diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly01.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly01.json new file mode 100644 index 0000000..cc014d2 --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly01.json @@ -0,0 +1,6962 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.050000000000000003, + "ysize": 0.048000000000000001, + "zsize": 0.014999999999999999 + } + }, + "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": "0.18.1", + "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": [ + 0.077500000000000013, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.04411237381387869 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.04411237381387869 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.04411237381387869 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.04411237381387869 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.04411237381387869 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.094112373813878714 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.044112373813878704 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.044112373813878704 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.04411237381387869 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.04411237381387869 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.04411237381387869 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.04411237381387869 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.04411237381387869 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.04411237381387869 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.04411237381387869 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.04411237381387869 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.04411237381387869 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.024, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.024, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.024, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.024, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.04411237381387869 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly02.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly02.json new file mode 100644 index 0000000..4524fca --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly02.json @@ -0,0 +1,6962 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.032000000000000001, + "zsize": 0.027 + } + }, + "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": "0.18.1", + "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": [ + 0.083500000000000005, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.050112373813878688 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.050112373813878688 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.050112373813878688 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.050112373813878688 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.050112373813878688 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.10011237381387871 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.050112373813878702 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.050112373813878702 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.050112373813878688 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.050112373813878688 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.050112373813878688 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.050112373813878688 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.050112373813878688 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.050112373813878688 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.050112373813878688 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.050112373813878688 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.050112373813878688 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.10011237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.050112373813878688 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0135 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0135 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0135 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0135 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0135 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0135 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0135 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0135 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.050112373813878688 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly03.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly03.json new file mode 100644 index 0000000..40b3ecf --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly03.json @@ -0,0 +1,10113 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.032000000000000001, + "zsize": 0.014999999999999999 + } + }, + "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": "0.18.1", + "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": [ + 0.077500000000000013, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.43643984246662448, + 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": [ + 0.44549097665674225, + -0.23091835630085558, + -0.79916330744750907, + 0.76053504808236827, + 1.5109008937867268, + 3.1724264853233985 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 447055423, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5471903428462801, + -1.0622132256060581, + 1.4140614206449655, + -1.9490862655903127, + -1.4236752334107234, + -2.8982344221339922 + ], + "velocities": [ + 0.16775845200120237, + -0.086956881332172595, + -0.30094077406388176, + 0.28639453781185253, + 0.56895966102629769, + 1.1946400357184723 