -0.00079596064505364447 + ], + "yaxis": [ + -0.030317878562256984, + -0.99954030716955222, + -2.4142944166851629e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.85431816123002624, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.84233501565360114, + -0.3166009337271285, + 0.24374649235561546, + 0.072598865310229632, + 3.1200856977429154, + 3.0818687145450032 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 415265398, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4299156281501026, + -1.0672930776869312, + 1.5136141596019164, + -2.0171931606112365, + -1.2987416340418458, + -2.9393045502770581 + ], + "velocities": [ + -0.30131083728342251, + -0.11325101135919557, + 0.087190320159705917, + 0.025969269335760135, + 1.1160828132657807, + 1.1024122534625937 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.78823928099893026, + -0.29626845343833574, + 0.22809280904857931, + 0.067936481720457048, + 2.919710164411895, + 2.883947520335528 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 588490087, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3562540307311703, + -1.0949796039374988, + 1.5349296168232269, + -2.0108444415265816, + -1.0258923611176138, + -2.6697973253249225 + ], + "velocities": [ + -0.48592839175300506, + -0.1826415614862541, + 0.14061310384193942, + 0.041881020268302802, + 1.7999230674974722, + 1.7778763558709758 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.75563597161856999, + -0.28401413894283889, + 0.21865838906961702, + 0.065126479497655335, + 2.7989445338655776, + 2.764661111362126 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 723248540, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2825924333122378, + -1.1226661301880663, + 1.5562450740445377, + -2.0044957224419271, + -0.75304308819338206, + -2.4002901003727874 + ], + "velocities": [ + -0.59378692029210844, + -0.22318138259225118, + 0.17182412738183711, + 0.051177092069251973, + 2.1994408911906103, + 2.1725006069400026 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.74950192591809028, + -0.28170859001013565, + 0.21688338020065628, + 0.064597800587979481, + 2.7762234693202097, + 2.7422183502437156 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 838173414, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2089308358933055, + -1.1503526564386339, + 1.5775605312658483, + -1.9981470033572721, + -0.48019381526915006, + -2.1307828754206524 + ], + "velocities": [ + -0.68159887324393664, + -0.25618647650417864, + 0.19723427313280842, + 0.05874539687257474, + 2.524704371165118, + 2.4937800332207054 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.86388926678561095, + -0.3247023374529307, + 0.24998364623281893, + 0.074456575301730415, + 3.1999246091413713, + 3.1607297033378066 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 940163405, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.135269238474373, + -1.1780391826892016, + 1.5988759884871591, + -1.9917982842726174, + -0.20734454234491806, + -1.8612756504685171 + ], + "velocities": [ + -0.76401375037909247, + -0.28716301976677894, + 0.22108266699783974, + 0.065848540459748695, + 2.8299765902371363, + 2.7953130654891369 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.65796971244550895, + -0.2473051950271471, + 0.1903967026235433, + 0.056708855318087413, + 2.4371798051826983, + 2.4073275290953671 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 31579452, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0616076410554407, + -1.2057257089397693, + 1.6201914457084698, + -1.9854495651879629, + 0.065504730579313719, + -1.5917684255163818 + ], + "velocities": [ + -0.83484686028640209, + -0.31378642769675713, + 0.24157964475810625, + 0.071953478886978631, + 3.0923488875314167, + 3.0544716441074997 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3020792178497247e-15, + 2.4739505139144772e-14, + 3.5481658686405003e-14, + 1.3020792178497247e-15, + 0.0, + 5.7291485585387897e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 116844850, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.98794604363650818, + -1.2334122351903369, + 1.6415069029297804, + -1.9791008461033082, + 0.33835400350354594, + -1.3222612005642465 + ], + "velocities": [ + -0.86390962018814177, + -0.32470998750441532, + 0.24998953589711548, + 0.074458329513440544, + 3.2000000000000002, + 3.1608041707566539 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.8124753070983514e-15, + -2.7343663574844229e-14, + -2.6041584356994506e-15, + -6.5103960892486265e-16, + 0.0, + -6.2499802456786811e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 202110247, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.91428444621757576, + -1.2610987614409044, + 1.6628223601510912, + -1.9727521270186534, + 0.61120327642777772, + -1.0527539756121111 + ], + "velocities": [ + -0.86390962018814144, + -0.32470998750441543, + 0.24998953589711689, + 0.074458329513440571, + 3.2000000000000002, + 3.1608041707566534 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -3.0273341815006101e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 287375645, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84062284879864335, + -1.288785287691472, + 1.684137817372402, + -1.9664034079339987, + 0.88405254935200972, + -0.78324675065997607 + ], + "velocities": [ + -0.8639096201881411, + -0.3247099875044166, + 0.24998953589711548, + 0.074458329513440544, + 3.2000000000000002, + 3.1608041707566508 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5624950614196697e-14, + 0.0, + 3.0273341815006101e-14, + 0.0, + 0.0, + 6.2499802456786786e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 372641043, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.76696125137971094, + -1.3164718139420397, + 1.7054532745937125, + -1.960054688849344, + 1.1569018222762417, + -0.51373952570784098 + ], + "velocities": [ + -0.86390962018814177, + -0.3247099875044166, + 0.24998953589711548, + 0.074458329513440544, + 3.2000000000000002, + 3.1608041707566534 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4322871396346984e-14, + 2.408846553021993e-14, + -2.5716064552532086e-14, + 1.4648391200809416e-15, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 457906441, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69329965396077842, + -1.3441583401926074, + 1.7267687318150233, + -1.9537059697646892, + 1.4297510952004737, + -0.24423230075570546 + ], + "velocities": [ + -0.86390962018814177, + -0.3247099875044156, + 0.2499895358971157, + 0.074458329513440613, + 3.2000000000000002, + 3.1608041707566561 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3020792178497259e-15, + -2.408846553021993e-14, + 2.5716064552532086e-14, + -1.4648391200809416e-15, + 0.0, + -6.2499802456786837e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 543171839, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.61963805654184612, + -1.3718448664431748, + 1.7480841890363339, + -1.9473572506800345, + 1.7026003681247053, + 0.025274924196429627 + ], + "velocities": [ + -0.8639096201881411, + -0.3247099875044156, + 0.2499895358971157, + 0.074458329513440613, + 3.2000000000000002, + 3.1608041707566534 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3020792178497237e-15, + 5.8593564803237569e-15, + -3.5156138881942541e-14, + -1.4648391200809392e-15, + 0.0, + 5.2083168713988949e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 628437236, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.5459764591229137, + -1.3995313926937425, + 1.7693996462576447, + -1.9410085315953798, + 1.9754496410489373, + 0.29478214914856471 + ], + "velocities": [ + -0.8639096201881411, + -0.32470998750441638, + 0.24998953589711528, + 0.074458329513440474, + 3.2000000000000002, + 3.1608041707566512 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6927029832046409e-14, + -5.8593564803237569e-15, + 3.5156138881942541e-14, + 1.4648391200809392e-15, + 0.0, + 5.7291485585387846e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 713702634, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.47231486170398118, + -1.4272179189443102, + 1.7907151034789552, + -1.9346598125107251, + 2.2482989139731697, + 0.56428937410070024 + ], + "velocities": [ + -0.86390962018814177, + -0.32470998750441638, + 0.24998953589711528, + 0.074458329513440474, + 3.2000000000000002, + 3.1608041707566539 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4322871396346984e-14, + -6.5103960892486291e-15, + 4.8827970669364722e-15, + 1.4648391200809416e-15, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 798968032, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39865326428504866, + -1.4549044451948778, + 1.812030560700266, + -1.9283110934260703, + 2.5211481868974017, + 0.83379659905283576 + ], + "velocities": [ + -0.86390962018814177, + -0.32470998750441687, + 0.24998953589711698, + 0.074458329513440613, + 3.2000000000000002, + 3.1608041707566561 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.38748079178442069, + 0.14563894198926111, + -0.11212532080168756, + -0.033396054171187677, + -1.4352641812694629, + -1.4176840657169241 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 884233430, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.32499166686611636, + -1.4825909714454455, + 1.8333460179215768, + -1.9219623743414156, + 2.7939974598216333, + 1.1033038240049708 + ], + "velocities": [ + -0.84705489229927999, + -0.31837495157671025, + 0.24511228311031288, + 0.073005660329440961, + 3.1375685511725062, + 3.0991374258065552 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.68746686695667136, + 0.25839202685412005, + -0.19893229453527686, + -0.059251145389847992, + -2.5464399548904812, + -2.5152493843748531 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 972960945, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.25133006944718406, + -1.5102774976960129, + 1.8546614751428874, + -1.9156136552567609, + 3.0668467327458648, + 1.3728110489571059 + ], + "velocities": [ + -0.79843804377274885, + -0.30010177124782755, + 0.23104402513989991, + 0.068815488993339585, + 2.9574873115967519, + 2.9212619467046528 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.718204598556343, + 0.269945143303366, + -0.20782687225218568, + -0.061900357870434061, + -2.6602953152435771, + -2.6277101649581258 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 69040129, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.17766847202825153, + -1.5379640239465806, + 1.8759769323641982, + -1.9092649361721064, + 3.3396960056700973, + 1.642318273909241 + ], + "velocities": [ + -0.73036881741323412, + -0.27451719952397158, + 0.21134683239098223, + 0.062948763160493748, + 2.7053526909601469, + 2.6722156465483002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.77318275146408577, + 0.2906092902540735, + -0.22373590093843188, + -0.06663879500506395, + -2.8639394062380461, + -2.828859881259925 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 175171322, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.10400687460931901, + -1.5656505501971483, + 1.8972923895855089, + -1.9029162170874516, + 3.6125452785943288, + 1.9118254988613761 + ], + "velocities": [ + -0.65005289496167984, + -0.24432957159829716, + 0.1881058130648624, + 0.05602652351953416, + 2.4078551914080535, + 2.3783621036189468 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.42325423640459031, + 0.15908478688335903, + -0.12247708284833893, + -0.036479282862146481, + -1.5677722817807935, + -1.5485691147028853 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 296716272, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.03034527719038671, + -1.5933370764477157, + 1.9186078468068195, + -1.8965674980027969, + 3.8853945515185613, + 2.1813327238135112 + ], + "velocities": [ + -0.57906488382326715, + -0.21764794232705792, + 0.16756401153371825, + 0.049908234521089445, + 2.1449091258306767, + 2.1186367846311267 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.81048063995947672, + 0.30462811424244346, + -0.23452879132535615, + -0.069853411912725205, + -3.0020941858542232, + -2.9653224448913531 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 430140483, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.043316320228545591, + -1.6210236026982834, + 1.9399233040281303, + -1.8902187789181422, + 4.1582438244427928, + 2.4508399487656463 + ], + "velocities": [ + -0.490205483135845, + -0.18424915359661317, + 0.1418507658204613, + 0.042249652671624532, + 1.8157658039426412, + 1.7935250394435041 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.85464329490466495, + 0.32122713664050762, + -0.24730813925219511, + -0.073659686825347737, + -3.1656766862942476, + -3.1269012729081158 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 602116319, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11697791764747834, + -1.6487101289488511, + 1.9612387612494411, + -1.8838700598334874, + 4.4310930973670253, + 2.7203471737177822 + ], + "velocities": [ + -0.30285483119391343, + -0.11383133855045066, + 0.087637105693854245, + 0.026102342523819592, + 1.1218019074836365, + 1.1080612962303285 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.85431816123002502, + 0.32110493155219721, + -0.2472140553173362, + -0.073631664321933021, + -3.1644723615193788, + -3.1257116995420682 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 17381717, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19063951506641072, + -1.6763966551994187, + 1.9825542184707516, + -1.8775213407488327, + 4.7039423702912568, + 2.9898543986699173 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.25132809021572355, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19063951506641072, + -1.6763966551994187, + 1.9825542184707516, + -1.8775213407488327, + 4.7039423702912568, + 2.9898543986699173 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.1241910844662623, + 1.1201321008868697, + 2.0198419244391261, + -3.112532878993191, + -1.1009955814578285, + 1.2226774648954268 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 87852118, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19160938949963416, + -1.678570027424686, + 1.9829965758322772, + -1.8760046284363419, + 4.7125406321554228, + 2.9803058580619908 + ], + "velocities": [ + -0.0055199262801049519, + 0.025047573053793057, + 0.094811247541070148, + -0.12107849836334234, + 0.048935996244898743, + -0.054344395962877247 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3725958947786853e-11, + 1.0391571711825949, + 2.0800631793440436, + -3.1192203505265739, + 0.0, + -1.3701732751505067e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 177788166, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19160938949973852, + -1.6718397414684727, + 1.9995976230880368, + -1.8993359616483148, + 4.7125406321554228, + 2.9803058580618864 + ], + "velocities": [ + -1.6383556534261722e-12, + 0.11101962308427549, + 0.25701912744073363, + -0.3680387505250069, + 0.0, + -1.6375120497261729e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2511629183647005e-11, + 1.1929316150398137, + 1.7650591409411043, + -2.9579907559810192, + 0.0, + -1.2614110752248741e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 227139969, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19160938949984296, + -1.6645749036556268, + 2.0158566243383178, + -1.9228598007114415, + 4.7125406321554228, + 2.9803058580617821 + ], + "velocities": [ + -2.3928459972627337e-12, + 0.17357066876402777, + 0.36846142792196446, + -0.54203209668598995, + 0.0, + -2.3934237841444492e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3877302047649881e-11, + -0.80595225817350513, + -2.2829611682571134, + 3.0889134264305209, + 0.0, + 1.3976510679587869e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 266194084, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19160938949994721, + -1.6567665714370456, + 2.0317700766786726, + -1.9465815852703774, + 4.7125406321554228, + 2.9803058580616777 + ], + "velocities": [ + -2.3565875874365377e-12, + 0.18177066609856585, + 0.35601562280241261, + -0.53778628890098057, + 0.0, + -2.3571942808368498e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3731155569222424e-11, + -1.0480428194268645, + -2.075957151631656, + 3.1239999710586095, + 0.0, + 1.3707818274066138e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 317296953, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19160938950005166, + -1.6484058809222173, + 2.0473339357998221, + -1.9705061349063555, + 4.7125406321554228, + 2.9803058580615733 + ], + "velocities": [ + -1.4350751291870418e-12, + 0.11714335615549251, + 0.2125282264900378, + -0.32967158264553076, + 0.0, + -1.4344803219992425e-12 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3093250179103381e-11, + -1.119931888611841, + -1.9092449542955008, + 3.0291768429072858, + 0.0, + 1.3100218380369536e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 443521776, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.19160938950015596, + -1.6394841081342517, + 2.0625436551157956, + -1.9946376270102941, + 4.7125406321554228, + 2.980305858061469 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43631238713999837, + "y": 0.0265683960565209, + "z": 0.1918917818240406 + }, + "59": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42568509270405835, + -0.039427879857941203, + 0.24189178182404059 + ], + "xaxis": [ + -0.95666352110260611, + 0.29119465487279872, + -0.00076181695658604422 + ], + "yaxis": [ + -0.29119456254424375, + -0.95666382443024989, + -0.00023188608169796366 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42568509270405835, + -0.039427879857941203, + 0.1918917818240406 + ], + "xaxis": [ + -0.95666352110260611, + 0.29119465487279872, + -0.00076181695658604422 + ], + "yaxis": [ + -0.29119456254424375, + -0.95666382443024989, + -0.00023188608169796366 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0238426949947952, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1172763044142719, + -1.1179525932617842, + 0.86949176388793359, + 0.22583019909892435, + 0.0050517293419377754, + 0.01918764202833901 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 369357452, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2973134650716784, + -1.1135791747862451, + 1.5498311837609187, + -2.008599159978024, + -1.5712566444274616, + -3.2075421684271781 + ], + "velocities": [ + -0.96370694539077628, + -0.34561539418830844, + 0.26880365100530451, + 0.069815476748862765, + 0.0015617437075316962, + 0.0059318655398636778 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9915189432320197, + -1.072852077835446, + 0.83441467122168667, + 0.21671974268103181, + 0.0048479321518713403, + 0.01841357293947651 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 520027728, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0910497045743215, + -1.1875517981361268, + 1.6073636651412317, + -1.9936564402601569, + -1.5709223818888451, + -3.2062725616251635 + ], + "velocities": [ + -1.5688712405965979, + -0.56264620156869993, + 0.43760016408160607, + 0.11365643273995288, + 0.0025424479917338445, + 0.009656808320298426 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.825545738877639, + -1.0133289056490979, + 0.78812030392165466, + 0.20469586089311856, + 0.0045789628259280714, + 0.017391964932788617 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 636642094, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88478594407696476, + -1.2615244214860086, + 1.6648961465215448, + -1.9787137205422896, + -1.5705881193502289, + -3.2050029548231485 + ], + "velocities": [ + -1.9213938006082383, + -0.68907179611423963, + 0.53592813779403103, + 0.13919482976993641, + 0.0031137315053510793, + 0.011826675867438947 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2903186988069999, + -0.82137978115749577, + 0.63883116247066107, + 0.16592148954494404, + 0.0037115959714049867, + 0.014097504049115752 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 736093305, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67852218357960792, + -1.3354970448358903, + 1.7224286279018579, + -1.9637710008244225, + -1.5702538568116127, + -3.2037333480211339 + ], + "velocities": [ + -2.1825137625918156, + -0.78271756573645046, + 0.60876148144404518, + 0.15811159146986914, + 0.0035368917404102985, + 0.013433936779762453 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8882068157047827, + 1.0358011238596985, + -0.80559815474302521, + -0.20923532485903082, + -0.004680508781298256, + -0.017777660069866048 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 826125189, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.47225842308225108, + -1.4094696681857719, + 1.779961109282171, + -1.9488282811065554, + -1.5699195942729962, + -3.2024637412191188 + ], + "velocities": [ + -2.1520154578706467, + -0.7717799216126886, + 0.60025468827654538, + 0.15590215042108946, + 0.003487467446317105, + 0.01324621182492529 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7766488307836497, + 0.99579294801559726, + -0.77448164801968, + -0.20115353823325655, + -0.0044997225144426077, + -0.017090991814857574 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 928589871, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.26599466258489435, + -1.4834422915356535, + 1.8374935906624841, + -1.9338855613886883, + -1.56958533173438, + -3.2011941344171042 + ], + "velocities": [ + -1.8577994753405944, + -0.666264885880129, + 0.51818997901358355, + 0.13458775688505381, + 0.0030106731660951057, + 0.011435236344884622 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0129078673942398, + 1.0805228137276646, + -0.84038061443022394, + -0.21826925723488017, + -0.0048825941597381451, + -0.018545227300562975 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 49737923, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.059730902087537396, + -1.5574149148855354, + 1.8950260720427972, + -1.918942841670821, + -1.5692510691957637, + -3.1999245276150892 + ], + "velocities": [ + -1.4896313006075732, + -0.53422828549395329, + 0.41549802475764996, + 0.10791591772722582, + 0.0024140350148896678, + 0.009169065991938237 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7056741535089799, + 0.97033921316291094, + -0.75468491160348383, + -0.19601179783726544, + -0.0043847038812855708, + -0.016654124316584373 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 211299699, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14653285840981933, + -1.6313875382354168, + 1.9525585534231102, + -1.9040001219529539, + -1.5689168066571473, + -3.1986549208130746 + ], + "velocities": [ + -0.91756302594822658, + -0.32906674422391108, + 0.25593287729429604, + 0.0664725935722386, + 0.0014869647758502991, + 0.0056478377792206491 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.023842694994797, + 1.0844443842524052, + -0.84343063040884081, + -0.21906142772378145, + -0.0049003146901225817, + -0.018612533993037965 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 580657151, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35279661890717623, + -1.7053601615852987, + 2.0100910348034233, + -1.8890574022350868, + -1.568582544118531, + -3.1973853140110595 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.34353785314828983, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35279661890717623, + -1.7053601615852987, + 2.0100910348034233, + -1.8890574022350868, + -1.568582544118531, + -3.1973853140110595 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.17127513292169838, + 0.3464003669164088, + 1.7930433442766034, + -3.1524328943191162, + 0.15376314570747074, + -0.050144052140403142 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 112170185, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35063539643061642, + -1.7030411079658248, + 2.0041335967818328, + -1.8726366896046767, + -1.5705227928700547, + -3.1967525750158505 + ], + "velocities": [ + 0.0096336762618747795, + 0.040158328789602231, + 0.047742219754733778, + -0.030923160992274115, + -0.0086486830168675585, + 0.0028204420741367226 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.3005668550226015e-09, + 1.0372988736662905, + 2.171255057014231, + -3.2085539306813091, + -2.4770359157948956e-12, + 3.3005459044749479e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 224987151, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35063539640605956, + -1.6963124517942108, + 2.0208976505110021, + -1.8961293995054667, + -1.5705227928700731, + -3.1967525749912937 + ], + "velocities": [ + 3.5236278282158482e-10, + 0.10197338520410171, + 0.23720193504065179, + -0.33917532024484465, + -2.6444471826452382e-13, + 3.5236143580417764e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8910616120885459e-09, + 1.1671972632999625, + 1.743957980013406, + -2.9111552433144734, + -2.1697807790240056e-12, + 2.8911413912696501e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 275406258, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35063539638150265, + -1.689036746113002, + 2.0373246352241554, + -1.9198320898998349, + -1.5705227928700916, + -3.1967525749667369 + ], + "velocities": [ + 5.5224304197829182e-10, + 0.17062238028554189, + 0.36513131119837228, + -0.53575369148406238, + -4.1445412069310014e-13, + 5.522426388425629e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0084614177333294e-09, + -0.71517473984117219, + -2.1194792140623973, + 2.8346539539046041, + 2.257815761701022e-12, + -3.0084442933682272e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 315178749, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35063539635694591, + -1.6812039426629206, + 2.0534107744415837, + -1.9437510325673515, + -1.57052279287011, + -3.1967525749421801 + ], + "velocities": [ + 5.4910053768659319e-10, + 0.18069677518043231, + 0.35631509424455254, + -0.53701186942513446, + -4.1209733579027953e-13, + 5.4910232234205033e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.2284945240332174e-09, + -1.0528965472556586, + -2.1007046936140612, + 3.1536012408705472, + 2.4229839734934162e-12, + -3.228523970656999e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 366256512, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35063539633238922, + -1.672804034834982, + 2.0691517297427358, + -1.9678918956964486, + -1.5705227928701284, + -3.1967525749176233 + ], + "velocities": [ + 3.3753731049034477e-10, + 0.11774117790512836, + 0.21497774564751918, + -0.33271892355273691, + -2.5331996986195582e-13, + 3.3753817767365236e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0748256848309718e-09, + -1.12402186452223, + -1.9271343370997081, + 3.051156201622772, + 2.3076293011704557e-12, + -3.074818734140306e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 492640232, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35063539630783236, + -1.6638271215028482, + 2.0845426384692991, + -1.9922597177551524, + -1.5705227928701468, + -3.1967525748930665 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42568509270405835, + "y": -0.039427879857941203, + "z": 0.1918917818240406 + }, + "6": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.45008068162103138, + -0.0096878748626506705, + 0.10189178182404157 + ], + "xaxis": [ + -0.990191309893656, + 0.13971595489972638, + -0.00078851603881760967 + ], + "yaxis": [ + -0.13971591060024491, + -0.99019162385189763, + -0.00011125954680225608 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.45008068162103138, + -0.0096878748626506705, + 0.051891781824041562 + ], + "xaxis": [ + -0.990191309893656, + 0.13971595489972638, + -0.00078851603881760967 + ], + "yaxis": [ + -0.13971591060024491, + -0.99019162385189763, + -0.00011125954680225608 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.71900076785024447, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.72823136351642237, + -0.59818834149202937, + -1.3589887699546987, + 1.1840583720838318, + 3.1818058229960116, + -0.28970429920626206 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 431315246, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.570456103407877, + -1.0945426157416502, + 1.3674927018654841, + -1.9148010327784035, + -1.2793821205777296, + -3.2354174659569943 + ], + "velocities": [ + 0.265900897506269, + -0.21841797105863073, + -0.49621089084519499, + 0.4323381271531882, + 1.1617805362570506, + -0.10578043878582909 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.71409395634933082, + -0.5865755044597919, + -1.3326062512403507, + 1.1610718376465852, + 3.1200363267893256, + -0.28408016951185533 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 608833437, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6373349812467188, + -1.149478680046937, + 1.2426867013503626, + -1.806060185860916, + -0.98717333418938136, + -3.2620231566847955 + ], + "velocities": [ + 0.43285291581636698, + -0.3555567375894027, + -0.8077683564686573, + 0.70379160323230061, + 1.8912312721536062, + -0.17219712981112031 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.64704563191868103, + -0.53150025227988107, + -1.2074840380118714, + 1.0520554812334624, + 2.8270871903150563, + -0.25740706970424471 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 745610678, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7042138590855607, + -1.2044147443522237, + 1.1178807008352409, + -1.6973193389434285, + -0.69496454780103312, + -3.2886288474125962 + ], + "velocities": [ + 0.53003047771366285, + -0.43538093563119939, + -0.9891162383729819, + 0.86179620384106304, + 2.3158217907716572, + -0.21085621383091219 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.71694766820962674, + -0.58891961822682537, + -1.3379317048875501, + 1.1657117935575589, + 3.1325048326367719, + -0.28521543041390113 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862716271, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7710927369244027, + -1.2593508086575107, + 0.99307470032011946, + -1.5885784920259409, + -0.40275576141268488, + -3.3152345381403974 + ], + "velocities": [ + 0.6105313841894493, + -0.50150649152710358, + -1.1393429840922353, + 0.99268561213670314, + 2.6675482692142993, + -0.24288100686293029 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.61826079641341247, + -0.50785563344902451, + -1.1537672247071908, + 1.0052531500286628, + 2.7013198012502002, + -0.2459559141847007 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 965612576, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8379716147632446, + -1.3142868729627974, + 0.86826869980499799, + -1.4798376451084536, + -0.11054697502433664, + -3.3418402288681985 + ], + "velocities": [ + 0.68040986608457099, + -0.55890650927555752, + -1.2697466949381946, + 1.1063036264953547, + 2.9728629971084768, + -0.2706799971855538 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.23236183645225969, + -0.19086810667182341, + -0.43362198076704961, + 0.37780572437241666, + 1.0152408716590196, + -0.092437961840357213 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 59694765, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9048504926020864, + -1.3692229372680842, + 0.74346269928987652, + -1.3710967981909659, + 0.18166181136401161, + -3.3684459195959997 + ], + "velocities": [ + 0.72162570826204742, + -0.59276228301797174, + -1.3466616281167805, + 1.1733179923104657, + 3.1529442366842311, + -0.28707644379912023 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 1.2158134335080913e-14, + 5.3495791074356015e-14, + 0.0, + 5.3495791074356015e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 151010010, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9717293704409282, + -1.4241590015733709, + 0.61865669877475493, + -1.2623559512734785, + 0.47387059775235985, + -3.3950516103238009 + ], + "velocities": [ + 0.73239553036529625, + -0.60160889735630274, + -1.3667597288385784, + 1.1908290453439814, + 3.2000000000000002, + -0.29136088404889215 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6747895537178008e-14, + -2.6747895537178008e-14, + -1.2158134335080913e-14, + -5.3495791074356015e-14, + 0.0, + -5.3495791074356015e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 242325256, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0386082482797701, + -1.4790950658786577, + 0.49385069825963346, + -1.1536151043559908, + 0.76607938414070809, + -3.4216573010516016 + ], + "velocities": [ + 0.73239553036529748, + -0.60160889735630396, + -1.3667597288385784, + 1.1908290453439814, + 3.2000000000000002, + -0.29136088404889215 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3495791074356015e-14, + 2.6747895537178008e-14, + 1.2158134335080913e-14, + 2.6747895537178008e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 333640502, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1054871261186121, + -1.5340311301839447, + 0.36904469774451187, + -1.0448742574385035, + 1.0582881705290563, + -3.4482629917794028 + ], + "velocities": [ + 0.73239553036529625, + -0.60160889735630396, + -1.3667597288385784, + 1.19082904534398, + 3.2000000000000002, + -0.2913608840488946 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.1337656739275074e-14, + 9.7265074680647231e-15, + -2.4316268670161808e-15, + 7.2948806010485427e-15, + 0.0, + 4.8632537340323615e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 424955748, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1723660039574537, + -1.5889671944892314, + 0.2442386972293904, + -0.93613341052101595, + 1.3504969569174046, + -3.4748686825072039 + ], + "velocities": [ + 0.7323955303652957, + -0.6016088973563023, + -1.366759728838578, + 1.1908290453439818, + 3.2000000000000002, + -0.29136088404889438 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.917952240419419e-14, + -1.9453014936129462e-14, + 7.2948806010485474e-15, + -1.4589761202097095e-14, + 0.0, + -9.7265074680647309e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 516270993, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2392448817962958, + -1.6439032587945182, + 0.1194326967142687, + -0.8273925636035282, + 1.6427057433057533, + -3.5014743732350051 + ], + "velocities": [ + 0.73239553036529625, + -0.60160889735630274, + -1.3667597288385775, + 1.1908290453439814, + 3.2000000000000002, + -0.2913608840488946 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.917952240419419e-14, + 1.9453014936129462e-14, + -7.2948806010485474e-15, + 1.4589761202097095e-14, + 0.0, + 6.3222298542420743e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 607586239, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3061237596351374, + -1.6988393230998049, + -0.0053733038008525469, + -0.71865171668604089, + 1.934914529694101, + -3.5280800639628063 + ], + "velocities": [ + 0.73239553036529625, + -0.60160889735630274, + -1.3667597288385775, + 1.1908290453439814, + 3.2000000000000002, + -0.29136088404889215 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4316268670161826e-14, + -4.620091047330747e-14, + -1.9453014936129462e-14, + -1.4589761202097095e-14, + 0.0, + -6.3222298542420743e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 698901485, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3730026374739794, + -1.7537753874050916, + -0.13017930431597424, + -0.60991086976855313, + 2.2271233160824497, + -3.554685754690607 + ], + "velocities": [ + 0.7323955303652987, + -0.60160889735630396, + -1.3667597288385789, + 1.1908290453439814, + 3.2000000000000002, + -0.29136088404889215 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.7812059744517848e-14, + 4.620091047330747e-14, + 1.9453014936129462e-14, + -1.2158134335080913e-14, + 0.0, + 9.7265074680647309e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 790216731, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4398815153128215, + -1.8087114517103786, + -0.25498530483109572, + -0.50117002285106582, + 2.5193321024707975, + -3.5812914454184082 + ], + "velocities": [ + 0.73239553036529625, + -0.60160889735630396, + -1.3667597288385789, + 1.19082904534398, + 3.2000000000000002, + -0.2913608840488946 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.23236183645218425, + 0.19086810667180309, + 0.4336219807670425, + -0.37780572437242865, + -1.0152408716590149, + 0.092437961840347041 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 881531976, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5067603931516631, + -1.8636475160156654, + -0.37979130534621741, + -0.39242917593357829, + 2.8115408888591462, + -3.6078971361462093 + ], + "velocities": [ + 0.72162570826204731, + -0.59276228301797185, + -1.34666162811678, + 1.173317992310466, + 3.1529442366842311, + -0.28707644379912023 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.61826079641343501, + 0.50785563344902118, + 1.1537672247071615, + -1.0052531500286515, + -2.7013198012502047, + 0.24595591418470972 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 975614165, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5736392709905052, + -1.9185835803209521, + -0.50459730586133866, + -0.28368832901609076, + 3.103749675247494, + -3.6345028268740105 + ], + "velocities": [ + 0.68040986608457321, + -0.55890650927555874, + -1.2697466949381959, + 1.1063036264953547, + 2.9728629971084768, + -0.2706799971855538 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.6190863745786519, + 0.50853378500659785, + 1.1553078771858944, + -1.0065954881745565, + -2.7049269370384068, + 0.24628434489473666 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 78510470, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6405181488293472, + -1.9735196446262391, + -0.62940330637646058, + -0.17494748209860322, + 3.3959584616358427, + -3.6611085176018117 + ], + "velocities": [ + 0.61627092835925246, + -0.50622110364058914, + -1.1500538329545522, + 1.0020177497878286, + 2.6926256223409797, + -0.24516430679311646 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.64770107255310649, + 0.53203864840738924, + 1.208707188381696, + -1.0531211864605747, + -2.8299509571504649, + 0.25766781646574721 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 193308620, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7073970266681888, + -2.0284557089315256, + -0.75420930689158183, + -0.066206635181115692, + 3.6881672480241905, + -3.6877142083296128 + ], + "velocities": [ + 0.54242882957776672, + -0.44556526702693933, + -1.0122534194851833, + 0.88195514378818007, + 2.3699929651169556, + -0.21578851422066786 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.71347840598097623, + 0.58606987524304111, + 1.3314575420802341, + -1.160070991482, + -3.1173468494548753, + 0.28383529185757905 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 326459302, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7742759045070309, + -2.0833917732368126, + -0.87901530740670353, + 0.042534211736371841, + 3.9803760344125392, + -3.714319899057414 + ], + "velocities": [ + 0.44827301843428868, + -0.36822321430651472, + -0.83654457696555373, + 0.72886371975716058, + 1.958605151883235, + -0.17833154017356703 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.71458053204119554, + 0.58697519049462632, + 1.333514274341395, + -1.1618629791030977, + -3.1221622848945123, + 0.28427373858467203 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 496087959, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8411547823458725, + -2.1383278375420991, + -1.0038213079218248, + 0.15127505865385915, + 4.272584820800887, + -3.7409255897852147 + ], + "velocities": [ + 0.31192100366337588, + -0.25622009323650374, + -0.58209130000203135, + 0.50716392388403753, + 1.3628526804702896, + -0.12408811306569537 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.15393365002880247, + 0.79642737837070454, + 0.73540026700073591, + 1.2440737646262381, + -3.1281311060535493, + -2.5462460921544396 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 787403205, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9080336601847145, + -2.1932639018473861, + -1.1286273084369463, + 0.26001590557134679, + 4.5647936071892357, + -3.7675312805130159 + ], + "velocities": [ + 0.20635216677201795, + -0.068425114146234992, + -0.3174751163288243, + 0.56096473528036217, + 0.531136642847722, + -0.47547313689725518 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.65607870841208904, + 0.18532555566471043, + -0.73990832307422305, + 2.6821349370728251, + 0.2121120688253462, + -3.079671203018393 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 99554508, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9651975270940438, + -2.1771165627201094, + -1.1930952150509095, + 0.49370921494085435, + 4.5832748441456062, + -4.0358617605554512 + ], + "velocities": [ + 0.261856783836102, + 0.073967884259582201, + -0.29531519820649987, + 1.0705045285438415, + 0.0846590255761447, + -1.2291708085556796 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.66782075495040993, + 0.18864238529425453, + -0.75315069453399153, + 2.7301379477624916, + 0.21590830508716133, + -3.1347890450164324 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 267394816, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0223613940033731, + -2.1609692235928333, + -1.2575631216648726, + 0.7274025243103619, + 4.6017560811019775, + -4.304192240597887 + ], + "velocities": [ + 0.39029670564998653, + 0.11024889684921882, + -0.44016636613284077, + 1.59558360395798, + 0.12618400906729646, + -1.8320751909970945 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.67688767832668362, + 0.19120356063998439, + -0.76337613240410873, + 2.7672047076610258, + 0.2188396665999171, + -3.1773497049859225 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 397310169, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0795252609127024, + -2.1448218844655567, + -1.3220310282788359, + 0.9610958336798695, + 4.6202373180583489, + -4.5725227206403218 + ], + "velocities": [ + 0.48055632183150065, + 0.13574494375403084, + -0.54195878889233751, + 1.9645766330918628, + 0.15536519369372037, + -2.2557590221984967 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.13762260171192817, + -0.03887488620990863, + 0.15520715295919268, + -0.5626190630020631, + -0.044493769408997838, + 0.64600841018380706 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 507007768, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1366891278220317, + -2.1286745453382805, + -1.3864989348927992, + 1.1947891430493769, + 4.6387185550147194, + -4.8408532006827576 + ], + "velocities": [ + 0.51344128836383551, + 0.14503411076628014, + -0.57904558980404897, + 2.0990146456503274, + 0.16599699471848645, + -2.4101229470497856 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.61496645745203071, + -0.17371238996354973, + 0.69354300702962202, + -2.5140627176457082, + -0.19882036389201563, + 2.8866879317285141 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 620029313, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.193852994731361, + -2.1125272062110039, + -1.4509668415067625, + 1.4284824524188844, + 4.6571997919710899, + -5.1091836807251925 + ], + "velocities": [ + 0.46797194370902689, + 0.13219017686655518, + -0.52776645801169109, + 1.9131300615283484, + 0.15129662929098489, + -2.1966872272830997 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.62562761809853806, + -0.17672389680796186, + 0.70556638379043768, + -2.557646926480929, + -0.20226714674269683, + 2.9367320331646551 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 752917424, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2510168616406903, + -2.0963798670837273, + -1.5154347481207258, + 1.6621757617883923, + 4.6756810289274613, + -5.3775141607676282 + ], + "velocities": [ + 0.38271240367517573, + 0.10810652435672816, + -0.43161298971028794, + 1.5645779928336929, + 0.12373198317185659, + -1.7964740411848239 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.67469916884017278, + -0.19058536234845583, + 0.76090798892766875, + -2.758257796751387, + -0.21813211540396096, + 3.167076715546135 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 923423800, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3081807285500195, + -2.0802325279564511, + -1.5799026547346888, + 1.8958690711578998, + 4.6941622658838327, + -5.6458446408100631 + ], + "velocities": [ + 0.23669266871617123, + 0.066859661484452965, + -0.26693577058401413, + 0.9676303589384232, + 0.076523397259283421, + -1.1110490044327284 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.66751157721147225, + -0.18855505044319959, + 0.75280201200638908, + -2.7288739890259244, + -0.21580834706534663, + 3.1333377469221899 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 337277075, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3653445954593488, + -2.0640851888291745, + -1.6443705613486521, + 2.1295623805274073, + 4.7126435028402032, + -5.9141751208524989 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.093546881190487541, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3653445954593488, + -2.0640851888291745, + -1.6443705613486521, + 2.1295623805274073, + 4.7126435028402032, + -5.9141751208524989 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.053390516969987395, + -3.0187732447704998, + -1.5962315566376901, + 3.1126049904490509, + 0.01321828293183268, + 0.91413094003700701 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 82108657, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3650292568048119, + -2.0605735048263161, + -1.6457563719580668, + 2.1363100816053686, + 4.712565432131508, + -5.9195742222903638 + ], + "velocities": [ + -0.0019202522122172582, + -0.065804954886945072, + -0.074288093018090126, + 0.19412860785856176, + -0.00047541094900325939, + -0.032877784552000959 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.4628111960474263e-10, + -1.9450268747887813, + -1.1498840335919953, + 3.0949109083807791, + -4.4310456125498792e-13, + -5.4606661366166672e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 143864661, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3650292568015256, + -2.0713424336925321, + -1.6538895402578735, + 2.155212178771392, + 4.7125654321315054, + -5.91957422229365 + ], + "velocities": [ + -6.7177987800936849e-11, + -0.22409862736870215, + -0.16109246494538121, + 0.38519109231409421, + -5.4473084703219938e-14, + -6.7172504467902427e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0910873746163525e-10, + -1.2772362219532791, + -0.41283160884175385, + 1.6900678307949095, + -2.5066257937151119e-13, + -3.0972865418742515e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 184359120, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3650292567982398, + -2.0824305698663492, + -1.6616031883865259, + 2.174013963073862, + 4.7125654321315027, + -5.9195742222969354 + ], + "velocities": [ + -8.7005811367485298e-11, + -0.29804635358560938, + -0.19831746553258256, + 0.4963638191182006, + -7.0554786890784129e-14, + -8.700660383256494e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.1008576783223664e-10, + 1.6019946093441908, + 1.3608803052201051, + -2.9628749145643303, + 4.1363895215480736e-13, + 5.1015470765759577e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 219740215, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.365029256794954, + -2.0938329803630076, + -1.6688969451543973, + 2.192710130338392, + 4.7125654321315, + -5.9195742223002217 + ], + "velocities": [ + -8.2557614644482927e-11, + -0.28988896082348392, + -0.17863752771562763, + 0.46852648853911705, + -6.6947653448695444e-14, + -8.2568772586724386e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.4486927764837804e-10, + 1.9078528553474887, + 1.187537555052127, + -3.0953904103996019, + 4.4188638103362036e-13, + 5.4499320327479852e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 265221175, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3650292567916682, + -2.1055445013205554, + -1.6757703296119204, + 2.2112950357534631, + 4.7125654321314974, + -5.9195742223035079 + ], + "velocities": [ + -5.0780429982456825e-11, + -0.18234250526188489, + -0.1043426897432482, + 0.2866851950051385, + -4.1177280102635864e-14, + -5.0785312126584232e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.2300353848624149e-10, + 1.9122071189478966, + 1.0268988481497097, + -2.9391059670977122, + 4.2405692309695261e-13, + 5.2300353848624149e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 377323251, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3650292567883819, + -2.117559735629027, + -1.6822227845522655, + 2.2297627250022805, + 4.7125654321314947, + -5.9195742223067942 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.45008068162103138, + "y": -0.0096878748626506705, + "z": 0.051891781824041562 + }, + "60": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41940816360949235, + 0.12680498639082499, + 0.26189178182404055 + ], + "xaxis": [ + -0.95412762824020181, + -0.2993992179956389, + -0.00075979755672386654 + ], + "yaxis": [ + 0.29939912306567812, + -0.95412793076379443, + 0.0002384195944625782 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.41940816360949235, + 0.12680498639082499, + 0.21189178182404056 + ], + "xaxis": [ + -0.95412762824020181, + -0.2993992179956389, + -0.00075979755672386654 + ], + "yaxis": [ + 0.29939912306567812, + -0.95412793076379443, + 0.00023841959446257812 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6024799104960459, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6600390047306206, + -0.070869446942877529, + -0.015700715760999042, + 1.1663669280571214, + -1.075035201786489, + 3.1667922553989167 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 412289218, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2823893356623575, + -1.0454994963895281, + 1.4909931545359973, + -1.9265559936938121, + -1.6609823660520822, + -2.9454862768064993 + ], + "velocities": [ + -0.92299093358638484, + -0.024590563100852534, + -0.0054478969189726313, + 0.404710644436864, + -0.37301999811676551, + 1.0988261958139163 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4937597507540441, + -0.066439392065311104, + -0.014719262745086779, + 1.0934572367648465, + -1.007834664112526, + 2.9688358146136284 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 581200094, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0612014457556798, + -1.0513924413426927, + 1.4896876066913891, + -1.829570107691733, + -1.7503738251380865, + -2.682160778383806 + ], + "velocities": [ + -1.4966925707857461, + -0.039875270455231079, + -0.0088341353618180043, + 0.65626583404556738, + -0.60487729577857641, + 1.7818214069223348 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3880854427704148, + -0.06362398982892041, + -0.014095526675825851, + 1.0471214432827889, + -0.96512716967172718, + 2.8430299224737032 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 712555365, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84001355584900217, + -1.0572853862958571, + 1.4883820588467809, + -1.7325842216896541, + -1.8397652842240908, + -2.4188352799611126 + ], + "velocities": [ + -1.8291922467863952, + -0.048733812794251513, + -0.010796694141680385, + 0.80205942014981924, + -0.73925459462555276, + 2.1776642487035751 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5912185890681858, + -0.069035915634614323, + -0.015294507512568141, + 1.1361907326475813, + -1.0472219369031124, + 3.084861141251491 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 824577932, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.61882566594232447, + -1.0631783312490217, + 1.4870765110021726, + -1.6355983356875752, + -1.9291567433100951, + -2.1555097815384188 + ], + "velocities": [ + -2.1108261931415417, + -0.05623717721223033, + -0.012459021097227567, + 0.9255495344912531, + -0.8530748829038034, + 2.5129511368239372 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2345408731980658, + -0.05953321570592441, + -0.013189239347251656, + 0.97979562301717094, + -0.90307326104862762, + 2.6602341992096736 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 923007973, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39763777603564687, + -1.0690712762021863, + 1.4857709631575644, + -1.538612449685496, + -2.0185482023960994, + -1.8921842831157254 + ], + "velocities": [ + -2.3524211934002373, + -0.062673813675849399, + -0.013885020648961358, + 1.0314834767321599, + -0.95071372556431366, + 2.8005714214895807 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6728404247946425, + -0.071210505686122319, + -0.015776275351442808, + 1.1719800611608995, + -1.0802088015634745, + 3.1820324221200114 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 13006479, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.17644988612896917, + -1.074964221155351, + 1.4844654153129562, + -1.4416265636834171, + -2.1079396614821038, + -1.6288587846930316 + ], + "velocities": [ + -2.5728084143724095, + -0.068545427000238801, + -0.01518584259468728, + 1.1281182875192233, + -1.0397816001885707, + 3.0629437187838606 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.4760252084925937e-14, + -3.2717419022071958e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 95295698, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.044738003777708757, + -1.0808571661085153, + 1.4831598674683479, + -1.3446406776813382, + -2.1973311205681081, + -1.365533286270338 + ], + "velocities": [ + -2.6879328129674578, + -0.071612600994136244, + -0.015865357239503507, + 1.1785977319540351, + -1.0863082792538317, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6983438368719155e-14, + -8.4323244902247359e-16, + -1.6864648980449471e-16, + 1.3491719184359577e-14, + -1.0793375347487661e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 177584916, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.26592589368438624, + -1.08675011106168, + 1.4818543196237397, + -1.2476547916792593, + -2.2867225796541124, + -1.1022077878476444 + ], + "velocities": [ + -2.687932812967456, + -0.071612600994137632, + -0.015865357239503514, + 1.1785977319540355, + -1.0863082792538321, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.2380126042462994e-14, + 0.0, + 0.0, + 3.2380126042462994e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 259874134, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.48711378359106372, + -1.0926430560148446, + 1.4805487717791315, + -1.1506689056771804, + -2.3761140387401167, + -0.83888228942495102 + ], + "velocities": [ + -2.6879328129674587, + -0.07161260099413766, + -0.015865357239503521, + 1.1785977319540375, + -1.0863082792538326, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.3966876737438278e-14, + 1.5178184082404516e-15, + 3.3729297960898927e-16, + -2.4285094531847226e-14, + 2.1586750694975313e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 342163352, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.70830167349774142, + -1.0985360009680092, + 1.4792432239345232, + -1.0536830196751013, + -2.4655054978261211, + -0.57555679100225765 + ], + "velocities": [ + -2.6879328129674578, + -0.071612600994137604, + -0.015865357239503507, + 1.1785977319540377, + -1.0863082792538317, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.2886065511876425e-14, + 0.0, + -3.2380126042462943e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 424452571, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92948956340441913, + -1.1044289459211738, + 1.477937676089915, + -0.95669713367302212, + -2.5548969569121254, + -0.31223129257956383 + ], + "velocities": [ + -2.6879328129674556, + -0.071612600994136189, + -0.015865357239503493, + 1.1785977319540355, + -1.0863082792538308, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3966876737438278e-14, + -3.4403883920116901e-14, + -3.3729297960898927e-16, + 5.6665220574310198e-14, + -8.6347002779901253e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 506741789, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1506774533110968, + -1.1103218908743382, + 1.4766321282453068, + -0.8597112476709432, + -2.6442884159981297, + -0.048905794156870019 + ], + "velocities": [ + -2.6879328129674578, + -0.071612600994136244, + -0.015865357239503507, + 1.1785977319540364, + -1.0863082792538343, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0793375347487657e-14, + 1.5178184082404516e-15, + 3.3729297960898927e-16, + -5.6665220574310198e-14, + 