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.40982782006640228, + -0.21243251049957459, + -0.73518740744465161, + 0.69965147931571192, + 1.3899478375161103, + 2.9184623234305365 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 630334229, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.590803460123525, + -1.0848198997757525, + 1.3358241389093253, + -1.8746306514847346, + -1.275759559855369, + -2.5876570690387908 + ], + "velocities": [ + 0.27139737203968928, + -0.14067767550781646, + -0.48685794513615144, + 0.46332523936320624, + 0.92045530318807678, + 1.9326726156549734 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.39691168679009542, + -0.20573748765463329, + -0.71201724165147795, + 0.67760126380732888, + 1.3461422424895499, + 2.8264840669882325 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 773405813, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6344165774007702, + -1.1074265739454472, + 1.2575868571736852, + -1.8001750373791563, + -1.1278438863000146, + -2.2770797159435894 + ], + "velocities": [ + 0.33113817920342792, + -0.17164406925582376, + -0.59402658276120401, + 0.56531378689727307, + 1.1230686975526987, + 2.3580983343152013 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.39368966650879811, + -0.20406736712178083, + -0.70623728084506299, + 0.67210068247576904, + 1.3352146287377298, + 2.803539444061466 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 895420301, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.6780296946780151, + -1.1300332481151416, + 1.179349575438045, + -1.725719423273578, + -0.97992821274466035, + -1.9665023628483884 + ], + "velocities": [ + 0.38010842293742664, + -0.19702758717928714, + -0.6818739781061558, + 0.64891500134238422, + 1.2891532849037535, + 2.7068248099452212 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.36407392911559844, + -0.18871617538538429, + -0.65310980601884316, + 0.62154117074031678, + 1.234771642364954, + 2.5926401113889193 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 3701964, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.72164281195526, + -1.1526399222848362, + 1.1011122937024049, + -1.6512638091679999, + -0.83201253918930607, + -1.6559250097531875 + ], + "velocities": [ + 0.42164175675537352, + -0.21855621442312234, + -0.75638035009233007, + 0.71982004249340203, + 1.4300152876729606, + 3.0025916270795614 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.090320837119230377, + -0.046817422439896034, + -0.16202595048127921, + 0.15419428406120697, + 0.30632681845798299, + 0.64319196317726524 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 102708201, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.765255929232505, + -1.1752465964545307, + 1.0228750119667649, + -1.5768081950624215, + -0.68409686563395156, + -1.3453476566579861 + ], + "velocities": [ + 0.44493590011361761, + -0.23063063473145318, + -0.7981675593194093, + 0.7595874303133594, + 1.5090183289558494, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.2914842433515066e-15, + 3.4317186781917307e-15, + 3.5461093007981221e-14, + -1.1439062260639103e-14, + -9.151249808511282e-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": 199763624, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8088690465097499, + -1.1978532706242253, + 0.94463773023112463, + -1.5023525809568432, + -0.53618119207859727, + -1.0347703035627851 + ], + "velocities": [ + 0.44936301342102003, + -0.23292541011787191, + -0.80610932851020189, + 0.76714532712505124, + 1.5240330650639686, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.2914842433515066e-15, + 2.001835895611843e-14, + -2.4022030747342116e-14, + -1.2582968486703013e-14, + 2.0590312069150387e-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": 296819047, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8524821637869948, + -1.2204599447939199, + 0.86640044849548459, + -1.4278969668512649, + -0.38826551852324287, + -0.7241929504675837 + ], + "velocities": [ + 0.44936301342102003, + -0.23292541011787077, + -0.80610932851020123, + 0.76714532712505012, + 1.5240330650639691, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.3450077634310179e-14, + 0.0, + 0.0, + -2.2878124521278222e-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": 393874469, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.8960952810642397, + -1.2430666189636144, + 0.78816316675984444, + -1.3534413527456868, + -0.24034984496788847, + -0.41361559737238274 + ], + "velocities": [ + 0.44936301342102036, + -0.23292541011787093, + -0.80610932851020245, + 0.76714532712504946, + 1.5240330650639691, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.7158593390958654e-14, + 2.6881796312501893e-14, + 2.4022030747342116e-14, + 1.2582968486703013e-14, + 2.2878124521278205e-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": 490929892, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9397083983414847, + -1.265673293133309, + 0.70992588502420428, + -1.2789857386401087, + -0.092434171412534294, + -0.10303824427718178 + ], + "velocities": [ + 0.4493630134210212, + -0.23292541011787077, + -0.80610932851020123, + 0.76714532712505012, + 1.5240330650639682, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.7472108381652242e-14, + -2.3450077634310144e-14, + -2.4022030747342101e-14, + 0.0, + 2.2878124521278191e-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": 587985315, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.9833215156187298, + -1.2882799673030034, + 0.63168860328856424, + -1.2045301245345303, + 0.055481502142820105, + 0.20753910881801962 + ], + "velocities": [ + 0.4493630134210197, + -0.2329254101178706, + -0.80610932851020123, + 0.76714532712505068, + 1.5240330650639693, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.0922186015962392e-14, + 