1.538055987016991e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 589031007, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3718653432177745, + -1.1162148358275028, + 1.4753265804006985, + -0.76272536166886407, + -2.7336798750841345, + 0.21441970426582335 + ], + "velocities": [ + -2.6879328129674604, + -0.071612600994137604, + -0.015865357239503507, + 1.1785977319540364, + -1.0863082792538314, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1586750694975332e-14, + -2.8669903266764111e-15, + -6.3242433676685539e-16, + 4.8570189063694497e-14, + -1.7539234939667455e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 671320225, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5930532331244527, + -1.1221077807806674, + 1.4740210325560903, + -0.66573947566678515, + -2.8230713341701383, + 0.47774520268851717 + ], + "velocities": [ + -2.68793281296746, + -0.07161260099413766, + -0.015865357239503518, + 1.1785977319540362, + -1.0863082792538323, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.4760252084925937e-14, + 3.7102227756988821e-14, + 9.6971731637584402e-16, + -7.2855283595541682e-14, + 1.9697910009164973e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 753609444, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8142411230311299, + -1.128000725733832, + 1.4727154847114821, + -0.56875358966470624, + -2.9124627932561431, + 0.7410707011112101 + ], + "velocities": [ + -2.6879328129674565, + -0.071612600994136244, + -0.015865357239503504, + 1.1785977319540351, + -1.0863082792538314, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.5553627432413525e-14, + -3.575305583855283e-14, + -6.7458595921797795e-16, + 8.0950315106157351e-14, + -1.7539234939667427e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 835898662, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0354290129378079, + -1.1338936706869964, + 1.4714099368668738, + -0.47176770366262732, + -3.001854252342147, + 1.0043961995339044 + ], + "velocities": [ + -2.6879328129674569, + -0.071612600994136189, + -0.015865357239503493, + 1.1785977319540355, + -1.0863082792538306, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2952050416985197e-13, + 0.0, + 0.0, + -6.4760252084925987e-14, + 1.2952050416985197e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 918187880, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2566169028444856, + -1.139786615640161, + 1.4701043890222656, + -0.37478181766054819, + -3.0912457114281517, + 1.2677216979565977 + ], + "velocities": [ + -2.6879328129674547, + -0.07161260099413766, + -0.015865357239503521, + 1.1785977319540362, + -1.0863082792538326, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2952050416985197e-13, + 0.0, + -3.2759580644523111e-14, + 6.4760252084925987e-14, + -1.2952050416985197e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 477098, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4778047927511624, + -1.1456795605933257, + 1.4687988411776574, + -0.2777959316584695, + -3.1806371705141556, + 1.5310471963792911 + ], + "velocities": [ + -2.6879328129674547, + -0.07161260099413766, + -0.015865357239504871, + 1.1785977319540362, + -1.0863082792538326, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 3.2886065511876482e-14, + 3.2759580644523111e-14, + -3.2380126042462994e-14, + 1.2952050416985197e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 82766317, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6989926826578401, + -1.1515725055464903, + 1.4674932933330489, + -0.18081004565639036, + -3.2700286296001604, + 1.7943726948019845 + ], + "velocities": [ + -2.68793281296746, + -0.0716126009941363, + -0.015865357239504871, + 1.1785977319540375, + -1.0863082792538326, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0793375347487647e-13, + -2.9850428695395522e-14, + 6.7458595921797795e-16, + -4.8570189063694415e-14, + -8.6347002779901177e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 165055535, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9201805725645178, + -1.1574654504996547, + 1.4661877454884407, + -0.083824159654311448, + -3.3594200886861643, + 2.0576981932246778 + ], + "velocities": [ + -2.6879328129674556, + -0.071612600994136189, + -0.015865357239503493, + 1.1785977319540342, + -1.0863082792538308, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0793375347487647e-13, + -3.0356368164809009e-15, + -6.7458595921797795e-16, + 1.1333044114862029e-13, + 8.6347002779901177e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 247344753, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1413684624711955, + -1.1633583954528193, + 1.4648821976438324, + 0.013161726347767466, + -3.448811547772169, + 2.3210236916473721 + ], + "velocities": [ + -2.6879328129674556, + -0.071612600994137535, + -0.015865357239503493, + 1.1785977319540368, + -1.0863082792538308, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + -6.4760252084925987e-14, + -1.2952050416985197e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 329633971, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3625563523778732, + -1.1692513404059839, + 1.4635766497992242, + 0.11014761234984682, + -3.5382030068581729, + 2.5843491900700655 + ], + "velocities": [ + -2.68793281296746, + -0.07161260099413766, + -0.015865357239503521, + 1.1785977319540388, + -1.0863082792538326, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0793375347487647e-13, + 3.0356368164809009e-15, + 6.7458595921797795e-16, + -4.8570189063694415e-14, + 1.1063209731174839e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 411923190, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.5837442422845509, + -1.1751442853591485, + 1.462271101954616, + 0.20713349835192574, + -3.6275944659441777, + 2.8476746884927588 + ], + "velocities": [ + -2.6879328129674556, + -0.071612600994137535, + -0.015865357239503493, + 1.1785977319540342, + -1.0863082792538332, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0793375347487647e-13, + 2.9850428695395522e-14, + -6.7458595921797795e-16, + 4.8570189063694415e-14, + -4.5871845226822502e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 494212408, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.8049321321912286, + -1.1810372303123131, + 1.4609655541100077, + 0.30411938435400465, + -3.716985925030182, + 3.1110001869154531 + ], + "velocities": [ + -2.6879328129674556, + -0.071612600994136189, + -0.015865357239503493, + 1.1785977319540342, + -1.0863082792538306, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -3.2886065511876482e-14, + 0.0, + 6.4760252084925987e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 576501626, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.0261200220979063, + -1.1869301752654775, + 1.4596600062653995, + 0.40110527035608357, + -3.8063773841161863, + 3.3743256853381465 + ], + "velocities": [ + -2.68793281296746, + -0.0716126009941363, + -0.015865357239503521, + 1.1785977319540388, + -1.0863082792538326, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1586750694975294e-14, + 3.0356368164809009e-15, + 6.7458595921797795e-16, + -1.1333044114862029e-13, + 4.5871845226822502e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 658790844, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.247307912004584, + -1.1928231202186421, + 1.4583544584207913, + 0.49809115635816292, + -3.8957688432021906, + 3.6376511837608398 + ], + "velocities": [ + -2.6879328129674609, + -0.071612600994137535, + -0.015865357239503493, + 1.1785977319540368, + -1.0863082792538306, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.5553627432413462e-14, + -1.5178184082404491e-15, + -3.3729297960898868e-16, + 2.4285094531847185e-14, + 4.3173501389950551e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 741080063, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.4684958019112626, + -1.1987160651718067, + 1.457048910576183, + 0.59507704236024184, + -3.985160302288195, + 3.9009766821835341 + ], + "velocities": [ + -2.6879328129674587, + -0.071612600994137465, + -0.01586535723950348, + 1.1785977319540333, + -1.086308279253827, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.3966876737438278e-14, + 3.1368247103635999e-14, + -3.3729297960898927e-16, + 2.4285094531847226e-14, + -1.538055987016991e-13, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 823369281, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.6896836918179403, + -1.2046090101249713, + 1.4557433627315748, + 0.69206292836232075, + -4.0745517613741988, + 4.1643021806062279 + ], + "velocities": [ + -2.6879328129674578, + -0.071612600994136244, + -0.015865357239503507, + 1.1785977319540351, + -1.0863082792538314, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6728404247945163, + 0.071210505686116546, + 0.015776275351441577, + -1.1719800611608073, + 1.0802088015633935, + -3.1820324221200118 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 905658499, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.910871581724618, + -1.2105019550781357, + 1.4544378148869666, + 0.78904881436439966, + -4.1639432204602036, + 4.4276276790289213 + ], + "velocities": [ + -2.5728084143724148, + -0.068545427000239134, + -0.015185842594687351, + 1.1281182875192286, + -1.0397816001885807, + 3.0629437187838615 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2345408731981835, + 0.059533215705930849, + 0.013189239347253058, + -0.97979562301730128, + 0.90307326104882357, + -2.6602341992096989 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 995657005, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1320594716312948, + -1.2163949000313004, + 1.4531322670423583, + 0.88603470036647858, + -4.2533346795462084, + 4.6909531774516129 + ], + "velocities": [ + -2.3524211934002439, + -0.062673813675849691, + -0.013885020648961422, + 1.0314834767321635, + -0.95071372556431832, + 2.8005714214895816 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3838583781870439, + 0.063511371281327958, + 0.014070576688472735, + -1.0452679710878192, + 0.9634188326062656, + -2.8379975769470533 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 94087046, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3532473615379725, + -1.222287844984465, + 1.4518267191977501, + 0.98302058636855749, + -4.3427261386322122, + 4.9542786758743063 + ], + "velocities": [ + -2.1225174207906758, + -0.056548657922138666, + -0.012528027845583411, + 0.93067587333594004, + -0.85779980658069488, + 2.5268696128724288 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3934941716613687, + 0.063768090582513107, + 0.014127451363694825, + -1.049493048544949, + 0.96731306767705583, + -2.8494690463862637 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 204798540, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5744352514446502, + -1.2281807899376296, + 1.4505211713531418, + 1.0800064723706364, + -4.4321175977182161, + 5.2176041742970014 + ], + "velocities": [ + -1.8542592898073809, + -0.049401655435743305, + -0.010944650813271025, + 0.81305075144679306, + -0.74938525571899173, + 2.2075067125033354 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6889813489381149, + 0.071640536360565429, + 0.015871546158241611, + -1.1790574912571652, + 1.0867320373554257, + -3.2012482883091087 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 334099631, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7956231413513279, + -1.234073734890794, + 1.4492156235085336, + 1.1769923583727158, + -4.5215090568042209, + 5.4809296727196948 + ], + "velocities": [ + -1.5101919265113368, + -0.040234923780861395, + -0.0089138144743525112, + 0.66218499614823156, + -0.61033296112056834, + 1.7978924701994705 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6610351413319595, + 0.070895986271771169, + 0.015706595395699487, + -1.1668037114221568, + 1.0754377830683257, + -3.1679781619472185 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 502978641, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.0168110312580056, + -1.2399666798439586, + 1.4479100756639254, + 1.2739782443747947, + -4.6109005158902256, + 5.7442551711423881 + ], + "velocities": [ + -0.92311447394012336, + -0.024593854494899391, + -0.0054486261082723414, + 0.40476481408724269, + -0.37306992604221167, + 1.0989732713397831 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6024799104960468, + 0.069335942671818807, + 0.015360976766033018, + -1.1411285673395748, + 1.0517731171422102, + -3.0982678113867603 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 915267860, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2379989211646834, + -1.2458596247971232, + 1.4466045278193171, + 1.3709641303768738, + -4.7002919749762295, + 6.0075806695650815 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.77055755653287683, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2379989211646834, + -1.2458596247971232, + 1.4466045278193171, + 1.3709641303768738, + -4.7002919749762295, + 6.0075806695650815 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.42305840540528561, + 1.023986250970357, + 2.1862508018304712, + -2.9933228590018826, + 1.5317739499742056, + -1.700972875431771 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 92994075, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2413307727329137, + -1.2488625694700008, + 1.4491999315843693, + 1.3696633353030327, + -4.7123556601998269, + 6.020976902958421 + ], + "velocities": [ + -0.017914321807414844, + 0.011068703713397382, + 0.12048568921667391, + -0.14073958017017515, + -0.064862655106251554, + 0.072027349028607884 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7634641761244321e-10, + 0.77563827104943572, + 2.3098746444315545, + -3.0855129154809902, + -2.703209104612675e-13, + -2.7634641761244321e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 169379183, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2413307727347318, + -1.244704989720083, + 1.4654746980220921, + 1.3492309891153922, + -4.7123556601998287, + 6.0209769029566029 + ], + "velocities": [ + -3.2175134830828028e-11, + 0.077931207444469644, + 0.28305175712669806, + -0.36098296457116769, + -3.1446061594927697e-14, + -3.2175134830828028e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2554346625681112e-10, + 0.82167348903160253, + 1.6581653754722774, + -2.4798388645038796, + -2.1988900633014167e-13, + -2.2554346625681112e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 214194980, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.241330772736549, + -1.2401591790608502, + 1.481296533210213, + 1.3288633432680383, + -4.7123556601998304, + 6.0209769029547857 + ], + "velocities": [ + -4.5137086453017247e-11, + 0.11814984482202504, + 0.38677620039654792, + -0.50492604521857298, + -4.4110401235562012e-14, + -4.5137086453017247e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6066937768191967e-10, + -0.50940433845599142, + -2.4272099250331847, + 2.9366142634891759, + 2.5423877062128574e-13, + 2.6066937768191967e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 250757602, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2413307727383671, + -1.2352281073588451, + 1.496671515140606, + 1.3085572896356403, + -4.7123556601998322, + 6.0209769029529676 + ], + "velocities": [ + -4.4296071618561525e-11, + 0.1242558398502242, + 0.36995339974102615, + -0.49420923959125029, + -4.3288294848019764e-14, + -4.4296071618561525e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8477852369248509e-10, + -0.79386519274855882, + -2.3859727105655937, + 3.1798379033141293, + 2.7846525699114531e-13, + 2.8477852369248509e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 297512898, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2413307727401843, + -1.2299145917711696, + 1.511604964151932, + 1.2883103250366388, + -4.712355660199834, + 6.0209769029511504 + ], + "velocities": [ + -2.7140151193743238e-11, + 0.080956259917172091, + 0.22114878511059557, + -0.30210504502776858, + -2.6526281731441076e-14, + -2.7140151193743238e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6135663614629936e-10, + -0.81841919248009998, + -2.0839178261484723, + 2.9023370186286042, + 2.5535577542383916e-13, + 2.6135663614629936e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 415465429, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -6.2413307727420024, + -1.224221340746612, + 1.5261015294913403, + 1.2681205086726728, + -4.7123556601998358, + 6.0209769029493323 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.41940816360949235, + "y": 0.12680498639082499, + "z": 0.21189178182404056 + }, + "61": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43312049631588034, + 0.060286259248235802, + 0.26189178182404055 + ], + "xaxis": [ + -0.99612247355883121, + -0.087973794067506605, + -0.00079323918436747869 + ], + "yaxis": [ + 0.087973766173817122, + -0.99612278939765664, + 7.0055882060503027e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43312049631588034, + 0.060286259248235802, + 0.21189178182404056 + ], + "xaxis": [ + -0.99612247355883121, + -0.087973794067506605, + -0.00079323918436747859 + ], + "yaxis": [ + 0.087973766173817122, + -0.99612278939765664, + 7.0055882060503054e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.018350873895232, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0733612643245256, + -0.093377182274040835, + -1.5496579576134009, + -1.1734053863611849, + -2.2746047474235049, + 1.918046543352665 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 363200843, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7026598802431077, + -1.0456552309550684, + 1.3919167448087282, + -2.0995513817473803, + -1.718932632362244, + -3.0845667663291407 + ], + "velocities": [ + 0.94174438114946302, + -0.028612788790866216, + -0.47484872384721688, + -0.35955679608626756, + -0.6969881039002338, + 0.58773095631584316 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0962609759775894, + -0.094072938602421038, + -1.5612045079009205, + -1.1821484668808282, + -2.2915528990922809, + 1.9323379686041677 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 512286785, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9017425349171801, + -1.0517039104737733, + 1.2915347872368506, + -2.1755608837988691, + -1.8662743577584104, + -2.9603217574290883 + ], + "velocities": [ + 1.5391704212977046, + -0.046764237790286635, + -0.77608438655563705, + -0.58765329147710843, + -1.1391450748134087, + 0.96057711811161739 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8519724741551586, + -0.08665078090592071, + -1.4380287442192738, + -1.0888794304052762, + -2.1107541780188455, + 1.7798805526991632 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 626506102, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1008251895912524, + -1.0577525899924782, + 1.1911528296649729, + -2.2515703858503584, + -2.0136160831545769, + -2.8360767485290359 + ], + "velocities": [ + 1.8938441060964246, + -0.057540201455116152, + -0.95491884522614878, + -0.72306724914435161, + -1.401640231693918, + 1.1819245539119603 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6734205061340002, + -0.081225880209467846, + -1.3479988211825666, + -1.0207085181689004, + -1.9786072811223729, + 1.6684484900103804 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 723871205, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2999078442653254, + -1.0638012695111831, + 1.0907708720930955, + -2.3275798879018472, + -2.160957808550743, + -2.7118317396289835 + ], + "velocities": [ + 2.1678551364690231, + -0.065865411454085615, + -1.0930813771158292, + -0.82768430887431343, + -1.6044366935894905, + 1.3529314302422564 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.580489219249793, + -0.078402371689627146, + -1.3011407736423786, + -0.98522747210457029, + -1.9098285310335927, + 1.6104512296013662 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 810768615, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4989904989393974, + -1.0698499490298881, + 0.99038891452121791, + -2.4035893899533365, + -2.3082995339469092, + -2.5875867307289311 + ], + "velocities": [ + 2.3983247830013834, + -0.072867714256133795, + -1.209289362777324, + -0.91567732413517189, + -1.7750080345589807, + 1.4967646704182236 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7169005724447919, + -0.082546924410917211, + -1.3699224497316524, + -1.0373091516838469, + -2.0107870207440026, + 1.6955838586571848 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 890222377, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6980731536134703, + -1.075898628548593, + 0.89000695694934051, + -2.4795988920048257, + -2.4556412593430754, + -2.4633417218288787 + ], + "velocities": [ + 2.6094462400539813, + -0.079282165757817047, + -1.3157415556067931, + -0.99628322548415671, + -1.9312597170634649, + 1.6285229461627166 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3427962216860805, + -0.071180603583021779, + -1.1812906117302655, + -0.89447659069047436, + -1.7339111642846654, + 1.4621099858795639 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 963596593, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8971558082875424, + -1.0819473080672979, + 0.78962499937746289, + -2.5556083940563146, + -2.6029829847392421, + -2.3390967129288263 + ], + "velocities": [ + 2.7967106460325599, + -0.084971774322056187, + -1.4101644860546487, + -1.0677805353512699, + -2.0698547178551898, + 1.7453923330290029 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1103739378303588, + -0.094501729264510573, + -1.5683205810729672, + -1.1875367776035579, + -2.301997948427537, + 1.9411456925814132 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 32718424, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0962384629616153, + -1.0879959875860028, + 0.68924304180558549, + -2.6316178961078038, + -2.7503247101354082, + -2.2148517040287738 + ], + "velocities": [ + 2.9840515009937634, + -0.090663705617003293, + -1.5046259638010775, + -1.1393070333418345, + -2.208506298789584, + 1.8623094307545918 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.97229515407907618, + -0.029541005439324048, + -0.4902531115223156, + -0.37122104198189565, + -0.71959883110282485, + 0.60679731375783363 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 97189604, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2953211176356874, + -1.0940446671047077, + 0.58886108423370787, + -2.7076273981592927, + -2.8976664355315744, + -2.0906066951287214 + ], + "velocities": [ + 3.1189662778159004, + -0.094762788225030384, + -1.5726530323819705, + -1.1908173219826357, + -2.3083571674197838, + 1.9465080651080346 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8023297866180625, + 0.085142499293630811, + 1.412997783273571, + 1.0699259160151204, + 2.0740134622241344, + -1.7488991687861084 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 160390447, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4944037723097603, + -1.1000933466234124, + 0.48847912666183024, + -2.7836369002107819, + -3.0450081609277406, + -1.966361686228669 + ], + "velocities": [ + 3.0587212455253754, + -0.092932378169890251, + -1.5422761304604822, + -1.1678158459727097, + -2.2637696215144612, + 1.9089098896900181 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4869253980716794, + 0.075559645035331385, + 1.2539637880677976, + 0.94950492525896912, + 1.8405816402405941, + -1.552059212406345 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 227479415, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.6934864269838323, + -1.1061420261421173, + 0.38809716908995262, + -2.8596464022622712, + -3.1923498863239068, + -1.8421166773286166 + ], + "velocities": [ + 2.8814537753179925, + -0.087546504055788815, + -1.4528938801465894, + -1.1001353533529488, + -2.1325733856609173, + 1.7982794661121149 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5490897614300869, + 0.077448369656031205, + 1.2853084599342244, + 0.97323919940703363, + 1.886589689361247, + -1.59085521847394 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 298695706, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.8925690816579053, + -1.1121907056608222, + 0.28771521151807544, + -2.93565590431376, + -3.339691611720073, + -1.7178716684285642 + ], + "velocities": [ + 2.7014228959816697, + -0.082076669959198018, + -1.3621182567214705, + -1.0313997946743263, + -1.9993319416514965, + 1.6859244332638474 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7943000548656367, + 0.084898533921267089, + 1.4089490117049468, + 1.0668601747376187, + 2.0680706314298507, + -1.7438879130610181 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 375049210, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.0916517363319773, + -1.1182393851795271, + 0.18733325394619782, + -3.0116654063652493, + -3.4870333371162396, + -1.5936266595285118 + ], + "velocities": [ + 2.4957063864736195, + -0.075826435654467006, + -1.25839136015643, + -0.95285749536112729, + -1.8470804785442971, + 1.5575393180635322 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8487858212862434, + 0.08655396161258086, + 1.4364219620834404, + 1.0876627704296431, + 2.1083957257833759, + -1.7778918022742967 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 458555913, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.2907343910060503, + -1.1242880646982321, + 0.086951296374320197, + -3.0876749084167381, + -3.6343750625124058, + -1.4693816506284594 + ], + "velocities": [ + 2.2580577309915952, + -0.068606014782466807, + -1.1385635565204701, + -0.8621235436968433, + -1.6711959295155214, + 1.4092257476834851 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0591650580046714, + 0.09294586241571233, + 1.542499910706711, + 1.1679852930077481, + 2.2640980885855315, + -1.9091868675389474 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 551930615, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.4898170456801223, + -1.130336744216937, + -0.013430661197557425, + -3.1636844104682273, + -3.7817167879085725, + -1.345136641728407 + ], + "velocities": [ + 1.9771120313572159, + -0.060070110426415413, + -0.99690440822917004, + -0.7548588361427051, + -1.4632670961647078, + 1.2338910305095996 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9574193378854239, + 0.08985454713056297, + 1.4911974274397473, + 1.1291389076468215, + 2.1887957475622066, + -1.8456886289682788 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 661188183, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.6888997003541952, + -1.1363854237356419, + -0.1138126187694346, + -3.2396939125197166, + -3.9290585133047382, + -1.2208916328283546 + ], + "velocities": [ + 1.6404591151360277, + -0.049841667357916467, + -0.82715642687996715, + -0.62632518479047183, + -1.2141091691876511, + 1.0237901322640548 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1519376687214633, + 0.095764549916427993, + 1.5892779501498699, + 1.2034057567148571, + 2.3327594019223241, + -1.9670851001250682 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 797660429, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.8879823550282673, + -1.1424341032543468, + -0.21419457634131223, + -3.3157034145712059, + -4.0764002387009048, + -1.0966466239283021 + ], + "velocities": [ + 1.1753607993805129, + -0.035710699186429107, + -0.59264338266044125, + -0.44875124474311129, + -0.86988838092029108, + 0.73352805757428541 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.1493680036755394, + -0.036516025989064893, + 1.0323061584771465, + -0.58475686385313475, + 0.040220971750236152, + 3.148332185590927 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 20861272, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.0870650097023402, + -1.1484827827730517, + -0.31457653391318974, + -3.3917129166226947, + -4.223741964097071, + -0.97240161502824973 + ], + "velocities": [ + 0.90611984936637802, + -0.030565286670621847, + -0.35176676102613036, + -0.39603969924193683, + -0.65631349583667764, + 0.85544508829089794 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1275171493264224, + -0.041693528906379514, + -0.31094192797898518, + -0.55320800777798396, + -0.79941782146002038, + 1.4141371049186982 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 177282282, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.2310185909314901, + -1.153805923803535, + -0.35427544591077087, + -3.4623426839232265, + -4.3258060953311972, + -0.7918543827988429 + ], + "velocities": [ + 1.0018418271824228, + -0.037046284578638039, + -0.27628371724563328, + -0.49154633404497483, + -0.71031310824157279, + 1.2565145478493336 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.412768425530182, + 0.089219778301664235, + 0.66538310876191997, + 1.1838071063615847, + 1.7106702807821406, + -3.0261050647051251 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 310155810, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.3749721721606409, + -1.1591290648340185, + -0.393974357908352, + -3.5329724512237588, + -4.4278702265653234, + -0.61130715056943596 + ], + "velocities": [ + 0.87166503213223745, + -0.032232583988269309, + -0.24038410928382747, + -0.42767604569356699, + -0.61801681814448672, + 1.0932462231148987 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0755827099711106, + 0.017361290091690594, + 2.4591419585331051, + 0.10744464172976875, + 1.7119787440308274, + 2.5800028791611753 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 528286433, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5189257533897909, + -1.1644522058645017, + -0.43367326990593319, + -3.6036022185242906, + -4.5299343577994495, + -0.43075991834002897 + ], + "velocities": [ + 0.40309681650750556, + -0.022255063770916877, + 0.12231319559770608, + -0.31049988731919576, + -0.25605301901619637, + 1.1469676783275957 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.30382726819695044, + -0.041770195211943743, + 0.88627809537798474, + -0.61742045558038727, + -0.091827192676247837, + 3.0459958417320196 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 805140243, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.559416047723813, + -1.1700188145121002, + -0.31556122171284945, + -3.6858842866304702, + -4.5421719363466035, + -0.024827728961988704 + ], + "velocities": [ + 0.18147328890417541, + -0.024948961126056379, + 0.52936591836027214, + -0.36877967331838013, + -0.054847554548628774, + 1.8193458627592003 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.29624165559158044, + -0.040727324632192155, + 0.86415051501928208, + -0.60200540604095909, + -0.089534556092238468, + 2.9699468926361301 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 991994052, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.5999063420578352, + -1.1755854231596985, + -0.19744917351976571, + -3.7681663547366497, + -4.5544095148937584, + 0.38110446041605156 + ], + "velocities": [ + 0.241771134946486, + -0.033238713441554074, + 0.70525750459910008, + -0.49131351893036967, + -0.073071665765993637, + 2.4238570687488084 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.28114976021628107, + -0.038652489744333614, + 0.82012676307570564, + -0.57133651653199646, + -0.084973259166163037, + 2.8186443093308542 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 143729915, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6403966363918583, + -1.1811520318072968, + -0.079337125326681968, + -3.8504484228428293, + -4.5666470934409134, + 0.78703664979409171 + ], + "velocities": [ + 0.28679061585626098, + -0.039427994993212256, + 0.83658139804817866, + -0.58279954182179639, + -0.086678122395834806, + 2.8751962538782263 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.096227366191887903, + -0.013229345392268462, + 0.28069964667062797, + -0.19554776839510965, + -0.029083264805252411, + 0.96471972058580457 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 275734498, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6808869307258805, + -1.1867186404548953, + 0.038774922866401773, + -3.9327304909490088, + -4.5788846719880674, + 1.192968839172132 + ], + "velocities": [ + 0.31296132076836691, + -0.043025945432291011, + 0.91292254623362612, + -0.63598215655412438, + -0.094587821800689392, + 3.1375685511725058 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7503976140664707e-15, + 1.4003180912531766e-14, + -5.2511928421994116e-15, + 2.6255964210997058e-15, + -5.4699925439577206e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 402588307, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7213772250599026, + -1.1922852491024938, + 0.15688697105948551, + -4.0150125590551884, + -4.5911222505352214, + 1.5989010285501721 + ], + "velocities": [ + 0.31918863608080328, + -0.043882077200154398, + 0.93108791100544952, + -0.64863695176083636, + -0.096469933588894968, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 529442116, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.7618675193939248, + -1.1978518577500921, + 0.27499901925256925, + -4.0972946271613679, + -4.6033598290823763, + 2.0048332179282125 + ], + "velocities": [ + 0.31918863608080317, + -0.04388207720015351, + 0.93108791100544919, + -0.64863695176083624, + -0.096469933588898438, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.5137524843093802e-14, + -1.378438121077345e-14, + 3.5007952281329399e-15, + 0.0, + 5.5246924693972957e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 656295925, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.802357813727947, + -1.2034184663976903, + 0.393111067445653, + -4.1795766952675475, + -4.6155974076295312, + 2.4107654073062528 + ], + "velocities": [ + 0.31918863608080666, + -0.043882077200154385, + 0.93108791100544941, + -0.64863695176083624, + -0.096469933588894941, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.5137524843093802e-14, + 0.0, + -3.5007952281329399e-15, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 783149735, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.8428481080619701, + -1.2089850750452888, + 0.51122311563873679, + -4.261858763373727, + -4.6278349861766852, + 2.8166975966842931 + ], + "velocities": [ + 0.31918863608080666, + -0.043882077200155259, + 0.93108791100544941, + -0.64863695176083624, + -0.096469933588891429, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6255964210997058e-15, + 1.3401481732696416e-14, + 8.7519880703323526e-15, + -6.0388717685293243e-14, + -5.6012723650127063e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 910003544, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.8833384023959923, + -1.2145516836928874, + 0.62933516383182053, + -4.3441408314799066, + -4.6400725647238392, + 3.2226297860623334 + ], + "velocities": [ + 0.31918863608080333, + -0.043882077200154412, + 0.93108791100544974, + -0.64863695176084013, + -0.096469933588894982, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6255964210997058e-15, + 3.8289947807704048e-16, + -8.7519880703323526e-15, + 6.0388717685293243e-14, + 7.6579895615408095e-16, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 36857353, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.9238286967300144, + -1.2201182923404856, + 0.74744721202490427, + -4.426422899586087, + -4.6523101432709941, + 3.6285619754403733 + ], + "velocities": [ + 0.31918863608080333, + -0.043882077200153538, + 0.93108791100544974, + -0.64863695176084013, + -0.096469933588898493, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -1.378438121077345e-14, + 0.0, + 0.0, + 5.5246924693972957e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 163711162, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.9643189910640366, + -1.2256849009880839, + 0.86555926021798801, + -4.5087049676922666, + -4.664547721818149, + 4.0344941648184136 + ], + "velocities": [ + 0.31918863608080317, + -0.043882077200154385, + 0.93108791100544919, + -0.64863695176083624, + -0.096469933588894941, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.22646942259488312, + 0.03113503290031738, + -0.66062170689904975, + 0.46021825132206268, + 0.068446954834921553, + -2.2704509822215799 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 290564971, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0048092853980588, + -1.2312515096356824, + 0.98367130841107175, + -4.5909870357984461, + -4.676785300365303, + 4.4404263541964539 + ], + "velocities": [ + 0.30407297220550017, + -0.041803974617143108, + 0.88699482525551188, + -0.61791976126087156, + -0.091901452993506647, + 3.0484591275087736 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.27939330553965586, + 0.038411012226006715, + -0.8150031041142819, + 0.56776714946008366, + 0.084442397328206631, + -2.8010351142347063 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 430690496, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.045299579732081, + -1.2368181182832809, + 1.1017833566041555, + -4.6732691039046257, + -4.6890228789124571, + 4.8463585435744942 + ], + "velocities": [ + 0.26769312237205045, + -0.036802470182261862, + 0.78087313245330892, + -0.54399070416400841, + -0.080906194075461443, + 2.6837358688850639 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.29081698065813089, + 0.039981539922755126, + -0.84832648909630026, + 0.59098169086009733, + 0.087895030208747449, + -2.9155622503751673 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 594998693, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0857898740661041, + -1.2423847269308792, + 1.2198954047972392, + -4.7555511720108052, + -4.701260457459612, + 5.2522907329525346 + ], + "velocities": [ + 0.2191385164205516, + -0.030127179379466573, + 0.63923711689782658, + -0.44532080167300647, + -0.066231299414144504, + 2.1969555719653986 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.31191347456774299, + 0.042881887459440868, + -0.90986593074137867, + 0.63385278323484739, + 0.094271126148165491, + -3.127063453362108 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 806052621, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1262801684001262, + -1.2479513355784775, + 1.338007452990323, + -4.8378332401169848, + -4.7134980360067669, + 5.6582229223305749 + ], + "velocities": [ + 0.13586682224491003, + -0.018678980730320944, + 0.39632976052110236, + -0.27610081144636994, + -0.041063690361403671, + 1.3621218992071147 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.31522125952554553, + 0.043336641979097361, + -0.91951489138180675, + 0.64057467527478285, + 0.095270854080587955, + -3.1602253854250297 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 312906430, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1667704627341484, + -1.253517944226076, + 1.4561195011834067, + -4.9201153082231643, + -4.7257356145539209, + 6.0641551117086152 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.45356892334326859, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1667704627341484, + -1.253517944226076, + 1.4561195011834067, + -4.9201153082231643, + -4.7257356145539209, + 6.0641551117086152 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.24852292355111999, + 0.25490674935214291, + 2.4530354383789108, + -3.1539321985015025, + -1.3642347875362086, + -1.7436306747604371 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 103190349, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1691853199395386, + -1.2509400943659192, + 1.4520030955999477, + -4.9142431394012247, + -4.7124795648619919, + 6.0810976901141283 + ], + "velocities": [ + 0.011700983777751292, + 0.036983049487891585, + 0.075602705441253804, + -0.091587603682451252, + 0.06423105386404486, + 0.082093813060506851 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6112137721149855e-09, + 0.75757062096969585, + 2.3065596288292345, + -3.0641302497988359, + -1.3405762562614313e-12, + -1.6112137721149855e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 188328444, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1691853199288618, + -1.2467696390216145, + 1.4682727126273116, + -4.9346832117728923, + -4.7124795648620008, + 6.0810976901034515 + ], + "velocities": [ + -1.7829985229913186e-10, + 0.073854756111286252, + 0.26681845133680598, + -0.34067320744807605, + -1.4833164408866018e-13, + -1.7829985229913186e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5437368305728809e-09, + 0.91729147408510514, + 1.9873942400507953, + -2.9046857141353266, + -1.2838116263430536e-12, + -1.5437368305728809e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 234505677, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1691853199181859, + -1.2422107956618509, + 1.484090266981636, + -4.9550596094869794, + -4.7124795648620097, + 6.0810976900927756 + ], + "velocities": [ + -2.6299325965276073e-10, + 0.11762002719636691, + 0.38347806555190483, + -0.50109809274824069, + -2.1878618809800121e-13, + -2.6299325965276073e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6026626166562241e-09, + -0.54496883944182228, + -2.5345230348135712, + 3.0794918742549333, + 1.3332190472142283e-12, + 1.6026626166562241e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 270723683, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1691853199075091, + -1.2372664895878707, + 1.4994617687592529, + -4.9753754173385749, + -4.7124795648620186, + 6.0810976900820988 + ], + "velocities": [ + -2.6154279973504999e-10, + 0.12520895683089903, + 0.37183360068901128, + -0.49704255751987703, + -2.1757158284256719e-13, + -2.6154279973504999e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6729239747528418e-09, + -0.7955167368485091, + -2.384228795747612, + 3.1797455325959239, + 1.3915918475364608e-12, + 1.6729239747528418e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 317491580, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1691853198968323, + -1.2319394963942973, + 1.5143924750431397, + -4.9956331168160339, + -4.7124795648620275, + 6.081097690071422 + ], + "velocities": [ + -1.5939811619892663e-10, + 0.081141457880560472, + 0.22106283324999779, + -0.30220429113054259, + -1.3260284575674346e-13, + -1.5939811619892663e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.534445909718284e-09, + -0.82026764835484234, + -2.0832920760070333, + 2.9035597243617479, + 1.2765772959386721e-12, + 1.534445909718284e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 435453422, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.1691853198861564, + -1.2262324857341145, + 1.528886975844058, + -5.0158346282771342, + -4.7124795648620363, + 6.0810976900607461 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43312049631588034, + "y": 0.060286259248235802, + "z": 0.21189178182404056 + }, + "62": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43099873992202836, + -0.0064297419007101498, + 0.26189178182404055 + ], + "xaxis": [ + -0.98676096704480221, + 0.16217945757628999, + -0.00078578436431396765 + ], + "yaxis": [ + -0.16217940615434692, + -0.98676127991539087, + -0.00012914783400023191 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43099873992202836, + -0.0064297419007101498, + 0.21189178182404056 + ], + "xaxis": [ + -0.98676096704480221, + 0.16217945757628999, + -0.00078578436431396765 + ], + "yaxis": [ + -0.16217940615434692, + -0.98676127991539087, + -0.00012914783400023186 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.90073084378598511, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.87226276222035348, + -0.32942413458487768, + 0.22808933772480527, + 0.097905245892036613, + 3.0888615715504719, + -0.015982183586065662 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 529993082, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3770728808918624, + -1.0873829624806959, + 1.5253785189754097, + -2.0093426733231432, + -1.1236130431480407, + -3.2111296727121927 + ], + "velocities": [ + -0.40290639122939492, + -0.1521641126942079, + 0.10535661491117014, + 0.045223355866271089, + 1.4267742734226265, + -0.0073823212356730217 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.8398812520596054, + -0.31719473373998891, + 0.2196218465891068, + 0.094270653367913765, + 2.9741919941060555, + -0.015388867830066884 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 753056717, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2505685362146897, + -1.1351593735250285, + 1.558458335570214, + -1.9951434669503956, + -0.67563517933000361, + -3.2134475701951928 + ], + "velocities": [ + -0.65018437646700411, + -0.24555264172121274, + 0.17001771742482014, + 0.072978538131245774, + 2.3024364009065472, + -0.011913114395750879 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.79173184675465613, + -0.29901033236421493, + 0.20703118418379005, + 0.088866227580044879, + 2.8036850618132121, + -0.014506642119575974 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 925583064, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1240641915375169, + -1.1829357845693609, + 1.591538152165018, + -1.9809442605776477, + -0.22765731551196655, + -3.2157654676781924 + ], + "velocities": [ + -0.79651787480480873, + -0.30081785323614624, + 0.20828269005515587, + 0.089403424940051462, + 2.8206333700120583, + -0.01459433493676208 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.30549448696597303, + -0.11537493212831026, + 0.079884225520857402, + 0.034289567502482084, + 1.0818187156215389, + -0.005597474965927004 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 72717200, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.99755984686034405, + -1.2307121956136933, + 1.6246179687598221, + -1.9667450542048999, + 0.22032054830607062, + -3.218083365161192 + ], + "velocities": [ + -0.88171816657782087, + -0.33299512091206884, + 0.2305618460230196, + 0.098966547289647128, + 3.122345100170798, + -0.016155431848932651 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.7236119512099937e-15, + 1.0706251031030447e-14, + -1.0706251031030447e-14, + 1.1598438616949651e-14, + 0.0, + 2.2602085509953165e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 212710283, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.87105550218317118, + -1.2784886066580259, + 1.6576977853546264, + -1.9525458478321522, + 0.66829841212410779, + -3.220401262644192 + ], + "velocities": [ + -0.90364711219611316, + -0.34127694176416667, + 0.23629607990266802, + 0.10142791432937609, + 3.2000000000000002, + -0.016557228704077723 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.5513894234972663e-15, + 2.3791668957845428e-15, + -1.7843751718384073e-15, + -6.9392367793715829e-16, + 0.0, + -2.2527736544459892e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 352703365, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.74455115750599854, + -1.3262650177023583, + 1.6907776019494305, + -1.9383466414594044, + 1.1162762759421447, + -3.2227191601271916 + ], + "velocities": [ + -0.90364711219611293, + -0.34127694176416573, + 0.23629607990266716, + 0.10142791432937687, + 3.2000000000000002, + -0.01655722870407772 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.9305563192818097e-16, + -1.3878473558743167e-14, + 1.7843751718384073e-15, + -1.060711907703942e-14, + 0.0, + 2.2527736544459892e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 492696448, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.61804681282882568, + -1.3740414287466907, + 1.7238574185442346, + -1.9241474350866565, + 1.5642541397601821, + -3.2250370576101917 + ], + "velocities": [ + -0.90364711219611338, + -0.34127694176416656, + 0.23629607990266716, + 0.10142791432937606, + 3.2000000000000002, + -0.01655722870407772 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5861112638563613e-15, + 1.6257640454527704e-14, + 7.9305563192818067e-15, + 9.9131953991022584e-15, + 0.0, + 2.4782988497755646e-16 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 632689530, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.49154246815165292, + -1.4218178397910233, + 1.7569372351390387, + -1.9099482287139089, + 2.0122320035782191, + -3.2273549550931913 + ], + "velocities": [ + -0.90364711219611327, + -0.34127694176416634, + 0.23629607990266782, + 0.10142791432937602, + 3.2000000000000002, + -0.016557228704076124 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.9305563192818099e-15, + -7.5340285033177196e-15, + -6.3444450554254478e-15, + -9.2192717211651043e-15, + 0.0, + -2.3023396314415004e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 772682612, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.36503812347447995, + -1.4695942508353557, + 1.790017051733843, + -1.895749022341161, + 2.4602098673962569, + -3.2296728525761909 + ], + "velocities": [ + -0.90364711219611371, + -0.34127694176416579, + 0.23629607990266793, + 0.10142791432937606, + 3.2000000000000002, + -0.01655722870407772 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.30549448696599707, + 0.11537493212829367, + -0.079884225520849686, + -0.034289567502483638, + -1.0818187156215453, + 0.0055974749659272712 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 912675695, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.23853377879730719, + -1.5173706618796881, + 1.823096868328647, + -1.8815498159684134, + 2.9081877312142934, + -3.2319907500591909 + ], + "velocities": [ + -0.88171816657781976, + -0.33299512091206895, + 0.23056184602301888, + 0.098966547289647155, + 3.122345100170798, + -0.016155431848932658 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.79173184675463204, + 0.29901033236422059, + -0.20703118418378752, + -0.088866227580043783, + -2.8036850618132072, + 0.014506642119575785 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 59809832, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.11202943412013466, + -1.5651470729240207, + 1.8561766849234511, + -1.8673506095956656, + 3.3561655950323308, + -3.2343086475421905 + ], + "velocities": [ + -0.79651787480480785, + -0.30081785323614707, + 0.2082826900551559, + 0.089403424940051462, + 2.8206333700120583, + -0.014594334936762082 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.83595815954624852, + 0.31571311442517036, + -0.21859599106487709, + -0.093830314339569482, + -2.960299517858048, + 0.015316986296784522 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 232336178, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.01447491055703809, + -1.6129234839683531, + 1.8892565015182552, + -1.8531514032229177, + 3.8041434588503673, + -3.2366265450251901 + ], + "velocities": [ + -0.65064854612156919, + -0.24572794289578753, + 0.1701390938651397, + 0.07303063784951197, + 2.3040801209766499, + -0.011921619223602808 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.87515193231968458, + 0.33051527638395412, + -0.22884483127912456, + -0.098229534536754967, + -3.0990927162009521, + 0.016035120899153859 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 455035270, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14097925523421106, + -1.6606998950126854, + 1.9223363181130595, + -1.8389521968501701, + 4.2521213226684056, + -3.2389444425081901 + ], + "velocities": [ + -0.40337056088395967, + -0.15233941386878272, + 0.10547799135148957, + 0.045275455584537237, + 1.4284179934927292, + -0.007390826063524941 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.90073084378598633, + 0.34017556584989828, + -0.23553350036917839, + -0.10110058409341233, + -3.1896728946660038, + 0.016503794877555513 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 985028352, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.26748359991138387, + -1.7084763060570181, + 1.9554161347078636, + -1.8247529904774222, + 4.7000991864864421, + -3.2412623399911897 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.79821089256243127, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.26748359991138387, + -1.7084763060570181, + 1.9554161347078636, + -1.8247529904774222, + 4.7000991864864421, + -3.2412623399911897 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.39408260820950725, + 0.53312117931123504, + 1.9251608508480382, + -3.15804722403848, + -1.3999586995911826, + 0.94440230833356753 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 93907178, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27100313447900798, + -1.7078959443007953, + 1.9552859379006293, + -1.8189535830390737, + 4.7126021564953913, + -3.2496967557678045 + ], + "velocities": [ + -0.018739433136740234, + 0.031531165141967021, + 0.090158889922084914, + -0.088414790531916004, + 0.066570896166940008, + -0.044908259135867372 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.9705162527947037e-10, + 0.89359936899999159, + 2.2979034596242136, + -3.1915028286241145, + 3.6404568018285015e-13, + -4.9704370200965144e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 190208172, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.2710031344826459, + -1.7024181351670991, + 1.9727842349458087, + -1.8419296892179486, + 4.7126021564953939, + -3.2496967557714425 + ], + "velocities": [ + -5.5857344929958282e-11, + 0.089387743264003963, + 0.26529277371247573, + -0.35468051697646952, + 4.09113524024977e-14, + -5.5857633146876864e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.4808047881951797e-10, + 1.0483119086905164, + 1.9188662499171736, + -2.9671781586076071, + 3.2823150309798326e-13, + -4.4814541222977957e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 239411206, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27100313448628388, + -1.6964206139228559, + 1.9899502548867727, + -1.8650932304031551, + 4.7126021564953966, + -3.2496967557750804 + ], + "velocities": [ + -8.3800674241926805e-11, + 0.14496742462762074, + 0.39111696216415204, + -0.53608438679175741, + 6.1378493754873268e-14, + -8.3802103473320298e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.8333893902135439e-10, + -0.6283112073732855, + -2.386515193116145, + 3.0148264004892433, + -3.5409097001616564e-13, + 4.8345220439540461e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 278251069, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27100313448992175, + -1.689893903989349, + 2.0067816103454823, + -1.888451295795371, + 4.7126021564953993, + -3.2496967557787184 + ], + "velocities": [ + -8.2871066202416552e-11, + 0.15401234670037284, + 0.38006553844847213, + -0.53407788514883203, + 6.0696822971860164e-14, + -8.2871395630913069e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.8986304180145762e-10, + -0.90112891560271591, + -2.2519814567263259, + 3.153110372329003, + -3.587605756300282e-13, + 4.898277725935319e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 328724796, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27100313449355984, + -1.6828284319612854, + 2.0232753380834581, + -1.9120104955614099, + 4.7126021564954019, + -3.2496967557823564 + ], + "velocities": [ + -5.0622135410122093e-11, + 0.10051234621781645, + 0.22813826311485791, + -0.32865060933266727, + 3.7076279772450168e-14, + -5.0621480649318631e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.6764750123673372e-10, + -0.97876008177382978, + -2.0764145911804937, + 3.0551746729542377, + -3.4252571275007199e-13, + 4.6766177314143163e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 453457157, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.27100313449719771, + -1.675214578019788, + 2.0394279353477338, + -1.9357769467671824, + 4.7126021564954046, + -3.2496967557859944 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43099873992202836, + "y": -0.0064297419007101498, + "z": 0.21189178182404056 + }, + "63": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42626432996268637, + 0.093545622819530494, + 0.28189178182404157 + ], + "xaxis": [ + -0.98083843512269897, + -0.19482133897160767, + -0.00078106809245384709 + ], + "yaxis": [ + 0.19482127719996317, + -0.98083874611544086, + 0.00015514143604391015 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42626432996268637, + 0.093545622819530494, + 0.23189178182404158 + ], + "xaxis": [ + -0.98083843512269897, + -0.19482133897160767, + -0.00078106809245384698 + ], + "yaxis": [ + 0.19482127719996317, + -0.98083874611544086, + 0.00015514143604391021 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.085581921142838732, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.085393367069345374, + -0.52832824174270865, + -0.4413047485448835, + 3.1972355172697515, + 0.40992486179409077, + 1.4396780713896065 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 