2.3450077634310144e-14, + 2.4022030747342101e-14, + 0.0, + -2.2878124521278191e-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": 685040738, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0269346328959745, + -1.3108866414726981, + 0.55345132155292398, + -1.130074510428952, + 0.20339717569817473, + 0.51811646191322103 + ], + "velocities": [ + 0.44936301342102086, + -0.2329254101178706, + -0.80610932851020123, + 0.76714532712505068, + 1.5240330650639693, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.374523366888538e-14, + -3.0313514990693647e-14, + -4.8044061494684264e-14, + -1.143906226063911e-15, + 2.0590312069150399e-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": 782096161, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0705477501732199, + -1.3334933156423925, + 0.47521403981728394, + -1.0556188963233737, + 0.35131284925352912, + 0.82869381500842243 + ], + "velocities": [ + 0.44936301342102269, + -0.23292541011787093, + -0.80610932851020245, + 0.76714532712505057, + 1.5240330650639691, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3154921599734978e-14, + 6.863437356383467e-15, + 4.8044061494684264e-14, + 1.143906226063911e-15, + -2.0590312069150399e-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": 879151584, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1141608674504648, + -1.3560999898120871, + 0.39697675808164368, + -0.98116328221779558, + 0.4992285228088833, + 1.1392711681036229 + ], + "velocities": [ + 0.44936301342102036, + -0.23292541011787207, + -0.80610932851020245, + 0.76714532712505057, + 1.5240330650639691, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.3450077634310144e-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": 976207006, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.1577739847277098, + -1.3787066639817818, + 0.31873947634600364, + -0.90670766811221726, + 0.6471441963642377, + 1.4498485211988243 + ], + "velocities": [ + 0.44936301342101975, + -0.2329254101178706, + -0.80610932851020012, + 0.76714532712505068, + 1.5240330650639682, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3154921599734978e-14, + -6.863437356383467e-15, + -4.8044061494684264e-14, + -1.143906226063911e-15, + 4.3468436590428625e-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": 73262429, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2013871020049547, + -1.4013133381514762, + 0.2405021946103636, + -0.83225205400663893, + 0.7950598699195921, + 1.7604258742940257 + ], + "velocities": [ + 0.44936301342102036, + -0.2329254101178698, + -0.80610932851020245, + 0.76714532712505057, + 1.5240330650639704, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3154921599734978e-14, + -1.658664027792671e-14, + 4.8044061494684264e-14, + 1.143906226063911e-15, + -4.3468436590428625e-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": 170317852, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2450002192821996, + -1.4239200123211706, + 0.16226491287472333, + -0.75779643990106083, + 0.9429755434749465, + 2.0710032273892263 + ], + "velocities": [ + 0.44936301342102036, + -0.23292541011787093, + -0.80610932851020245, + 0.76714532712505057, + 1.5240330650639704, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + -2.4022030747342101e-14, + -4.8044061494684201e-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": 267373275, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2886133365594445, + -1.4465266864908652, + 0.084027631139083292, + -0.6833408257954825, + 1.0908912170303009, + 2.3815805804844277 + ], + "velocities": [ + 0.44936301342101975, + -0.23292541011787174, + -0.80610932851020012, + 0.76714532712504946, + 1.524033065063966, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.3154921599734978e-14, + 1.658664027792671e-14, + -4.8044061494684264e-14, + 4.6900155268620358e-14, + 9.1512498085112889e-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": 364428698, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3322264538366895, + -1.4691333606605599, + 0.0057903494034432512, + -0.60888521168990439, + 1.2388068905856549, + 2.6921579335796291 + ], + "velocities": [ + 0.44936301342102036, + -0.23292541011787093, + -0.80610932851020245, + 0.76714532712505057, + 1.524033065063968, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.3154921599734978e-14, + -1.658664027792671e-14, + 4.8044061494684264e-14, + -2.2878124521278222e-14, + -4.3468436590428625e-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": 461484121, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.3758395711139344, + -1.4917400348302543, + -0.072446932332197012, + -0.53442959758432607, + 1.3867225641410093, + 3.0027352866748296 + ], + "velocities": [ + 0.44936301342102036, + -0.23292541011787093, + -0.80610932851020245, + 0.76714532712505179, + 1.5240330650639704, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 2.3450077634310144e-14, + 0.0, + -2.4022030747342101e-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": 558539543, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4194526883911793, + -1.5143467089999489, + -0.15068421406783705, + -0.45997398347874774, + 1.5346382376963636, + 3.313312639770031 + ], + "velocities": [ + 0.44936301342101975, + -0.2329254101178706, + -0.80610932851020012, + 0.76714532712504946, + 1.5240330650639682, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -2.3450077634310144e-14, + -4.6900155268620288e-14, + 4.6900155268620288e-14, + 4.5756249042556382e-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": 655594966, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4630658056684243, + -1.5369533831696434, + -0.22892149580347709, + -0.38551836937316963, + 1.682553911251718, + 3.6238899928652324 + ], + "velocities": [ + 