434538640, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.495497272532099, + -1.0895971716434503, + 1.4505422783679089, + -1.7210182327879968, + -1.5328036598338861, + -3.0725888857430812 + ], + "velocities": [ + -0.031717769884330144, + -0.19623764901294286, + -0.16391439925119358, + 1.1875533648932612, + 0.15225892692218118, + 0.5347415067820056 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.046883732334051374, + -0.29006936628070795, + -0.24229064175110285, + 1.755386154042138, + 0.22506206461933037, + 0.79043002592237321 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 614728967, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.487417319495163, + -1.1395877918505368, + 1.4087858543552123, + -1.4184945858801028, + -1.4940164127016944, + -2.9363659962569697 + ], + "velocities": [ + -0.048751563460803435, + -0.30162562608097265, + -0.25194341425567485, + 1.8253201105506029, + 0.23402845677330203, + 0.82192047543316771 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.081528094039694979, + 0.50441382105996335, + 0.42132938744892917, + -3.0525148130923427, + -0.39136989005734291, + -1.3745120167918614 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 768159646, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4793373664582268, + -1.1895784120576236, + 1.3670294303425159, + -1.1159709389722088, + -1.4552291655695027, + -2.8001431067708578 + ], + "velocities": [ + -0.045161953654921094, + -0.27941673208403828, + -0.23339265431816186, + 1.6909205856415053, + 0.21679678698358312, + 0.761401928153286 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1150932397690589, + -3.0366230163073809, + -2.3565176069940463, + 0.76894720015631157, + -2.5694184360719161, + -1.2065089619232072 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 982698285, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4712574134212906, + -1.2395690322647104, + 1.3252730063298193, + -0.81344729206431454, + -1.4164419184373109, + -2.6639202172847458 + ], + "velocities": [ + -0.14379593228905546, + -0.52203857464133852, + -0.41892558290217158, + 1.4833005925026597, + -0.063762020722797783, + 0.5201225315633744 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.31409165634492286, + -1.0192779333859305, + -0.80834386048835427, + 1.9560689792649659, + -0.38746888702799387, + 0.5093328142774457 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 148877362, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4297242983617104, + -1.3743506695028536, + 1.2183837022456003, + -0.55479146234347987, + -1.4676778858431712, + -2.5965698819553213 + ], + "velocities": [ + -0.27392559005508871, + -0.88893258923840823, + -0.70497278255784745, + 1.7059267207824131, + -0.33791933457339474, + 0.44419929299921845 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.45393536197524903, + -1.4730932461854636, + -1.1682445410402555, + 2.8269737900203302, + -0.55998249534538003, + 0.73610416177686822 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 288287044, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3881911833021303, + -1.5091323067409967, + 1.1114943981613816, + -0.2961356326226452, + -1.5189138532490314, + -2.5292195466258969 + ], + "velocities": [ + -0.32698030629933161, + -1.0611036750899285, + -0.84151399044937181, + 2.0363356398117718, + -0.40336854800989408, + 0.53023312226367825 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.4436071744541551, + -1.4395766168212949, + -1.1416639974187412, + 2.7626529243944216, + -0.54724146500292647, + 0.71935591421855016 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 404940219, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.34665806824255, + -1.6439139439791399, + 1.0046050940771627, + -0.037479802901810522, + -1.5701498206548916, + -2.4618692112964728 + ], + "velocities": [ + -0.38035848669340622, + -1.2343244541233771, + -0.97888766317822429, + 2.3687589969091611, + -0.46921679240311343, + 0.61679148283110197 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.22169481530415813, + 0.71943532602931681, + 0.57055206412876269, + -1.3806490631642847, + 0.27348654958044127, + -0.35950157194110632 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 507572803, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3051249531829698, + -1.7786955812172831, + 0.89771578999294388, + 0.22117602681902415, + -1.6213857880607518, + -2.3945188759670484 + ], + "velocities": [ + -0.39295117107962846, + -1.2751897399648944, + -1.0112960984392128, + 2.4471824723373512, + -0.48475134515311225, + 0.63721185137059566 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.45258434682675502, + 1.4687089847742416, + 1.1647675788904075, + -2.8185600713842618, + 0.55831585974599796, + -0.73391334793708785 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 616519359, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2635918381233897, + -1.9134772184554263, + 0.79082648590872506, + 0.47983185653985894, + -1.6726217554666121, + -2.3271685406376239 + ], + "velocities": [ + -0.35456663884790784, + -1.1506257603214181, + -0.91250996279874208, + 2.2081350756130846, + -0.43739952385359143, + 0.57496727584186202 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.51470244723729164, + 1.6702922097127482, + 1.3246342422598336, + -3.2054130386927087, + 0.63494582028185464, + -0.83464441245442256 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 743180003, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2220587230638094, + -2.0482588556935695, + 0.68393718182450614, + 0.7384876862606935, + -1.7238577228724723, + -2.2598182053081999 + ], + "velocities": [ + -0.2904932627004001, + -0.94269735119178466, + -0.74761121689661558, + 1.8091052352874906, + -0.35835750142961009, + 0.47106552508147448 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.45054276847192981, + 1.462083734710022, + 1.159513388607091, + -2.8058457314520253, + 0.55579733345932159, + -0.73060271287868295 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 907291969, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1805256080042292, + -2.1830404929317124, + 0.57704787774028732, + 0.99714351598152806, + -1.7750936902783325, + -2.1924678699787754 + ], + "velocities": [ + -0.20464641930797423, + -0.66411053949804932, + -0.52667644388765811, + 1.274476747279091, + -0.25245535410354003, + 0.33185579614209193 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2867241983833817, + 3.127845816146213, + 2.4706623820572524, + -0.86406566758859149, + 2.7711519449969666, + 1.1303087948883055 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 173163598, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1389924929446491, + -2.3178221301698558, + 0.47015857365606856, + 1.2557993457023628, + -1.8263296576841928, + -2.1251175346493509 + ], + "velocities": [ + 0.0091647178931178463, + -0.10492786212365593, + -0.084485080194528717, + 0.86180350865071131, + 0.16346022693315365, + 0.39859493390705814 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.74474409512358664, + 1.2676070055946562, + 0.99443235011777564, + 3.203280494511477, + 2.2171515076619324, + 2.3205827321484591 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 421402569, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1823212040779025, + -2.2440736061660687, + 0.52801397972365971, + 1.4421640529008026, + -1.6973372724566198, + -1.9901075902665197 + ], + "velocities": [ + 0.24615090148031116, + 0.41896620489231184, + 0.32867722086746642, + 1.0587400243669685, + 0.73280720975552471, + 0.76699303185908407 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.67217337780158715, + 1.1440865234845266, + 0.89753105281476153, + 2.8911405731715996, + 2.0011037721027169, + 2.0944562618888107 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 557760384, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2256499152111562, + -2.1703250821622819, + 0.58586938579125092, + 1.6285287600992426, + -1.5683448872290466, + -1.8550976458836883 + ], + "velocities": [ + 0.35887460009414562, + 0.61082989470878357, + 0.4791934763980622, + 1.5435852583247742, + 1.0683929766885547, + 1.1182340423215646 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.65661963786300537, + 1.1176129605002578, + 0.87676265429837374, + 2.824241094426875, + 1.9547992788137996, + 2.045991640875787 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 666084395, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2689786263444096, + -2.0965765581584948, + 0.64372479185884202, + 1.8148934672976824, + -1.4393525020014737, + -1.7200877015008569 + ], + "velocities": [ + 0.43303428926343379, + 0.73705491903491116, + 0.57821647566384637, + 1.8625596380485887, + 1.289171184566988, + 1.3493116637952758 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.69364854351595406, + -1.1806387710069115, + -0.92620613684744113, + -2.9835091866318817, + -2.0650367342473039, + -2.1613717286284477 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 759049135, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.312307337477663, + -2.022828034154708, + 0.70158019792643311, + 2.0012581744961224, + -1.3103601167739005, + -1.5850777571180257 + ], + "velocities": [ + 0.43097553289293589, + 0.73355077040836325, + 0.57546748584406804, + 1.8537045505524246, + 1.283042133231572, + 1.3428966891558494 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.70258336996142623, + -1.1958464761370493, + -0.9381365173878381, + -3.0219395084858665, + -2.0916362924766183, + -2.1892121695259465 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 868499832, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3556360486109167, + -1.9490795101509208, + 0.75943560399402432, + 2.187622881694562, + -1.1813677315463276, + -1.4500678127351943 + ], + "velocities": [ + 0.35194083450532654, + 0.59902813636912267, + 0.46993504675115005, + 1.5137618650147608, + 1.0477507065051643, + 1.096628799930875 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.69342528096467082, + -1.1802587623892671, + -0.92590802168945752, + -2.9825488935856419, + -2.0643720671415333, + -2.1606760544704784 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 9174072, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3989647597441701, + -1.8753309861471339, + 0.81729101006161553, + 2.373987588893002, + -1.0523753463187546, + -1.315057868352363 + ], + "velocities": [ + 0.23989500555878474, + 0.40831822856283073, + 0.3203239283417933, + 1.0318322724125319, + 0.71418300156776393, + 0.74749999506340248 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9915476183442737, + -1.0216255435427339, + -0.28286367735962015, + -1.644482970006014, + 1.2034287718532555, + -3.1639431408845868 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 261404017, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4422934708774235, + -1.8015824621433469, + 0.87514641612920663, + 2.560352296091442, + -0.92338296109118156, + -1.1800479239695316 + ], + "velocities": [ + 0.44297371979481687, + 0.15327024983009016, + 0.19085779910128109, + 0.51493730766543555, + 0.67528005943817437, + 0.10442785710377422 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6491000602582901, + 0.052503959298852085, + 0.56508490593367, + 1.0794494775788461, + 3.112724158467687, + -1.2107732837683114 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 553858287, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.651154033425702, + -1.797442940711264, + 0.91969888627234642, + 2.6454583396538673, + -0.6779693096597631, + -1.2755078097473529 + ], + "velocities": [ + 1.0132519872681907, + 0.020082193910722818, + 0.2161388361663934, + 0.41287769560721782, + 1.1905831669784395, + -0.46310762447752085 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5359004579286832, + 0.050260394624764469, + 0.54093806920455467, + 1.0333231521033022, + 2.9797132759470806, + -1.1590353157352957 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 713009653, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8600145959739804, + -1.7933034192791812, + 0.9642513564154862, + 2.7305643832162922, + -0.43255565822834463, + -1.3709676955251742 + ], + "velocities": [ + 1.4924085111018464, + 0.029578858458264197, + 0.31834868594143229, + 0.60812334415410985, + 1.7535977959083087, + -0.68210649375561005 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6765804127019495, + 0.053048607395703926, + 0.57094679564051187, + 1.0906471112711598, + 3.1450139002626223, + -1.2233332006497133 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 837890563, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0688751585222591, + -1.7891638978470983, + 1.0088038265586261, + 2.8156704267787176, + -0.18714200679692616, + -1.4664275813029954 + ], + "velocities": [ + 1.8266004501180859, + 0.036202390814532942, + 0.38963584615702973, + 0.74429914188784185, + 2.1462773091312202, + -0.83484918455912027 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2915170357940733, + 0.045416826259214706, + 0.48880814584666021, + 0.93374233169197252, + 2.6925598409298592, + -1.0473396788073168 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 943337192, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2777357210705373, + -1.7850243764150155, + 1.0533562967017658, + 2.9007764703411429, + 0.058271644634492303, + -1.5618874670808167 + ], + "velocities": [ + 2.0952764717962302, + 0.041527427463164859, + 0.4469476731862525, + 0.8537786574370434, + 2.4619748382751379, + -0.95764777337699014 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.288461199794948, + 0.045356260978430173, + 0.48815629927277915, + 0.93249714634679992, + 2.6889691971933853, + -1.0459430065400936 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 37851506, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.486596283618816, + -1.7808848549829326, + 1.0979087668449057, + 2.9858825139035683, + 0.30368529606591077, + -1.657347352858638 + ], + "velocities": [ + 2.3133442094707286, + 0.045849430922008279, + 0.49346414452669307, + 0.94263642050945107, + 2.7182070302655066, + -1.0573158058492453 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0876401600714165, + 0.041376079235103336, + 0.44531875604660975, + 0.85066702989776, + 2.4530020809437225, + -0.95415759104615183 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 124269708, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6954568461670947, + -1.7767453335508496, + 1.1424612369880456, + 3.0709885574659932, + 0.54909894749732924, + -1.7528072386364593 + ], + "velocities": [ + 2.5040289385086671, + 0.049628715594004377, + 0.5341394907651742, + 1.0203362153304136, + 2.9422638605950446, + -1.1444684125043616 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.68062203737178, + 0.033309165014486275, + 0.35849689490619885, + 0.6848161786956739, + 1.9747509335190383, + -0.7681296352255218 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 204873525, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9043174087153734, + -1.7726058121187669, + 1.1870137071311853, + 3.1560946010284185, + 0.79451259892874793, + -1.8482671244142805 + ], + "velocities": [ + 2.6572880126588005, + 0.052666240794383132, + 0.56683149466447857, + 1.0827858864498432, + 3.122345100170798, + -1.2145155939075281 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3162288865863298e-14, + -9.9525459970506355e-16, + -4.7772220785843051e-14, + -2.0267002757630387e-14, + 0.0, + 2.3162288865863298e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 281565291, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1131779712636516, + -1.7684662906866839, + 1.2315661772743252, + 3.2412006445908439, + 1.0399262503601663, + -1.9437270101921018 + ], + "velocities": [ + 2.72337661844074, + 0.05397608692671782, + 0.58092898918415825, + 1.1097155264643748, + 3.2000000000000002, + -1.2447214436006748 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1581144432931652e-14, + -3.6462509425558247e-14, + 5.0667506894075974e-14, + -4.9219863839959519e-14, + 0.0, + -2.8952861082329129e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 358257057, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3220385338119303, + -1.764326769254601, + 1.2761186474174648, + 3.3263066881532692, + 1.285339901791585, + -2.0391868959699231 + ], + "velocities": [ + 2.7233766184407404, + 0.053976086926716377, + 0.58092898918415847, + 1.1097155264643721, + 3.2000000000000002, + -1.244721443600675 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1581144432931652e-14, + 3.6462509425558247e-14, + -1.3028787487048107e-14, + 4.9219863839959519e-14, + 0.0, + 2.8952861082329129e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 434948823, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.5308990963602085, + -1.7601872478225182, + 1.3206711175606047, + 3.4114127317156941, + 1.5307535532230032, + -2.1346467817477444 + ], + "velocities": [ + 2.7233766184407404, + 0.053976086926716377, + 0.58092898918415981, + 1.1097155264643721, + 3.2000000000000002, + -1.244721443600675 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.369629438112408e-14, + -3.6462509425558247e-14, + -2.4609931919979759e-14, + 2.6057574974096215e-14, + 0.0, + -2.8952861082329129e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 511640589, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.7397596589084872, + -1.7560477263904353, + 1.3652235877037446, + 3.4965187752781195, + 1.7761672046544219, + -2.2301066675255656 + ], + "velocities": [ + 2.7233766184407431, + 0.053976086926716377, + 0.58092898918415847, + 1.1097155264643748, + 3.2000000000000002, + -1.244721443600675 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.505548776281116e-13, + 3.7729197097910178e-14, + 0.0, + -7.52774388140558e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 588332355, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.9486202214567658, + -1.7519082049583525, + 1.4097760578468843, + 3.5816248188405448, + 2.0215808560858401, + -2.3255665533033869 + ], + "velocities": [ + 2.72337661844074, + 0.053976086926716432, + 0.58092898918415747, + 1.109715526464373, + 3.2000000000000002, + -1.2447214436006762 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7371716649397461e-13, + -2.5333753447037963e-15, + 1.0133501378815185e-14, + 2.3162288865863282e-14, + 0.0, + 5.7905722164658208e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 665024121, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.1574807840050436, + -1.7477686835262696, + 1.454328527990024, + 3.6667308624029697, + 2.2669945075172584, + -2.4210264390812082 + ], + "velocities": [ + 2.7233766184407409, + 0.053976086926717778, + 0.58092898918415781, + 1.109715526464371, + 3.2000000000000002, + -1.2447214436006739 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7371716649397461e-13, + -3.5195821753206316e-14, + 2.7505218028212648e-14, + 5.2115149948192386e-14, + 0.0, + -5.7905722164658208e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 741715887, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.3663413465533232, + -1.7436291620941866, + 1.4988809981331639, + 3.7518369059653951, + 2.5124081589486775, + -2.5164863248590295 + ], + "velocities": [ + 2.7233766184407409, + 0.053976086926716335, + 0.58092898918415936, + 1.1097155264643739, + 3.2000000000000002, + -1.2447214436006739 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.505548776281116e-13, + 3.7729197097910178e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 818407653, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.575201909101601, + -1.7394896406621039, + 1.5434334682763038, + 3.8369429495278204, + 2.7578218103800958, + -2.6119462106368507 + ], + "velocities": [ + 2.72337661844074, + 0.053976086926716432, + 0.58092898918416036, + 1.1097155264643759, + 3.2000000000000002, + -1.2447214436006762 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6806220373718044, + -0.033309165014485338, + -0.35849689490618791, + -0.68481617869565492, + -1.9747509335190403, + 0.76812963522549993 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 895099419, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.7840624716498796, + -1.7353501192300209, + 1.5879859384194437, + 3.9220489930902458, + 3.003235461811514, + -2.707406096414672 + ], + "velocities": [ + 2.6572880126588063, + 0.052666240794383194, + 0.56683149466447924, + 1.0827858864498443, + 3.122345100170798, + -1.2145155939075294 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3619598024143267, + -0.046812969880542225, + -0.50383443524446914, + -0.96244619560720424, + -2.7753309316626797, + 1.0795356011652895 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 975703236, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 4.9929230341981583, + -1.7312105977979382, + 1.6325384085625834, + 4.0071550366526711, + 3.2486491132429323, + -2.8028659821924933 + ], + "velocities": [ + 2.492064292616881, + 0.049391581749816421, + 0.53158728788702769, + 1.0154608876857349, + 2.9282052590066847, + -1.1389999616093394 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2679288204983781, + -0.0449493185518045, + -0.48377649580767351, + -0.9241306575012167, + -2.6648434066935174, + 1.0365586662966133 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 62985620, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.201783596746437, + -1.7270710763658552, + 1.6770908787057233, + 4.0922610802150965, + 3.4940627646743514, + -2.8983258679703146 + ], + "velocities": [ + 2.2892593400303509, + 0.045372079755177458, + 0.48832655218493137, + 0.93282237077800045, + 2.6899070214869454, + -1.0463077971677563 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5770194038851848, + -0.051075353446940815, + -0.54970923495113855, + -1.050078209942491, + -3.0280285277450174, + 1.1778287625996278 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 158548196, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.4106441592947156, + -1.7229315549337723, + 1.7216433488488629, + 4.1773671237775218, + 3.7394764161057696, + -2.9937857537481358 + ], + "velocities": [ + 2.0540298631110745, + 0.040709938423732356, + 0.43814927544409232, + 0.83697157986944182, + 2.4135095812487095, + -0.93879597816123672 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3890108230607545, + -0.04734910881631308, + -0.50960474331506389, + -0.97346888612113025, + -2.8071162034767427, + 1.0918992916082455 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 267189963, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.6195047218429934, + -1.7187920335016895, + 1.7661958189920028, + 4.2624731673399463, + 3.9848900675371879, + -3.0892456395259571 + ], + "velocities": [ + 1.7815503423359433, + 0.035309518151515458, + 0.38002611630941963, + 0.72594222285716836, + 2.0933428953132016, + -0.81425899706420923 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5034858235416442, + -0.04961795130218976, + -0.53402363781018336, + -1.0201149080358325, + -2.9416256940326675, + 1.1442201813778929 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 394495025, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 5.8283652843912721, + -1.7146525120696066, + 1.8107482891351427, + 4.3475792109023716, + 4.2303037189686057, + -3.1847055253037784 + ], + "velocities": [ + 1.4585458364366763, + 0.028907715635445638, + 0.31112537013887104, + 0.59432505581268202, + 1.713808749400819, + -0.66662953144051751 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6768990787977462, + -0.053054923212916126, + -0.57101477095163844, + -1.0907769606323645, + -3.1453883367249071, + 1.2234788472415414 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 558119709, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.0372258469395508, + -1.7105129906375238, + 1.8553007592782826, + 4.432685254464797, + 4.4757173704000248, + -3.2801654110815996 + ], + "velocities": [ + 0.90148356547249964, + 0.01786699458439521, + 0.19229728745923935, + 0.36733454443405822, + 1.0592539386504876, + -0.41202377864272921 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.654483723915797, + -0.052610661065919773, + -0.56623330614592093, + -1.0816432010284687, + -3.1190500274596396, + 1.2132338915132161 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 954811475, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2460864094878294, + -1.7063734692054409, + 1.8998532294214223, + 4.5177912980272223, + 4.7211310218314431, + -3.3756252968594209 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.071151628453213239, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2460864094878294, + -1.7063734692054409, + 1.8998532294214223, + 4.5177912980272223, + 4.7211310218314431, + -3.3756252968594209 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.039394824845359007, + 0.52331017198540575, + 2.6180141853637307, + -3.1794116722448496, + 1.0570433388330502, + -0.14333435233669251 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 95532408, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2464110900591949, + -1.7053503245629131, + 1.9008538597553981, + 4.5160830982965479, + 4.7124180158158149, + -3.3744435184817463 + ], + "velocities": [ + 0.0016990825585371009, + 0.033286424930483609, + 0.1234198950751762, + -0.15504614059247129, + -0.045602042512053728, + 0.0061867536824456656 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.9502369321185636e-06, + 0.74808366985902064, + 2.3329011165009446, + -3.0808084470523456, + 6.5175372063978009e-06, + 3.1719168118684107e-05 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 172566895, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2464110532293136, + -1.7010469525721299, + 1.9190621578849534, + 4.4935727398417891, + 4.7124180642942477, + -3.3744432825531625 + ], + "velocities": [ + -6.3150210109279215e-07, + 0.079045775144113567, + 0.30866131728633373, + -0.38768460074610944, + 8.3128434368865181e-07, + 4.0456016345923679e-06 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1712705834747782e-06, + 0.703003197652316, + 1.3479396487325273, + -2.050830103303348, + 4.1671102563934064e-06, + 2.0273405154446837e-05 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 219490988, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2464110163982092, + -1.6962499672274225, + 1.9369382238607338, + 4.4709010003489178, + 4.7124181127790594, + -3.3744430465922006 + ], + "velocities": [ + -8.5375729996025498e-07, + 0.11749100579824867, + 0.41022121695357422, + -0.52768181869316011, + 1.1237295613808297e-06, + 5.4687083218095761e-06 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.0311303241352715e-06, + -0.52018396052756466, + -2.5308711990447228, + 3.0508761573357286, + -6.6158117839754731e-06, + -3.2192062271768735e-05 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 259407942, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2464109795705713, + -1.6909508562935935, + 1.9544811399553721, + 4.4480602846618646, + 4.7124181612461697, + -3.3744428107289366 + ], + "velocities": [ + -8.0500801007254135e-07, + 0.1205945302959372, + 0.3803283717729285, + -0.50089423435385771, + 1.0595596263264237e-06, + 5.1563871013394273e-06 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.3984234585829716e-06, + -0.64716773593399157, + -2.0852672650420629, + 2.7322783408066367, + -5.79015859678465e-06, + -2.8178752781310459e-05 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 312987595, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.246410942739403, + -1.6851409106177595, + 1.9716893924245296, + 4.4250433983444699, + 4.7124182097315037, + -3.3744425747681648 + ], + "velocities": [ + -4.9121679694797534e-07, + 0.079568588196133092, + 0.22815752169826437, + -0.30770861407197347, + 6.466491245511639e-07, + 3.1470044384909131e-06 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.7263815830204279e-06, + -0.81225483065323323, + -2.1650456709021615, + 2.9771321606461125, + -6.2219374268486539e-06, + -3.0279767845935241e-05 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 437828970, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 6.2464109059082027, + -1.6788112650217455, + 1.9885609101783532, + 4.4018435468222199, + 4.7124182582170988, + -3.3744423388074885 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42626432996268637, + "y": 0.093545622819530494, + "z": 0.23189178182404158 + }, + "64": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43205961811895433, + 0.026928258673762799, + 0.28189178182404157 + ], + "xaxis": [ + -0.99930017371620383, + 0.037396919143065775, + -0.00079576967268383289 + ], + "yaxis": [ + -0.037396907285693233, + -0.99930049056257697, + -2.9780165612755368e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.43205961811895433, + 0.026928258673762799, + 0.23189178182404158 + ], + "xaxis": [ + -0.99930017371620383, + 0.037396919143065775, + -0.00079576967268383289 + ], + "yaxis": [ + -0.037396907285693233, + -0.99930049056257697, + -2.9780165612755361e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6317851885114492, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6194861861740202, + -0.69240016138388227, + -2.4129625030028801, + 3.0978098962511238, + 0.0030526403431798579, + -2.2428713018858861 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 364961172, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6122513918177579, + -1.0860694425009918, + 1.3303790204210018, + -1.8156661283951272, + -1.5713860622770743, + -3.3593176398772067 + ], + "velocities": [ + 0.50696835709531185, + -0.21675082829733683, + -0.75536033979391626, + 0.96974682902746001, + 0.00095560682937400904, + -0.70211452792912254 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6361263381113298, + -0.69951454370167054, + -2.4377555904720958, + 3.1296397616656, + 0.0030840060933505836, + -2.2659167094711958 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 516705215, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7209255580664806, + -1.1325323335656203, + 1.1684593384613979, + -1.6077903770943633, + -1.5711812175880708, + -3.5098235045252206 + ], + "velocities": [ + 0.82575922430204884, + -0.35304766724915254, + -1.2303445758045406, + 1.5795411648473712, + 0.0015565096778086846, + -1.1436168349358158 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5464382692179743, + -0.66116902775588504, + -2.3041243504813091, + 2.9580812823371261, + 0.0029149491296400379, + -2.1417052172338562 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 632890672, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8295997243152033, + -1.1789952246302486, + 1.0065396565017941, + -1.3999146257935995, + -1.5709763728990673, + -3.6603293691732341 + ], + "velocities": [ + 1.0184130782955467, + -0.43541549522764378, + -1.5173902633281462, + 1.9480562040907183, + 0.0019196513532304471, + -1.4104284965656948 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6412584114252093, + -0.7017087262893813, + -2.4454021518165212, + 3.1394565712412206, + 0.0030936797627994783, + -2.2730242600345627 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 731553044, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9382738905639261, + -1.2254581156948772, + 0.84461997454219018, + -1.1920388744928356, + -1.5707715282100638, + -3.8108352338212477 + ], + "velocities": [ + 1.1775284735811331, + -0.50344418625011911, + -1.7544651366752568, + 2.252417704898626, + 0.0022195749209746665, + -1.6307918172417262 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4153414224805325, + -0.60511947413028544, + -2.1087958702880796, + 2.7073146424870518, + 0.002667838949491041, + -1.9601455609519414 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 818243980, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0469480568126488, + -1.2719210067595055, + 0.68270029258258635, + -0.98416312319207178, + -1.5705666835210603, + -3.9613410984692612 + ], + "velocities": [ + 1.3123027116514185, + -0.56106598320456902, + -1.9552727666573748, + 2.5102185876836653, + 0.0024736167768836959, + -1.8174443946962517 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2911399127273879, + -0.55201797432647881, + -1.9237411360090972, + 2.469737644715976, + 0.0024337260916022329, + -1.7881354479578113 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 897508956, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1556222230613713, + -1.318383897824134, + 0.52078061062298253, + -0.77628737189130792, + -1.5703618388320568, + -4.1118469631172747 + ], + "velocities": [ + 1.4204734222454376, + -0.60731362527260613, + -2.1164423220477633, + 2.7171313113755593, + 0.0026775124803041939, + -1.9672530096552341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2596530298815123, + -0.53855597449596626, + -1.8768270787655947, + 2.4095084324421783, + 0.0023743750889963595, + -1.7445283912726681 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 971440829, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2642963893100942, + -1.3648467888887623, + 0.3588609286633786, + -0.56841162059054406, + -1.5701569941430533, + -4.2623528277652891 + ], + "velocities": [ + 1.5151380079573287, + -0.64778681669827587, + -2.2574883511125341, + 2.8982090463673034, + 0.0028559498982220484, + -2.0983566179544226 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6723571254666165, + -0.71500476722198669, + -2.491737854778334, + 3.1989432806311013, + 0.0031522990889979643, + -2.316093730984627 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 41087999, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3729705555588168, + -1.4113096799533906, + 0.19694124670377477, + -0.36053586928978021, + -1.5699521494540498, + -4.4128586924133018 + ], + "velocities": [ + 1.6166312568916115, + -0.69117955603833403, + -2.4087087851471867, + 3.0923488875314167, + 0.0030472589621087648, + -2.2389174312007811 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.50237618865973477, + 0.21478747832059147, + 0.74851821274314589, + -0.9609627684119747, + -0.00094695085019155475, + 0.69575470659479555 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 106049171, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4816447218075397, + -1.4577725710180192, + 0.035021564744170952, + -0.15266011798901635, + -1.5697473047650465, + -4.5633645570613162 + ], + "velocities": [ + 1.6564280980214223, + -0.70819442128145826, + -2.4680043112245409, + 3.1684736790510737, + 0.003122273768533872, + -2.2940331794163598 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3914406071483827, + 0.59490084520068742, + 2.0731847167753443, + -2.6615963258405033, + -0.0026227872573305797, + 1.9270446594081903 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 172316063, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5903188880562622, + -1.5042354620826477, + -0.12689811721543287, + 0.055215633311747503, + -1.569542460076043, + -4.7138704217093297 + ], + "velocities": [ + 1.5924252736516462, + -0.68083045467217618, + -2.3726429450029514, + 3.0460468350227727, + 0.0030016320456134451, + -2.2053938941639455 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2348328888164735, + 0.52794429418289146, + 1.8398461707339522, + -2.3620315973357333, + -0.0023275905195533344, + 1.7101542900431406 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 242659704, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6989930543049852, + -1.550698353147276, + -0.28881779917503692, + 0.26309138461251136, + -1.5693376153870395, + -4.8643762863573432 + ], + "velocities": [ + 1.5001366415419097, + -0.64137308583987718, + -2.2351369812995374, + 2.8695139072943592, + 0.0028276731665564832, + -2.0775808098558644 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4705059106074574, + 0.62870467097096006, + 2.190988507980129, + -2.8128352074045258, + -0.0027718209058699649, + 2.0365443893947663 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 317330896, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8076672205537077, + -1.5971612442119043, + -0.45073748113464052, + 0.47096713591327521, + -1.569132770698036, + -5.0148821510053567 + ], + "velocities": [ + 1.3981232110868578, + -0.59775794647442848, + -2.0831414998979585, + 2.6743790446989837, + 0.0026353835897685819, + -1.9362995828050191 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1827306943798817, + 0.50566835991168091, + 1.7622162146572684, + -2.262368695040204, + -0.0022293808144859262, + 1.637996517000913 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 398377973, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.9163413868024302, + -1.6436241352765326, + -0.61265716309424434, + 0.67884288721403907, + -1.5689279260090325, + -5.1653880156533702 + ], + "velocities": [ + 1.2910234976274371, + -0.55196820185261219, + -1.9235676826797559, + 2.4695149618357224, + 0.002433506655688881, + -1.7879742214595031 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3913406983832022, + 0.59485812989642606, + 2.0730358571516434, + -2.6614052168551736, + -0.0026225989349292359, + 1.9269062929904766 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 485935819, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.0250155530511531, + -1.6900870263411614, + -0.77457684505384838, + 0.88671863851480293, + -1.568723081320029, + -5.3158938803013847 + ], + "velocities": [ + 1.1767296551566309, + -0.50310265693621492, + -1.7532749326948274, + 2.2508896970391792, + 0.0022180691931886955, + -1.6296855114670712 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6610920073774333, + 0.71018844359441002, + 2.4749533290608787, + -3.1773949682114826, + -0.0031310649752643079, + 2.3004923567394795 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 583638961, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.1336897192998761, + -1.7365499174057897, + -0.93649652701345243, + 1.0945943898155668, + -1.5685182366310255, + -5.4663997449493973 + ], + "velocities": [ + 1.0234265721356299, + -0.43755897997830384, + -1.524860146522232, + 1.9576461906958489, + 0.0019291015070429208, + -1.4173718231294536 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6283878061609638, + 0.69620598768122932, + 2.4262255215008786, + -3.1148372267239943, + -0.0030694193960200717, + 2.2551994021065238 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 699922268, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.2423638855485986, + -1.783012808470418, + -1.098416208973056, + 1.3024701411163306, + -1.568313391942022, + -5.6169056095974117 + ], + "velocities": [ + 0.8254683695298084, + -0.35292331429513679, + -1.2299112151095093, + 1.5789848076524133, + 0.0015559614329274858, + -1.1432140221009575 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6204175113316854, + 0.69279834303863552, + 2.4143501361316688, + -3.099591367630564, + -0.0030543958387025754, + 2.2441611199076039 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 851622809, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.3510380517973211, + -1.8294756995350463, + -1.2603358909326596, + 1.5103458924170945, + -1.5681085472530185, + -5.7674114742454252 + ], + "velocities": [ + 0.50707103977452461, + -0.21679472956939758, + -0.75551333242624896, + 0.96994324405251908, + 0.00095580038044705182, + -0.70225673601732475 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6317851885114523, + 0.69765851509877941, + 2.4312874703400098, + -3.1213358586706694, + -0.003075823270602534, + 2.2599045310791506 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 216583982, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.459712218046044, + -1.8759385905996748, + -1.4222555728922639, + 1.7182216437178583, + -1.567903702564015, + -5.9179173388934387 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.23631234406995272, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.459712218046044, + -1.8759385905996748, + -1.4222555728922639, + 1.7182216437178583, + -1.567903702564015, + -5.9179173388934387 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.12955563471137127, + -1.2040543992820634, + -2.5553865315651554, + 2.3224165141199493, + 0.38255294914323829, + 1.5391017444174986 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 87056950, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4588167227470099, + -1.8716160811573952, + -1.4256345236558527, + 1.727210872473806, + -1.5705479284255406, + -5.9285556901412333 + ], + "velocities": [ + -0.0051431581109236228, + 0.0018524214007173516, + -0.14025799171663328, + 0.19545321216652789, + -0.015186759095960281, + -0.061099953766133995 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5437816214092691e-09, + -0.65592128376584335, + -2.4491698996725391, + 3.1050911834389359, + -1.9208779664608177e-12, + -2.5437816214092691e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 158793800, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4588167227302491, + -1.8749121506418227, + -1.4429735264881318, + 1.7478459447905168, + -1.5705479284255532, + -5.9285556901579941 + ], + "velocities": [ + -3.0725046996568992e-10, + -0.064926558100512538, + -0.31257260865659675, + 0.37749916675718409, + -2.3201309930640038e-13, + -3.0725046996568992e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8075604175149169e-09, + -0.66149938040551415, + -1.5140245067286007, + 2.1755238871345477, + -1.3649375205122964e-12, + -1.8075604175149169e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 202801853, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4588167227134883, + -1.8786047098738763, + -1.4598480772912594, + 1.768413054825702, + -1.5705479284255659, + -5.9285556901747549 + ], + "velocities": [ + -4.1742772436470045e-10, + -0.097289626499950099, + -0.41407345965643055, + 0.51136308615648018, + -3.1521090944819998e-13, + -4.1742772436470045e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3553187929769679e-09, + 0.37771147723357146, + 2.5336290332485607, + -2.9113405104825838, + 1.7785646123640391e-12, + 2.3553187929769679e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 239720147, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4588167226967275, + -1.8826905612361142, + -1.4762658119405094, + 1.7889166408371939, + -1.5705479284255786, + -5.9285556901915157 + ], + "velocities": [ + -4.0445066739204643e-10, + -0.10272720806899492, + -0.39140674193578434, + 0.49413395000487809, + -3.054115844595762e-13, + -4.0445066739204643e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5787194434249905e-09, + 0.64640724861076415, + 2.5051307855061991, + -3.1515380341176362, + 1.9472604561923647e-12, + 2.5787194434249905e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 286946509, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4588167226799666, + -1.8871667517060364, + -1.4922334654006657, + 1.8093604847672766, + -1.5705479284255912, + -5.9285556902082766 + ], + "velocities": [ + -2.5106467186419506e-10, + -0.068752268776636538, + -0.23723302956631714, + 0.30598529834301591, + -1.895856909578072e-13, + -2.5106467186419506e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5864329755673175e-09, + 0.75054904545600909, + 2.3954988805170498, + -3.1460479259736753, + 1.9530851519174541e-12, + 2.5864329755673175e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 400790981, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 3.4588167226632058, + -1.8920305211470958, + -1.5077569735866923, + 1.8297477623943665, + -1.5705479284256039, + -5.9285556902250374 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.43205961811895433, + "y": 0.026928258673762799, + "z": 0.23189178182404158 + }, + "65": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42916197404082035, + 0.060236940746646699, + 0.30189178182404058 + ], + "xaxis": [ + -0.99685432685145092, + -0.079251630167502168, + -0.0007938219788775155 + ], + "yaxis": [ + 0.079251605039333192, + -0.99685464292232384, + 6.3110189971536017e-05 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42916197404082035, + 0.060236940746646699, + 0.25189178182404059 + ], + "xaxis": [ + -0.99685432685145092, + -0.079251630167502168, + -0.0007938219788775154 + ], + "yaxis": [ + 0.079251605039333192, + -0.99685464292232384, + 6.3110189971536031e-05 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5998650204406493, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6036318402172858, + -0.23084062485258305, + -0.1092754922525908, + -2.753370071095353, + 3.0994595190478944, + 2.9680091896628817 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 355776495, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.402324236808874, + -1.0541817816153931, + 1.4853990699890998, + -2.1973891068895139, + -1.3758916623051534, + -3.0214122776735257 + ], + "velocities": [ + -0.48624213885977219, + -0.069993895325026284, + -0.03313375785221153, + -0.83485780143931598, + 0.93979664662116269, + 0.89993918825008579 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5776183517240281, + -0.22709601852352851, + -0.10750286795754393, + -2.7087059787109267, + 3.0491812990025955, + 2.9198633054475094 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 502970692, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3010712480487128, + -1.0687570117944225, + 1.4784994375975942, + -2.3712363340831368, + -1.1801924176442289, + -2.8340127801178578 + ], + "velocities": [ + -0.79064103453090318, + -0.11381170282854963, + -0.0538762614190543, + -1.3574982155270092, + 1.5281312201275827, + 1.4633220651782053 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4684619055320618, + -0.21138309638408923, + -0.10006467417076223, + -2.521288839393252, + 2.8382064494578092, + 2.7178360525059193 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 616305770, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1998182592885516, + -1.0833322419734521, + 1.4715998052060884, + -2.5450835612767602, + -0.98449317298330463, + -2.64661328256219 + ], + "velocities": [ + -0.97048542307656493, + -0.13970005823965723, + -0.066131308739973568, + -1.6662836514715655, + 1.8757299569733612, + 1.796178887128371 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5933708730868832, + -0.2293635725737713, + -0.1085762842385813, + -2.7357524115498895, + 3.0796273783723218, + 2.9490181444777219 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 712960334, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0985652705283904, + -1.0979074721524817, + 1.4647001728145825, + -2.7189307884703826, + -0.78879392832238016, + -2.4592137850065225 + ], + "velocities": [ + -1.1199074644510461, + -0.16120915810447461, + -0.076313301087026095, + -1.9228351655813891, + 2.1645291419726762, + 2.072729888932844 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3740455386885491, + -0.19779198864235781, + -0.093630906329088909, + -2.3591798115173783, + 2.6557208566752237, + 2.54308980625532 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 797887084, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.99731228176822906, + -1.1124827023315114, + 1.4578005404230769, + -2.8927780156640059, + -0.59309468366145568, + -2.2718142874508551 + ], + "velocities": [ + -1.2480866793209766, + -0.17966038195251188, + -0.085047754002082435, + -2.1429136181965172, + 2.412270723119418, + 2.309964569684869 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4466811497524346, + -0.20824778617890113, + -0.098580478889923787, + -2.4838921754050807, + 2.7961091493542782, + 2.6775241294756427 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 875538994, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89605929300806786, + -1.127057932510541, + 1.4509009080315711, + -3.0666252428576288, + -0.39739543900053143, + -2.0844147898951872 + ], + "velocities": [ + -1.3579541502047272, + -0.19547565513038781, + -0.092534398793161859, + -2.3315515577358497, + 2.62461982340806, + 2.513307790398053 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2474800020284489, + -0.17957305158047307, + -0.085006413491053229, + -2.1418719781778028, + 2.4110981524194877, + 2.3088417285599823 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 947249230, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.79480630424790666, + -1.1416331626895704, + 1.4440012756400653, + -3.2404724700512517, + -0.20169619433960695, + -1.8970152923395196 + ], + "velocities": [ + -1.4554064270061726, + -0.20950377798625788, + -0.09917504114731425, + -2.4988731184432269, + 2.8129731470388788, + 2.6936729127699479 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 4.868729875540272e-14, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 14803516, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69355331548774546, + -1.1562083928686, + 1.4371016432485595, + -3.4143196972448746, + -0.0059969496786824728, + -1.7096157947838519 + ], + "velocities": [ + -1.4988388535817654, + -0.21575581678851691, + -0.10213463553471863, + -2.5734448127992584, + 2.8969182550175465, + 2.7740578477486966 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2474800020284265, + 0.17957305158047307, + 0.085006413491005989, + 2.1418719781778028, + -2.4110981524194877, + -2.3088417285599823 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 82357802, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.59230032672758426, + -1.1707836230476296, + 1.4302020108570539, + -3.5881669244384975, + 0.189702294982242, + -1.5222162972281843 + ], + "velocities": [ + -1.4554064270061735, + -0.20950377798625788, + -0.099175041147312598, + -2.4988731184432269, + 2.8129731470388788, + 2.6936729127699479 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4466811497524554, + 0.20824778617890113, + 0.098580478889923787, + 2.4838921754050807, + -2.7961091493542782, + -2.6775241294757199 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 154068038, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.49104733796742295, + -1.185358853226659, + 1.4233023784655481, + -3.7620141516321204, + 0.38540153964316648, + -1.3348167996725167 + ], + "velocities": [ + -1.3579541502047281, + -0.19547565513038781, + -0.092534398793161859, + -2.3315515577358497, + 2.62461982340806, + 2.5133077903980503 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3740455386885526, + 0.19779198864235584, + 0.093630906329088104, + 2.3591798115173575, + -2.6557208566752304, + -2.5430898062551628 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 231719948, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.38979434920726175, + -1.1999340834056886, + 1.4164027460740423, + -3.9358613788257433, + 0.58110078430409073, + -1.1474173021168492 + ], + "velocities": [ + -1.2480866793209766, + -0.17966038195251194, + -0.085047754002082476, + -2.142913618196518, + 2.4122707231194176, + 2.3099645696848694 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3758803339745527, + 0.19805610493119158, + 0.093755933877764597, + 2.3623300797400733, + -2.6592671031215724, + -2.5464856538141469 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 316646698, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.28854136044710055, + -1.2145093135847183, + 1.4095031136825367, + -4.1097086060193666, + 0.77680002896501499, + -0.96001780456118135 + ], + "velocities": [ + -1.1304356019469473, + -0.16272466919445064, + -0.077030714759238908, + -1.9409115456822432, + 2.1848776628495727, + 2.0922154142599316 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.656479930274241, + 0.2384480356217345, + 0.11287669354503366, + 2.8441080733152342, + -3.2016029859476305, + -3.0658206779431194 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 411396785, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.18728837168693935, + -1.2290845437637479, + 1.4026034812910309, + -4.2835558332129899, + 0.97249927362593969, + -0.77261830700551348 + ], + "velocities": [ + -0.98262904744631374, + -0.14144811647047167, + -0.066958805736138924, + -1.6871337562498299, + 1.8992008504818496, + 1.8186543629959151 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6008362639162974, + 0.23043820544188617, + 0.10908499467781661, + 2.7485701812917336, + -3.0940562990817742, + -2.9628351241799744 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 524323462, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.086035382926778148, + -1.2436597739427775, + 1.395703848899525, + -4.4574030604066124, + 1.1681985182868639, + -0.58521880944984606 + ], + "velocities": [ + -0.79257827364378441, + -0.11409056576709406, + -0.054008269746877474, + -1.3608243755970357, + 1.5318754674407811, + 1.4669075162433458 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.606635141850878, + 0.23127294604272947, + 0.10948014475210055, + 2.7585266167718587, + -3.1052642253423079, + -2.9735677141472769 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 671380091, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.015217605833383052, + -1.2582350041218069, + 1.3888042165080194, + -4.6312502876002348, + 1.3638977629477886, + -0.39781931189417863 + ], + "velocities": [ + -0.48687180146572395, + -0.070084534401751331, + -0.033176664640099392, + -0.83593890629807133, + 0.94101364276009014, + 0.90110457069883876 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6067961922228235, + 0.23129612902498853, + 0.1094911191280389, + 2.7588031336524588, + -3.1055754994738258, + -2.9738657869168281 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 26388407, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11647059459354431, + -1.2728102343008365, + 1.3819045841165136, + -4.8050975147938582, + 1.5595970076087127, + -0.21041981433851059 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.23059647835553373, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11647059459354431, + -1.2728102343008365, + 1.3819045841165136, + -4.8050975147938582, + 1.5595970076087127, + -0.21041981433851059 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.13359235621261689, + 0.56843265200443704, + 2.7629082051641087, + -1.538522656060717, + -1.1593648064474373, + -1.6589584494902794 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105361826, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11519065566486521, + -1.2750468401777855, + 1.3808927526291521, + -4.8190259392574086, + 1.5707047981679527, + -0.19452545292967344 + ], + "velocities": [ + 0.0060740174414177965, + 0.0046169495746996806, + 0.11601716784036349, + -0.20214780487025188, + 0.052712595411759225, + 0.075427516254115728 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1634626168161902e-08, + 0.4887344880054113, + 2.5389065763504148, + -3.0276410643577503, + 1.7120111180017951e-11, + 2.1634623029687433e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 181867157, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11519065551755188, + -1.2727163533348049, + 1.3993793275810638, + -4.8398430010523139, + 1.5707047981680693, + -0.19452545278236016 + ], + "velocities": [ + 2.5849117265451478e-09, + 0.04535743794594102, + 0.31901868886338741, + -0.36437612680955833, + 2.0455171596106197e-12, + 2.5849109053051313e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8372655109056323e-08, + 0.60626453511508149, + 1.929764524070368, + -2.5360290591878156, + 1.453879526068849e-11, + 1.8372649916629442e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 227274079, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11519065537023851, + -1.2699804446756715, + 1.4173786153166668, + -4.8605781974470634, + 1.5707047981681859, + -0.19452545263504684 + ], + "velocities": [ + 3.6220237314516728e-09, + 0.072717544868455414, + 0.43607441702806282, + -0.50879196189685538, + 2.8662136883566589e-12, + 3.622022707803927e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1783199407400045e-08, + -0.26773066144913538, + -2.821887630412462, + 3.0896182918642463, + -1.7237644222734349e-11, + -2.1783186406234934e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 264104699, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11519065522292508, + -1.2668431399262001, + 1.4349007526090218, + -4.8812376394889041, + 1.5707047981683024, + -0.19452545248773345 + ], + "velocities": [ + 3.5384780202483e-09, + 0.079512565854401238, + 0.41599352187405059, + -0.49550608772878157, + 2.8001018452827311e-12, + 3.5384771651572425e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2052045238679735e-08, + -0.48612823010478479, + -2.6031209417366075, + 3.0892491718433535, + -1.7450451194197503e-11, + -2.2052044113366339e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 