0.44936301342101975, + -0.2329254101178706, + -0.80610932851020234, + 0.76714532712505057, + 1.5240330650639704, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.3763592625003785e-14, + 2.001835895611843e-14, + 3.4317186781917308e-14, + -3.5461093007981221e-14, + -2.5165936973406026e-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": 752650389, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5066789229456692, + -1.559560057339338, + -0.30715877753911758, + -0.31106275526759108, + 1.8304695848070729, + 3.9344673459604338 + ], + "velocities": [ + 0.44936301342102236, + -0.23292541011787077, + -0.806109328510203, + 0.76714532712505124, + 1.5240330650639713, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0123570100665606e-13, + -4.375441314694457e-14, + 1.2582968486703013e-14, + 1.2582968486703013e-14, + -2.0590312069150387e-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": 849705812, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.5502920402229146, + -1.5821667315090324, + -0.38539605927475762, + -0.23660714116201298, + 1.9783852583624273, + 4.2450446990556348 + ], + "velocities": [ + 0.44936301342102003, + -0.23292541011787193, + -0.80610932851020078, + 0.76714532712505012, + 1.5240330650639691, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.41671888448330524, + 0.21600446448233362, + 0.74754924218405305, + -0.71141579393112397, + -1.4133191647311321, + -2.9675349116849992 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 946761235, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.593905157500159, + -1.6047734056787273, + -0.46363334101039766, + -0.16215152705643465, + 2.1263009319177817, + 4.5556220521508362 + ], + "velocities": [ + 0.42808274369629817, + -0.2218948726570471, + -0.76793479383340235, + 0.73081599206252013, + 1.4518601586935704, + 3.0484591275087731 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.40160282880566034, + 0.20816912120091, + 0.72043265019004754, + -0.68560990619354967, + -1.3620524427753875, + -2.859890586887099 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 53970802, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6375182747774044, + -1.6273800798484217, + -0.5418706227460377, + -0.087695912950856325, + 2.2742166054731361, + 4.8661994052460376 + ], + "velocities": [ + 0.3839095071668025, + -0.19899786305107875, + -0.68869271788721642, + 0.65540415135580821, + 1.3020448177527886, + 2.7338930580446741 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.40987771329160638, + 0.2124583724410079, + 0.73527691057035882, + -0.69973665622934755, + -1.3901170524329254, + -2.9188176226339877 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 174777226, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6811313920546493, + -1.6499867540181161, + -0.62010790448167796, + -0.013240298845277998, + 2.42213227902849, + 5.176776758341239 + ], + "velocities": [ + 0.33408810230034036, + -0.17317314936843398, + -0.59931843023371012, + 0.57034984828102164, + 1.1330734825590665, + 2.3791053011286358 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.42380234810920797, + 0.21967614777802436, + 0.76025622058770659, + -0.72350856938904939, + -1.4373430217431498, + -3.0179776115191794 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 316765652, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7247445093318943, + -1.6725934281878108, + -0.69834518621731823, + 0.061215315260299885, + 2.5700479525838444, + 5.4873541114364386 + ], + "velocities": [ + 0.27272414988775961, + -0.14136540517218027, + -0.48923804311539604, + 0.465590293219178, + 0.92495512460208529, + 1.94212085457767 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.43009037978991699, + 0.22293552230222924, + 0.77153627890222443, + -0.73424339619189405, + -1.4586691387340129, + -3.0627558882738963 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 499792078, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.7683576266091392, + -1.6952001023575054, + -0.77658246795295804, + 0.13567092936587821, + 2.7179636261391993, + 5.79793146453164 + ], + "velocities": [ + 0.18021763368402988, + -0.093415045258732315, + -0.32329121742518324, + 0.30766465289101302, + 0.61121548600777698, + 1.2833642524303053 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7114325711610434, + 0.38055025343583915, + 0.50632299263478231, + 1.1893755848819136, + -2.2101979904708955, + -3.162046573501359 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 856847501, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.8119707438863841, + -1.7178067765271998, + -0.85481974968859831, + 0.21012654347145654, + 2.8658792996945532, + 6.1085088176268423 + ], + "velocities": [ + -0.18548572982985206, + 0.0050902441470709811, + -0.12810577723210553, + 0.42231866959155612, + 0.016979172062491499, + 0.3014473105150105 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4045627788995789, + 0.35837777222807793, + -0.1808769620638099, + 3.1018285961302228, + -1.8544684890865895, + -1.3016390478125976 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 218797587, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.6334866082725039, + -1.6912053721219347, + -0.86824575316403996, + 0.44036681861040805, + 2.7282271625982304, + 6.0118917018797449 + ], + "velocities": [ + -0.80650802905590246, + 0.1202025388039084, + -0.06066746248249813, + 1.0403761089070347, + -0.62200236117934571, + -0.43657930339999407 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4464458543538372, + 0.36462005602580955, + -0.18402750715106286, + 3.155856763861149, + -1.8867699304702288, + -1.3243112138013569 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 378172942, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.4550024726586233, + -1.6646039677166693, + -0.88167175663948172, + 