311977194, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11519065507561176, + -1.2633080835921708, + 1.4519547474821941, + -4.9018266906961188, + 1.570704798168419, + -0.19452545234042015 + ], + "velocities": [ + 2.1874046349480499e-09, + 0.054227949332303918, + 0.25120226037059429, + -0.30543020970309276, + 1.7309578556048947e-12, + 2.1874041005730362e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2859893888285295e-08, + -0.60977109374377392, + -2.575011778810631, + 3.184782872556438, + -1.8089696826939975e-11, + -2.2859885274143948e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 425504182, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11519065492829829, + -1.2593786036775718, + 1.4685486089631781, + -4.9223500320917148, + 1.5707047981685356, + -0.19452545219310674 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42916197404082035, + "y": 0.060236940746646699, + "z": 0.25189178182404059 + }, + "7": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42961260397469236, + -0.077846874982834394, + 0.10189178182404157 + ], + "xaxis": [ + -0.90302424014810745, + 0.42958899496664782, + -0.00071910255087407325 + ], + "yaxis": [ + -0.42958885875765335, + -0.90302452646843734, + -0.00034209319132899829 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.42961260397469236, + -0.077846874982834394, + 0.051891781824041562 + ], + "xaxis": [ + -0.90302424014810745, + 0.42958899496664782, + -0.00071910255087407314 + ], + "yaxis": [ + -0.42958885875765335, + -0.90302452646843734, + -0.00034209319132899845 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0457289311180014, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1316278961418011, + -0.7366278557402679, + 1.1635671218575121, + -0.41404503286217886, + -0.0051383063526119765, + 0.12473893132415577 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 375605754, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2887319907616896, + -1.090142882661133, + 1.5721251887321834, + -2.0519474263496567, + -1.5719434203142311, + -3.2002540647096978 + ], + "velocities": [ + -0.98617610820356227, + -0.23197034132416008, + 0.36641712678596661, + -0.13038628236518629, + -0.0016180961243254513, + 0.039281344372455222 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1476980798677414, + -0.74040791690079544, + 1.1695380539240861, + -0.41616973604198471, + -0.0051646739575473884, + 0.1253790385178378 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 529027671, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0738867559543444, + -1.1406792138859023, + 1.6519516750837613, + -2.0803529730034223, + -1.5722959336623843, + -3.1916963541902028 + ], + "velocities": [ + -1.6136299104344947, + -0.37956129537169803, + 0.59954974629669011, + -0.21334445580727185, + -0.0026476085584012723, + 0.0642740699903354 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8418075456742993, + -0.66845572597419944, + 1.0558833732663644, + -0.37572672669263452, + -0.0046627754794158595, + 0.11319481369836204 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 646628379, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.85904152114699883, + -1.1912155451106718, + 1.7317781614353389, + -2.1087585196571879, + -1.5726484470105377, + -3.1831386436707074 + ], + "velocities": [ + -1.9818843605268448, + -0.46618285289216288, + 0.73637595452311388, + -0.26203284757884204, + -0.0032518323816142286, + 0.078942372893271606 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8561954261393807, + -0.67184007235482623, + 1.0612292397669665, + -0.37762900583867337, + -0.0046863827980694111, + 0.11376791142663344 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 747170664, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.64419628633965331, + -1.2417518763354412, + 1.8116046477869168, + -2.1371640663109535, + -1.573000960358691, + -3.174580933151212 + ], + "velocities": [ + -2.2723684111296532, + -0.53451109954813347, + 0.84430630318357913, + -0.30043890419430286, + -0.0037284522394143219, + 0.090512927007808386 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8561954261393785, + 0.67184007235482079, + -1.06122923976698, + 0.37762900583866954, + 0.0046863827980693686, + -0.11376791142663234 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 836396836, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42935105153230779, + -1.2922882075602107, + 1.8914311341384946, + -2.1655696129647191, + -1.5733534737068442, + -3.1660232226317171 + ], + "velocities": [ + -2.2723684111296532, + -0.53451109954813381, + 0.84430630318357847, + -0.30043890419430302, + -0.0037284522394143236, + 0.090512927007808441 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9193275743177991, + 0.68669014410125784, + -1.0846862066828382, + 0.38597595931913353, + 0.0047899686418362434, + -0.11628258972089864 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 936939121, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.21450581672496249, + -1.34282453878498, + 1.9712576204900722, + -2.1939751596184847, + -1.5737059870549974, + -3.1574655121122217 + ], + "velocities": [ + -1.9772158357195315, + -0.46508471303253318, + 0.73464134806490122, + -0.26141560326650104, + -0.0032441723685250898, + 0.078756416319043232 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.1366214588296621, + 0.73780245166841929, + -1.1654224972588021, + 0.41470525173100742, + 0.0051464996807387905, + -0.12493783479990017 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 55143957, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.00033941808238324711, + -1.3933608700097495, + 2.0510841068416501, + -2.2223807062722503, + -1.5740585004031509, + -3.1489078015927263 + ], + "velocities": [ + -1.6036500488559882, + -0.37721381212050531, + 0.59584169438294143, + -0.21202497844525064, + -0.0026312338204542048, + 0.063876552370314268 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0846308864960554, + 0.72557312395549833, + -1.1461052211902008, + 0.40783137049597945, + 0.0050611946901714909, + -0.12286694750198332 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 209738582, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.21518465288972854, + -1.4438972012345188, + 2.130910593193228, + -2.2507862529260159, + -1.5744110137513041, + -3.1403500910732314 + ], + "velocities": [ + -0.9808647714323695, + -0.23072099793259732, + 0.36444368133042992, + -0.12968404931550626, + -0.0016093813994675248, + 0.039069783326662527 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0457289311180018, + 0.71642252722926125, + -1.1316510657940098, + 0.40268798758872004, + 0.0049973652151899996, + -0.12131740569779123 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 585344336, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43002988769707418, + -1.4944335324592883, + 2.2107370795448058, + -2.2791917995797815, + -1.5747635270994573, + -3.131792380553736 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.45830253028793994, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43002988769707418, + -1.4944335324592883, + 2.2107370795448058, + -2.2791917995797815, + -1.5747635270994573, + -3.131792380553736 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.26082777903759646, + 2.6010630979026597, + 1.435237290218208, + -2.9233699121245396, + -0.55453602955555581, + -0.2817029394653629 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 93954589, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43205271243498722, + -1.4926918805081795, + 2.2130188881559145, + -2.2918464852951761, + -1.5704628763131914, + -3.1296076605393823 + ], + "velocities": [ + -0.010764906554740935, + 0.12588846647257318, + 0.083521528647617388, + -0.25534295709022425, + 0.022886858528960323, + 0.011626467747669447 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.5170306067579027e-10, + 2.0444288866754579, + 0.96265109826122375, + -3.0070799849362335, + 6.1262756279961557e-13, + -8.5174835311156165e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 165088343, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43205271244270516, + -1.4761006605286147, + 2.2231737126881277, + -2.3185925298069514, + -1.5704628763131858, + -3.1296076605471002 + ], + "velocities": [ + -1.3395394065407344e-10, + 0.29434195620265086, + 0.17152768067666452, + -0.46586963687926453, + 9.6347411791934705e-14, + -1.3395373356256268e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.1938822240616793e-10, + 1.4784500645157792, + 0.40826068714346181, + -1.886710751659149, + 3.7351460336161967e-13, + -5.193048233457266e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 213503263, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43205271245042293, + -1.4588918603675864, + 2.2328711533302954, + -2.3454987706101442, + -1.5704628763131803, + -3.129607660554818 + ], + "velocities": [ + -1.7117355646233841e-10, + 0.38893240620894243, + 0.20954607788008436, + -0.59847848408896054, + 1.2311756571706453e-13, + -1.7117281396774913e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.661132688021579e-10, + -1.7715842626722564, + -1.2152851735753221, + 2.9868694362470878, + -6.2292060626286248e-13, + 8.660589772993829e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 255692037, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43205271245814086, + -1.4410704506181704, + 2.2421017852384373, + -2.3725508122676993, + -1.5704628763131747, + -3.1296076605625358 + ], + "velocities": [ + -1.6194751598334687e-10, + 0.3794854857612377, + 0.18934055037779784, + -0.56882603613897897, + 1.164812418746638e-13, + -1.6194620020318257e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.8291885749724271e-10, + -2.0620045090549799, + -1.0390278971827649, + 3.1010324062374819, + -6.3505955853193066e-13, + 8.8293600541811389e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 310445149, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43205271246585869, + -1.4226432739251869, + 2.2508561257389617, + -2.3997323294612047, + -1.5704628763131692, + -3.1296076605702536 + ], + "velocities": [ + -9.8882295528793623e-11, + 0.23828767893588054, + 0.11037377430776676, + -0.34866145324361519, + 7.1121380950358196e-14, + -9.8881478362902008e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.3625263059611744e-10, + -2.0612740654771553, + -0.89590507597216507, + 2.957179141449032, + -6.0146482248922391e-13, + 8.3622857200321788e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 446307773, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.43205271247357674, + -1.4036191029181082, + 2.2591247260463443, + -2.4270251007756634, + -1.5704628763131636, + -3.1296076605779715 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.42961260397469236, + "y": -0.077846874982834394, + "z": 0.051891781824041562 + }, + "8": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39003271768825137, + -0.13703355992192201, + 0.10189178182404157 + ], + "xaxis": [ + -0.746451463767143, + 0.66543959823971566, + -0.00059441942733519577 + ], + "yaxis": [ + -0.66543938725000318, + -0.74645170044321418, + -0.00052990732645789667 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.39003271768825137, + -0.13703355992192201, + 0.051891781824041562 + ], + "xaxis": [ + -0.746451463767143, + 0.66543959823971566, + -0.00059441942733519566 + ], + "yaxis": [ + -0.66543938725000318, + -0.74645170044321418, + -0.00052990732645789677 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.107865976373112, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0921501649631655, + -0.24655996753483575, + -1.6658165251776658, + 0.51444131919411262, + 1.3978204337410816, + 3.1018483910477279 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 386313066, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3462906012826092, + -1.0581427854157288, + 1.3670635914819806, + -1.9848664825640017, + -1.4665035852892452, + -2.9756166295620239 + ], + "velocities": [ + -0.69321209668487593, + -0.081695068984872513, + -0.55195089982035461, + 0.17045475581632763, + 0.46315319516258457, + 1.027765053754953 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0505939901490016, + -0.24166257093079729, + -1.6327285738977213, + 0.50422302141126107, + 1.37005566270498, + 3.040236678779586 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 546928262, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1890039769961835, + -1.0766790193950941, + 1.2418284805833557, + -1.9461910854321125, + -1.3614162636124127, + -2.7424214838948546 + ], + "velocities": [ + -1.1250631315504012, + -0.13258872801541605, + -0.89580030525093091, + 0.27664312594007379, + 0.75168420549658332, + 1.6680328796992283 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1174074837411712, + -0.24953654340504797, + -1.6859269645269506, + 0.52065187167214932, + 1.4146955112955679, + 3.1392952124689426 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 670693147, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0317173527097576, + -1.0952152533744597, + 1.1165933696847308, + -1.9075156883002231, + -1.2563289419355801, + -2.5092263382276854 + ], + "velocities": [ + -1.3914310118606101, + -0.16398019169783495, + -1.1078883399571315, + 0.34214064425044621, + 0.92965157716297764, + 2.0629532801579393 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9251656333111686, + -0.22688083484520805, + -1.5328597245935887, + 0.47338129196154421, + 1.2862536856315343, + 2.8542750048210612 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 774717876, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.8744307284233318, + -1.113751487353825, + 0.99135825878610584, + -1.8688402911683339, + -1.1512416202587477, + -2.2760311925605161 + ], + "velocities": [ + -1.6065779557105175, + -0.18933526629009512, + -1.2791931250574675, + 0.39504338491804925, + 1.0733968968855905, + 2.3819328700534004 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.784123440197604, + -0.21025900762768684, + -1.4205587913381397, + 0.43870025753937814, + 1.1920196947567261, + 2.6451640590076182 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 867177198, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.71714410413690599, + -1.1322877213331903, + 0.8661231478874809, + -1.8301648940364446, + -1.046154298581915, + -2.0428360468933469 + ], + "velocities": [ + -1.780119680421806, + -0.20978716440301465, + -1.4173709086951853, + 0.43771576823488978, + 1.1893446777717589, + 2.6392280339427634 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.8931314853007768, + -0.22310560942127747, + -1.5073534229813224, + 0.46550437679654882, + 1.2648508306087973, + 2.8067807703589849 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 951781049, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.55985747985048007, + -1.1508239553125557, + 0.74088803698885597, + -1.7914894969045552, + -0.94106697690508234, + -1.8096409012261776 + ], + "velocities": [ + -1.9361145766921086, + -0.2281711681920939, + -1.5415775169980934, + 0.47607354081200942, + 1.2935689620595867, + 2.8705080472568225 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.9233713915883159, + -0.22666938339767348, + -1.5314311094004354, + 0.47294010370734418, + 1.285054905646565, + 2.8516148392678136 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 29911287, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.40257085556405414, + -1.169360189291921, + 0.61565292609023103, + -1.752814099772666, + -0.8359796552282498, + -1.5764457555590083 + ], + "velocities": [ + -2.0857428924781312, + -0.24580487025627959, + -1.6607149122219438, + 0.51286582726010543, + 1.3935395668348167, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.2657827512581411e-14, + 4.1896080592713887e-14, + 0.0, + -4.1134333672846363e-14, + 2.1328913756290706e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 102784770, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.24528423127762844, + -1.1878964232712865, + 0.4904178151916061, + -1.7141387026407766, + -0.73089233355141736, + -1.3432506098918391 + ], + "velocities": [ + -2.1583519514378251, + -0.25436185030467506, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522104, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.2657827512581411e-14, + 0.0, + 0.0, + 4.1134333672846363e-14, + 2.1328913756290706e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 175658253, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.087997606991202515, + -1.2064326572506519, + 0.36518270429298116, + -1.6754633055088874, + -0.62580501187458482, + -1.1100554642246698 + ], + "velocities": [ + -2.1583519514378251, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522117, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.2657827512581411e-14, + 0.0, + 0.0, + -4.1134333672846363e-14, + -4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 248531736, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.069289017295223188, + -1.2249688912300172, + 0.23994759339435623, + -1.6367879083769981, + -0.52071769019775216, + -0.87686031855750057 + ], + "velocities": [ + -2.1583519514378251, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -4.1896080592713887e-14, + 0.0, + 4.1134333672846363e-14, + 8.5315655025162823e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 321405219, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.22657564158164911, + -1.2435051252093825, + 0.11471248249573129, + -1.5981125112451089, + -0.41563036852091972, + -0.64366517289033132 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467506, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522126, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.2657827512581411e-14, + 4.1896080592713887e-14, + 0.0, + 0.0, + -8.5315655025162823e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 394278702, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.38386226586807504, + -1.262041359188748, + -0.010522628402893641, + -1.5594371141132195, + -0.31054304684408685, + -0.41047002722316206 + ], + "velocities": [ + -2.1583519514378251, + -0.25436185030467506, + -1.7185278609854886, + 0.53071975605652566, + 1.4420515847522126, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.5315655025162823e-14, + 0.0, + 0.0, + -4.1134333672846363e-14, + 4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 467152185, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.54114889015450074, + -1.2805775931681134, + -0.13575773930151858, + -1.5207617169813301, + -0.20545572516725441, + -0.1772748815559928 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.5315655025162823e-14, + 0.0, + 0.0, + 4.1134333672846363e-14, + -4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 540025668, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.69843551444092689, + -1.2991138271474787, + -0.26099285020014351, + -1.4820863198494409, + -0.10036840349042175, + 0.055920264111176454 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 612899151, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.85572213872735259, + -1.317650061126844, + -0.38622796109876845, + -1.4434109227175516, + 0.0047189181864106811, + 0.28911540977834571 + ], + "velocities": [ + -2.1583519514378233, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652566, + 1.4420515847522095, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.5315655025162823e-14, + 0.0, + 0.0, + -4.1134333672846363e-14, + 4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 685772634, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0130087630137783, + -1.3361862951062093, + -0.51146307199739338, + -1.4047355255856622, + 0.10980623986324312, + 0.52231055544551497 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.5315655025162823e-14, + 0.0, + 0.0, + 0.0, + -4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 758646117, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1702953873002044, + -1.3547225290855747, + -0.63669818289601832, + -1.366060128453773, + 0.21489356154007577, + 0.75550570111268422 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652266, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -4.1896080592713887e-14, + 0.0, + 4.1134333672846363e-14, + 4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 831519600, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3275820115866301, + -1.37325876306494, + -0.76193329379464325, + -1.3273847313218838, + 0.31998088321690821, + 0.98870084677985348 + ], + "velocities": [ + -2.1583519514378233, + -0.25436185030467506, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.1896080592713887e-14, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 904393083, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4848686358730558, + -1.3917949970443055, + -0.88716840469326819, + -1.2887093341899944, + 0.42506820489374086, + 1.2218959924470227 + ], + "velocities": [ + -2.1583519514378233, + -0.25436185030467506, + -1.7185278609854886, + 0.53071975605652566, + 1.4420515847522126, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.5315655025162823e-14, + 0.0, + 0.0, + -4.1134333672846363e-14, + -4.2657827512581411e-14, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 977266566, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6421552601594815, + -1.4103312310236709, + -1.0124035155918931, + -1.2500339370581051, + 0.53015552657057352, + 1.455091138114192 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522111, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.5315655025162823e-14, + 0.0, + 0.0, + 4.1134333672846363e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 50140049, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7994418844459077, + -1.4288674650030362, + -1.1376386264905181, + -1.2113585399262159, + 0.63524284824740596, + 1.6882862837813613 + ], + "velocities": [ + -2.1583519514378264, + -0.25436185030467351, + -1.7185278609854886, + 0.53071975605652422, + 1.4420515847522095, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.57778089043833125, + 0.068091497433778389, + 0.46004200431816833, + -0.1420712377438455, + -0.3860305767746019, + -0.85662528216094347 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 123013532, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9567285087323334, + -1.4474036989824015, + -1.262873737389143, + -1.1726831427943265, + 0.74033016992423839, + 1.9214814294485305 + ], + "velocities": [ + -2.1370879213310241, + -0.25185588363909128, + -1.7015969669526445, + 0.52549111813047134, + 1.4278445281628982, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6002904021696089, + 0.18859427789315936, + 1.274186834989429, + -0.39349733081912514, + -1.069196017347801, + -2.3726108633630187 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 197351772, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1140151330187598, + -1.4659399329617671, + -1.3881088482877679, + -1.1340077456624371, + 0.84541749160107127, + 2.1546765751156998 + ], + "velocities": [ + -2.0545128532945038, + -0.24212440908471619, + -1.6358488599541572, + 0.50518663538126052, + 1.372673958023144, + 3.0460468350227727 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8558293160480708, + 0.21870954751620186, + 1.4776526056085895, + -0.45633210155528725, + -1.2399282723349514, + -2.7514761007342265 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 276263312, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.271301757305185, + -1.4844761669411324, + -1.5133439591863929, + -1.095332348530548, + 0.95050481327790415, + 2.387871720782869 + ], + "velocities": [ + -1.9169451254377281, + -0.22591204771494444, + -1.5263143732654387, + 0.47135994139802911, + 1.2807613485738489, + 2.842087175501804 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8835476350267706, + 0.22197615234309245, + 1.4997225480905951, + -0.46314779233121356, + -1.2584476087123053, + -2.7925716322910552 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 361713202, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4285883815916112, + -1.5030124009204977, + -1.6385790700850178, + -1.0566569513986586, + 1.0555921349547366, + 2.6210668664500383 + ], + "velocities": [ + -1.7561438013521014, + -0.20696160624564922, + -1.3982807801619517, + 0.43182031050723002, + 1.1733257637177901, + 2.603681091298891 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.831889067386568, + 0.21588818840364002, + 1.4585908467993349, + -0.45044540503157859, + -1.223933163891727, + -2.7159819841857589 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 455806706, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5858750058780364, + -1.521548634899863, + -1.7638141809836427, + -1.0179815542667692, + 1.160679456631569, + 2.8542620121172075 + ], + "velocities": [ + -1.580118476794941, + -0.18621701580709132, + -1.2581254990508366, + 0.38853723183856553, + 1.0557186245924608, + 2.3427037107527422 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9973682665104839, + 0.23538991760402869, + 1.590349068121123, + -0.49113528423910774, + -1.3344941598317075, + -2.9613235452983795 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 561464796, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7431616301644626, + -1.5400848688792284, + -1.8890492918822677, + -0.97930615713488001, + 1.2657667783084015, + 3.0874571577843768 + ], + "velocities": [ + -1.3734599606791544, + -0.16186230270971488, + -1.0935793890346659, + 0.33772172087108299, + 0.9176446462179948, + 2.0363091715627881 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0234506428358681, + 0.23846372653404005, + 1.6111164366524462, + -0.49754871110936377, + -1.3519204799872924, + -2.9999936075120552 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 686465875, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9004482544508887, + -1.5586211028585937, + -2.0142844027808926, + -0.94063076000299062, + 1.3708540999852343, + 3.3206523034515461 + ], + "velocities": [ + -1.1127940975157731, + -0.13114282194044971, + -0.88603142728742679, + 0.27362627841176912, + 0.74348694185696895, + 1.6498426541038822 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0404200521485252, + 0.24046357199414514, + 1.6246278580260309, + -0.50172133956545917, + -1.3632581877116325, + -3.0251526691583881 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 849068623, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.057734878737314, + -1.5771573368379592, + -2.1395195136795175, + -0.90195536287110145, + 1.4759414216620668, + 3.5538474491187153 + ], + "velocities": [ + -0.68905589973131531, + -0.081205261033656551, + -0.54864164330374343, + 0.16943278355093927, + 0.46037633089842611, + 1.0216030233953846 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1459085447843269, + 0.25289539441068853, + 1.7086201436619162, + -0.52766003183533794, + -1.4337378181895069, + -3.181551247346516 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 231942106, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2150215030237406, + -1.5956935708173245, + -2.2647546245781425, + -0.86327996573921206, + 1.5810287433388992, + 3.7870425947858841 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.49145759841231978, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2150215030237406, + -1.5956935708173245, + -2.2647546245781425, + -0.86327996573921206, + 1.5810287433388992, + 3.7870425947858841 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.29617044284233596, + -2.968159869855902, + -1.0559889435241041, + 2.7103491824639598, + 1.1018606055153153, + -1.2927454832047363 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105504653, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2122862387989715, + -1.5947882271388207, + -2.2711413400367442, + -0.84566507615606357, + 1.5708525757112528, + 3.7989816681073965 + ], + "velocities": [ + 0.012962765080775575, + -0.12132912919192781, + -0.10675336546154149, + 0.28558478227128248, + -0.048226155618112977, + 0.056580789667820569 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.116250392215742e-08, + -2.0763991140998357, + -0.95440786464315797, + 3.0308069787424423, + 8.8751891851590544e-12, + -1.1162611960030131e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 175071712, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2122862389053748, + -1.6122662088654902, + -2.2817831391953951, + -0.81754529527074915, + 1.5708525757113374, + 3.7989816680009936 + ], + "velocities": [ + -1.8592857704676839e-09, + -0.31258323798978266, + -0.18116827222037554, + 0.49375151021005576, + 1.47828166860707e-12, + -1.8592825786609804e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.2249462794930376e-09, + -1.4154609841494967, + -0.35333986488940444, + 1.7688008490385629, + 4.9491620132954879e-12, + -6.2249462794930376e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 223678276, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2122862390117777, + -1.6304415222430197, + -2.2919596393595159, + -0.78919348172910464, + 1.570852575711422, + 3.7989816678945907 + ], + "velocities": [ + -2.3316335639252895e-09, + -0.4063453211003108, + -0.21745724362629684, + 0.6238025647264811, + 1.8538352170512368e-12, + -2.3316335639252895e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1589299177423905e-08, + 1.8069419928253834, + 1.2326809528727765, + -3.0396229456977317, + -9.2142745255887436e-12, + 1.1589299177423905e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 266683369, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.212286239118181, + -1.6493105877574359, + -2.3016594277444056, + -0.76062462782980456, + 1.5708525757115066, + 3.7989816677881874 + ], + "velocities": [ + -2.1873995532820285e-09, + -0.394046636038487, + -0.19504427788854567, + 0.58909091392690904, + 1.7391573857356946e-12, + -2.1873995532820285e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1644517691723098e-08, + 2.0898389028364539, + 1.045197523100565, + -3.1350364259362937, + -9.2583698541301336e-12, + 1.1644517691723098e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 322667323, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2122862392245839, + -1.6688674495143763, + -2.3108709603369384, + -0.73185623348033768, + 1.5708525757115912, + 3.7989816676817845 + ], + "velocities": [ + -1.3343742299798009e-09, + -0.24771005535113277, + -0.11371542111709584, + 0.36142547646815087, + 1.060935339362069e-12, + -1.3343742299798009e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.109096862148679e-08, + 2.1093256269713105, + 0.90806685920611641, + -3.0173924861768135, + -8.8181900692124479e-12, + 1.109096862148679e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 461185852, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2122862393309872, + -1.6891036687004626, + -2.3195826735800478, + -0.70290830105114788, + 1.5708525757116758, + 3.7989816675753811 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.39003271768825137, + "y": -0.13703355992192201, + "z": 0.051891781824041562 + }, + "9": { + "element": { + "dtype": "__main__/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33646013820582032, + -0.18404652573976099, + 0.10189178182404157 + ], + "xaxis": [ + -0.56979311793059395, + 0.82178804863387489, + -0.00045374162326714397 + ], + "yaxis": [ + -0.82178778807104602, + -0.5697932985939097, + -0.0006544117736885204 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + 0.33646013820582032, + -0.18404652573976099, + 0.051891781824041562 + ], + "xaxis": [ + -0.56979311793059395, + 0.82178804863387489, + -0.00045374162326714397 + ], + "yaxis": [ + -0.82178778807104602, + -0.5697932985939097, + -0.0006544117736885204 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "1.1.0", + "data": { + "attributes": { + "name": "Box" + }, + "dea": {}, + "dfa": {}, + "dva": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "edgedata": {}, + "face": { + "0": [ + 0, + 1, + 2, + 3 + ], + "1": [ + 0, + 3, + 5, + 4 + ], + "2": [ + 3, + 2, + 6, + 5 + ], + "3": [ + 2, + 1, + 7, + 6 + ], + "4": [ + 1, + 0, + 4, + 7 + ], + "5": [ + 4, + 5, + 6, + 7 + ] + }, + "facedata": { + "0": {}, + "1": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {} + }, + "max_face": 5, + "max_vertex": 7, + "vertex": { + "0": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "1": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "2": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "3": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": -0.0060000000000000001 + }, + "4": { + "x": -0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "5": { + "x": 0.0155, + "y": -0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "6": { + "x": 0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + }, + "7": { + "x": -0.0155, + "y": 0.0080000000000000002, + "z": 0.0060000000000000001 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4389960461793938, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5035772255690352, + -1.0396065514363635, + 1.4922987023806056, + -2.0235418796958911, + -1.5715909069660778, + -3.2088117752291931 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.393688512244357, + -0.31688603159457729, + -0.91541233990194537, + 1.0328798615637378, + 2.9890345284287569, + -0.74880562062361966 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 422196059, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3753270536814239, + -1.0687670759464931, + 1.4080605179448276, + -1.9284940848543592, + -1.2965336121106672, + -3.2777184561063546 + ], + "velocities": [ + -0.51278040623117316, + -0.11659201219100093, + -0.33680805100992872, + 0.38002792614522796, + 1.0997567435340758, + -0.27550837002539713 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4081318601533777, + -0.32017004747159894, + -0.92489912176838507, + 1.043584006039147, + 3.0200110810995437, + -0.75656579084806619 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 599879168, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2470768817938125, + -1.0979276004566227, + 1.3238223335090495, + -1.8334462900128272, + -1.0214763172552568, + -3.3466251369835165 + ], + "velocities": [ + -0.83223547257075792, + -0.18922721536284484, + -0.54663478575177227, + 0.61678004241639406, + 1.7848899100784692, + -0.4471462554712301 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3045495152690834, + -0.29661830120600657, + -0.85686343382949215, + 0.96681784408504534, + 2.7978587115602367, + -0.70091272248648895 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 735927730, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1188267099062013, + -1.1270881249667524, + 1.2395841490732715, + -1.7383984951712954, + -0.74641902239984637, + -3.4155318178606779 + ], + "velocities": [ + -1.0248344972564178, + -0.23301888049133246, + -0.6731390385323397, + 0.75951757107283813, + 2.1979557636529354, + -0.5506265029900983 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2840704242092043, + -0.29196192509354768, + -0.84341221248304399, + 0.95164053541594829, + 2.7539373404998999, + -0.68990964801450072 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 851782629, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.99057653801858991, + -1.156248649476882, + 1.1553459646374935, + -1.6433507003297634, + -0.47136172754443573, + -3.4844384987378398 + ], + "velocities": [ + -1.1771866284714929, + -0.26765952066420418, + -0.77320804225832185, + 0.87242762724095324, + 2.5247043711651189, + -0.63248276510717627 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.332401956345699, + -0.30295117217787765, + -0.87515767105249365, + 0.98745963400485681, + 2.8575936576027572, + -0.71587737509218063 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 954597969, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.86232636613097868, + -1.1854091739870116, + 1.0711077802017157, + -1.5483029054882316, + -0.19630443268902531, + -3.5533451796150013 + ], + "velocities": [ + -1.3126355882083527, + -0.29845684944860285, + -0.86217458541388781, + 0.9728105331434086, + 2.8152008586774193, + -0.70525723477346547 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.2753777966572144, + -0.28998546319053303, + -0.83770265941049482, + 0.94519832120266523, + 2.7352943197191784, + -0.68523924403851622 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 47675355, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.73407619424336734, + -1.2145696984971415, + 0.98686959576593758, + -1.4532551106466998, + 0.078752862166385107, + -3.6222518604921632 + ], + "velocities": [ + -1.4349711628537272, + -0.32627255893578688, + -0.94252790228167993, + 1.0634749465283999, + 3.0775731559716997, + -0.77098610108173404 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 5.9414831848299306e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 133630760, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.605826022355756, + -1.2437302230072711, + 0.90263141133015956, + -1.3582073158051677, + 0.35381015702179575, + -3.6911585413693251 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785047, + -0.98002196355559457, + 1.1057803198885765, + 3.2000000000000002, + -0.80165617466291272 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5499521351730252e-14, + 0.0, + 0.0, + -2.8415789144838798e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 219586165, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.47757585046814466, + -1.2728907475174007, + 0.81839322689438154, + -1.2631595209636357, + 0.62886745187720638, + -3.7600652222464865 + ], + "velocities": [ + -1.4920547744646864, + -0.33925178563785047, + -0.98002196355559457, + 1.1057803198885754, + 3.2000000000000002, + -0.80165617466291017 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.099904270346053e-14, + -6.4581338965542776e-15, + -2.583253558621711e-15, + 2.0666028468973688e-14, + 0.0, + -7.4914353200029615e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 305541569, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.34932567858053321, + -1.3020512720275303, + 0.73415504245860352, + -1.1681117261221039, + 0.90392474673261702, + -3.828971903123648 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785074, + -0.98002196355559468, + 1.1057803198885749, + 3.2000000000000002, + -0.80165617466291339 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.099904270346053e-14, + 6.4581338965542776e-15, + 2.583253558621711e-15, + 7.7497606758651325e-15, + 0.0, + 1.5499521351730265e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 391496974, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.2210755066929222, + -1.33121179653766, + 0.64991685802282562, + -1.0730639312805721, + 1.1789820415880272, + -3.8978785840008099 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785074, + -0.98002196355559468, + 1.1057803198885763, + 3.2000000000000002, + -0.80165617466291594 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.583253558621711e-15, + -6.4581338965542776e-15, + -1.8082774910351978e-14, + -7.7497606758651325e-15, + 0.0, + 1.0462176912417929e-13 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 477452379, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.092825334805310744, + -1.3603723210477896, + 0.5656786735870476, + -0.97801613643904006, + 1.4540393364434379, + -3.9667852648779718 + ], + "velocities": [ + -1.492054774464687, + -0.33925178563785074, + -0.98002196355559534, + 1.1057803198885763, + 3.2000000000000002, + -0.80165617466291073 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5832535586217088e-14, + 1.2916267793108544e-14, + 3.7457176600014776e-14, + -1.2916267793108544e-14, + 0.0, + -9.0413874551759811e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 563407783, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.035424837082300487, + -1.3895328455579192, + 0.48144048915126958, + -0.88296834159750825, + 1.7290966312988481, + -4.0356919457551328 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785047, + -0.98002196355559446, + 1.1057803198885754, + 3.2000000000000002, + -0.80165617466291017 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5832535586217088e-14, + -1.2916267793108544e-14, + -3.7457176600014776e-14, + 1.2916267793108544e-14, + 0.0, + -2.9707415924149653e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 649363188, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.16367500896991194, + -1.4186933700680489, + 0.39720230471549156, + -0.78792054675597623, + 2.0041539261542591, + -4.1045986266322947 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785047, + -0.98002196355559446, + 1.1057803198885754, + 3.2000000000000002, + -0.80165617466291539 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.841578914483882e-14, + 6.4581338965542776e-15, + 4.9081817613812505e-14, + -2.0666028468973688e-14, + 0.0, + 1.5499521351730265e-14 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 735318592, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.29192518085752317, + -1.4478538945781785, + 0.31296412027971354, + -0.69287275191444442, + 2.2792112210096693, + -4.1735053075094566 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785074, + -0.98002196355559401, + 1.1057803198885749, + 3.2000000000000002, + -0.80165617466291594 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0999042703460505e-14, + 0.0, + -6.0706458627610158e-14, + 2.8415789144838798e-14, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 821273997, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.4201753527451344, + -1.4770144190883081, + 0.22872593584393575, + -0.59782495707291261, + 2.55426851586508, + -4.2424119883866185 + ], + "velocities": [ + -1.4920547744646857, + -0.33925178563785047, + -0.98002196355559446, + 1.1057803198885754, + 3.2000000000000002, + -0.80165617466291528 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2753777966572537, + 0.28998546319056212, + 0.83770265941057143, + -0.94519832120264757, + -2.7352943197191775, + 0.68523924403862879 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 907229402, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.54842552463274585, + -1.5061749435984377, + 0.14448775140815751, + -0.50277716223138058, + 2.8293258107204906, + -4.3113186692637804 + ], + "velocities": [ + -1.4349711628537267, + -0.32627255893578561, + -0.94252790228167904, + 1.0634749465284006, + 3.0775731559716997, + -0.77098610108172905 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2113430605901621, + 0.27542574398627739, + 0.79564291143728672, + -0.89774138319742303, + -2.5979594450742485, + 0.65083444708353155 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 306788, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.67667569652035708, + -1.5353354681085674, + 0.060249566972379709, + -0.40772936738984855, + 3.1043831055759012, + -4.3802253501409414 + ], + "velocities": [ + -1.318872506334223, + -0.29987495128191993, + -0.86627116206298771, + 0.97743279060900323, + 2.8285771357044771, + -0.7086082269836943 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3098802397358191, + 0.29783035978793848, + 0.86036479795398579, + -0.97076851017781773, + -2.8092914810439571, + 0.70377683193961205 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 102104155, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.80492586840796876, + -1.5644959926186972, + -0.023988617463398532, + -0.31268157254831652, + 3.3794404004313119, + -4.4491320310181033 + ], + "velocities": [ + -1.1889584947562111, + -0.2703361158708476, + -0.78094012268090718, + 0.88115190351336392, + 2.5499514148767704, + -0.63880759275825105 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.352034442911398, + 0.30741505395882207, + 0.88805281965078142, + -1.002009513571174, + -2.8996993216073781, + 0.72642558307269944 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 216811975, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.93317604029557999, + -1.5936565171288268, + -0.10822680189917633, + -0.21763377770678471, + 3.6544976952867216, + -4.5180387118952652 + ], + "velocities": [ + -1.0336163210600255, + -0.23501562314282079, + -0.67890717811736212, + 0.76602588973576613, + 2.216790083044212, + -0.55534483062621942 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4163500762854004, + 0.32203864140343297, + 0.93029706857871441, + -1.0496746280584859, + -3.0376366348477362, + 0.76098130147119769 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 351929764, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0614262121831908, + -1.6228170416389562, + -0.19246498633495435, + -0.12258598286525291, + 3.9295549901421323, + -4.5869453927724262 + ], + "velocities": [ + -0.83902597889266906, + -0.19077118776554705, + -0.55109497411283603, + 0.62181257096786335, + 1.799453464045794, + -0.45079468139714768 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2368807281477707, + 0.28123229979658571, + 0.81241674275553144, + -0.91666766572021441, + -2.6527299116702121, + 0.66455541043857358 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 527885168, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.1896763840708025, + -1.6519775661490861, + -0.27670317077073237, + -0.027538188023720878, + 4.2046122849975429, + -4.6558520736495881 + ], + "velocities": [ + -0.58426939325641758, + -0.13284662088018762, + -0.38376395278787545, + 0.43300930209347133, + 1.2530787008749902, + -0.31391821184219382 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.7580195677903524, + 0.09386869273731481, + -0.71566577416088573, + 1.2951129105286052, + -3.1423156380211963, + -0.11805799986169335 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 819588277, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3179265559584135, + -1.6811380906592157, + -0.36094135520651038, + 0.067509606817811096, + 4.4796695798529536, + -4.72475875452675 + ], + "velocities": [ + -0.54048691914782332, + -0.087480630330019127, + -0.38397389354298822, + 0.49810518410377347, + 0.52496478546578118, + -0.25192529275631914 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9287868573977298, + -0.34249033762086267, + -2.1882867536723292, + 3.0614952012075332, + 0.48862505827196601, + -1.2222208148987141 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 59939910, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4720673984604085, + -1.6991632156546823, + -0.47610998313005559, + 0.22863483463627904, + 4.505385714831978, + -4.7890837311484198 + ], + "velocities": [ + -0.91262574103831473, + -0.10672183173050268, + -0.68188192497865074, + 0.9539783749131473, + 0.15225819686024653, + -0.3808505812199896 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.9540887947842789, + -0.34544912892250912, + -2.2071914733126006, + 3.087943612669926, + 0.49284631479629837, + -1.2327796421663837 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 190133296, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6262082409624035, + -1.7171883406501487, + -0.5912786110536008, + 0.38976006245474698, + 4.5311018498110016, + -4.8534087077700896 + ], + "velocities": [ + -1.3547113914933655, + -0.15841902618466747, + -1.012192807942309, + 1.4160956826210216, + 0.22601369264485499, + -0.56533866801586075 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8124304480741475, + -0.32888369847165566, + -2.1013493281698534, + 2.9398664838858983, + 0.469212700850896, + -1.1736637732475219 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 291177110, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7803490834643987, + -1.7352134656456153, + -0.70644723897714612, + 0.55088529027321487, + 4.5568179847900261, + -4.9177336843917594 + ], + "velocities": [ + -1.6571182804717559, + -0.19378228153508026, + -1.2381406223758415, + 1.7322051451723683, + 0.27646583919683088, + -0.6915369925353021 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3337781751154121, + -0.29260361116847061, + -1.4268259711235387, + 2.8902847088212789, + -1.0603957549385217, + -0.39385948517113301 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 377349423, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9344899259663937, + -1.7532385906410819, + -0.82161586690069133, + 0.71201051809168292, + 4.5825341197690506, + -4.9820586610134292 + ], + "velocities": [ + -1.897865377366714, + -0.22285582255728514, + -1.4032023996119625, + 2.0049357995032997, + 0.24884889320001044, + -0.76488378792348222 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5338929704209336, + -0.29863665832769992, + -1.855824285625409, + 2.7019238166815271, + 0.25158760365589317, + -0.98894601792176251 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 478194049, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1368830126554719, + -1.7770920034659416, + -0.96984864938395865, + 0.92782496157469685, + 4.6026295193265723, + -5.0610500941451964 + ], + "velocities": [ + -2.1278753861791362, + -0.25078470246546991, + -1.5584568348203922, + 2.2689818599136706, + 0.21127453903391663, + -0.83048254774787589 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.9079293743698469e-14, + -2.6521514562312807e-14, + 7.4013529011105502e-15, + 0.0, + -1.1071190381244532e-13, + 3.7006764505552751e-15 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 568195678, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3392760993445503, + -1.8009454162908012, + -1.1180814318672259, + 1.1436394050577108, + 4.6227249188840949, + -5.1400415272769635 + ], + "velocities": [ + -2.2487713821234108, + -0.26503312442150995, + -1.6470011134964522, + 2.3978948702879852, + 0.22327817701952107, + -0.87766670870788555 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7485800486770167, + 0.32393900234345241, + 2.0130611927436828, + -2.9308475070841782, + -0.27290366087865181, + 1.0727356387223792 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 658197306, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5416691860336282, + -1.8247988291156609, + -1.2663142143504931, + 1.3594538485407248, + 4.6428203184416166, + -5.2190329604087307 + ], + "velocities": [ + -2.1168634775844728, + -0.24948687354257992, + -1.5503917082978362, + 2.2572397151402499, + 0.21018117805642084, + -0.82618474066543557 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7263439726197118, + 0.32131832833483537, + 1.9967754812136882, + -2.9071368830798274, + -0.27069586396108081, + 1.0640571826359311 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 760160841, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7440622727227066, + -1.8486522419405205, + -1.4145469968337605, + 1.5752682920237389, + 4.6629157179991392, + -5.2980243935404969 + ], + "velocities": [ + -1.8334405849076982, + -0.21608354256111759, + -1.3428126615615419, + 1.9550221105075847, + 0.1820404131456213, + -0.71556841062604715 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8139179779451311, + 0.33163952524888024, + 2.0609147198356412, + -3.000518211128437, + -0.27939099607567597, + 1.0982361968449745 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 880494991, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.946455359411785, + -1.8725056547653802, + -1.5627797793170277, + 1.7910827355067529, + 4.6830111175566609, + -5.3770158266722641 + ], + "velocities": [ + -1.4870947276520488, + -0.17526430881925356, + -1.0891488088953341, + 1.5857089108373668, + 0.14765209237586596, + -0.580394052294817 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8311236767619787, + 0.33366733481258593, + 2.0735161809424261, + -3.0188648768947379, + -0.28109933205720755, + 1.1049513610327051 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 37114001, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.148848446100863, + -1.8963590675902398, + -1.7110125618002949, + 2.0068971789897665, + 4.7031065171141835, + -5.4560072598040312 + ], + "velocities": [ + -0.91625835346700379, + -0.10798732860401597, + -0.6710680064709954, + 0.97701848356075727, + 0.090974341130153763, + -0.35760391643464973 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8842204541546104, + 0.33992515404710677, + 2.1124042832119225, + -3.075482677686209, + -0.28637125598688368, + 1.1256743541424685 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 411740599, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3512415327899414, + -1.9202124804150995, + -1.8592453442835624, + 2.2227116224727808, + 4.7232019166717052, + -5.5349986929357984 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.36334704050848637, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 0, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3512415327899414, + -1.9202124804150995, + -1.8592453442835624, + 2.2227116224727808, + 4.7232019166717052, + -5.5349986929357984 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.19682420552438773, + -0.89084830275009008, + -1.1535362604872341, + 3.1488045384762513, + 0.91376059957095446, + -0.36127566909177544 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 114100726, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3536067359305011, + -1.9242264427390514, + -1.8553806865282898, + 2.2095892992874999, + 4.7122214103374898, + -5.530657304425084 + ], + "velocities": [ + -0.010364540298379474, + -0.08209017790698217, + -0.026873336122344691, + 0.050806006098588596, + -0.048117600648142647, + 0.019024368460820548 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9519318561310328e-10, + -1.9543911984304849, + -1.1304543626308396, + 3.0848455610611607, + -5.2654316328912001e-13, + -5.9525704609835021e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 210635480, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3536067359345179, + -1.9366795460018404, + -1.8638387964188918, + 2.2305005124408903, + 4.7122214103374862, + -5.5306573044291003 + ], + "velocities": [ + -6.3047650441324643e-11, + -0.19939527058736131, + -0.12833440015043626, + 0.32772967073778481, + -5.5767669428884365e-14, + -6.3045350289353771e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9066324781052169e-10, + -2.1233290756620011, + -0.90771455421050029, + 3.031043629872372, + -5.2247965308316832e-13, + -5.9066324781052169e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 258174293, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3536067359385342, + -1.9495050089032178, + -1.8718753062925453, + 2.2513624852159202, + 4.7122214103374827, + -5.5306573044331166 + ], + "velocities": [ + -9.6928044293410453e-11, + -0.3145178408675075, + -0.18817281842140965, + 0.50269065928889578, + -8.5739092696515228e-14, + -9.6928044293410453e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.9779251928012407e-10, + 1.7852953878649946, + 1.3450643349071814, + -3.1303597227720443, + 5.2898073511964183e-13, + 5.9801272105275504e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 294896640, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3536067359425505, + -1.9626973792806826, + -1.8794876317628058, + 2.2721671810636446, + 4.7122214103374791, + -5.530657304437133 + ], + "velocities": [ + -9.6746392121513905e-11, + -0.32154462800375294, + -0.17888910484783371, + 0.50043373285156523, + -8.5574296253305248e-14, + -9.6741741914361569e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.045305861987335e-10, + 2.0022730434578673, + 1.1268720857389671, + -3.1291451291966776, + 5.346870856373542e-13, + 6.0446375031302878e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 342646041, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3536067359465673, + -1.9762507063545203, + -1.8866731583651006, + 2.2929060347397763, + 4.7122214103374755, + -5.5306573044411493 + ], + "velocities": [ + -5.9426438676945712e-11, + -0.20204758676726831, + -0.10445002761882713, + 0.30649761438608325, + -5.2560697558382052e-14, + -5.9419868589750917e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.0058782658160947e-10, + 2.0794920263322307, + 1.0101716842434438, + -3.0896637105755751, + 5.3119984661723339e-13, + 6.0052142660078241e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 458301498, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3536067359505841, + -1.9901585412568721, + -1.8934292799705623, + 2.3135699912475891, + 4.712221410337472, + -5.5306573044451657 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": 0.33646013820582032, + "y": -0.18404652573976099, + "z": 0.051891781824041562 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "__main__/Assembly" + } +} \ No newline at end of file