0.67060709374935956, + 2.5905750255019075, + 5.9152745861326466 + ], + "velocities": [ + -1.2919395713575841, + 0.19255160626262152, + -0.097182783867311412, + 1.6665712128934793, + -0.99638123234325149, + -0.69935333285948431 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2369428525804937, + 0.33339557741809495, + -0.16826819039021337, + 2.8856028916902559, + -1.7251951449970413, + -1.2109029509209823 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 500089903, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.2765183370447426, + -1.6380025633114039, + -0.89509776011492348, + 0.90084736888831118, + 2.4529228884055851, + 5.8186574703855491 + ], + "velocities": [ + -1.5903071198763392, + 0.23702052106144272, + -0.1196267043288913, + 2.0514582294746355, + -1.2264909311830827, + -0.86086579373599492 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2187839636411821, + 0.33068916350314259, + -0.16690223534233101, + 2.8621783583488072, + -1.7111904836796248, + -1.201073172669328 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 604063279, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 2.0980342014308624, + -1.6114011589061388, + -0.90852376359036513, + 1.1310876440272626, + 2.3152707513092623, + 5.7220403546384508 + ], + "velocities": [ + -1.8254890836704196, + 0.27207221070429571, + -0.1373176540169424, + 2.3548373497837316, + -1.407870076233821, + -0.98817460434468041 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0518735039836389, + 0.30581270811655142, + -0.15434683144752995, + 2.6468678489695887, + -1.582464300836677, + -1.1107211246028175 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 696334371, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.919550065816982, + -1.5847997545008736, + -0.92194976706580678, + 1.3613279191662144, + 2.1776186142129395, + 5.6254232388913534 + ], + "velocities": [ + -2.0249549279345009, + 0.30180074411179947, + -0.15232195178890245, + 2.6121435283201593, + -1.5617039150018268, + -1.0961495484290475 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.25200452368722243, + 0.037558936112183888, + -0.018956382869630164, + 0.32507982107458772, + -0.19435319068663487, + -0.13641520659590209 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 780701506, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.7410659302031015, + -1.5581983500956083, + -0.93537577054124854, + 1.5915681943051658, + 2.039966477116617, + 5.5288061231442551 + ], + "velocities": [ + -2.1261425759475081, + 0.31688182421090116, + -0.15993352863421656, + 2.7426731792555117, + -1.6397427611370006, + -1.1509244933653244 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0931161614136671, + -0.3119595435496873, + 0.15744920275962176, + -2.7000698927338784, + 1.6142718332835795, + 1.1330466192071911 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 864233322, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.5625817945892211, + -1.5315969456903429, + -0.9488017740166903, + 1.8218084694441175, + 1.902314340020294, + 5.4321890073971577 + ], + "velocities": [ + -2.0452044772138458, + 0.30481875155291743, + -0.15384517130679148, + 2.638264963603361, + -1.5773209541518474, + -1.1071110439133327 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2116738697326981, + -0.32962946997481973, + 0.16636739707674875, + -2.8530065069003796, + 1.7057069732371208, + 1.1972243333102204 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 955590839, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3840976589753407, + -1.5049955412850777, + -0.96222777749213195, + 2.0520487445830691, + 1.7646622029239714, + 5.3355718916500603 + ], + "velocities": [ + -1.8464316143066151, + 0.27519350058704617, + -0.13889300124956347, + 2.3818527144781845, + -1.4240215626858919, + -0.99951122482108867 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2060703825782229, + -0.32879432220459232, + 0.16594588937381846, + -2.8457781422070276, + 1.7013854015784138, + 1.1941910510238178 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 58216606, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2056135233614602, + -1.4783941368798126, + -0.9756537809675736, + 2.2822890197220205, + 1.6270100658276485, + 5.238954775902962 + ], + "velocities": [ + -1.616696028899681, + 0.24095354311031703, + -0.1216117411672743, + 2.0854992923021745, + -1.246842822460198, + -0.87515065030758121 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1735029001206025, + -0.32394044111127607, + 0.16349608546739969, + -2.8037668671106695, + 1.6762684154399918, + 1.1765616061916542 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 177666519, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0271293877475798, + -1.4517927324745472, + -0.98907978444301536, + 2.5125292948609723, + 1.4893579287313259, + 5.1423376601558646 + ], + "velocities": [ + -1.3487058056185788, + 0.20101208679186897, + -0.10145287574889267, + 1.7397983002752295, + -1.0401609970492918, + -0.73008205733271447 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.344026307648639, + -0.34935537285642143, + 0.17632326394038653, + -3.023737993014028, + 1.8077810083684751, + 1.2688694168890773 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 326008434, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84864525213369935, + -1.4251913280692818, + -1.0025057879184571, + 2.7427695699999233, + 1.3517057916350033, + 5.0457205444087663 + ], + "velocities": [ + -0.9769322356276251, + 0.14560268556691458, + -0.073487178822337351, + 1.26021926794441, + -0.75343844745590283, + -0.52883341458928523 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4991680842978887, + -1.0918050701063726, + -1.6227570381304937, + 0.66911704901595626, + 2.7514580369496295, + 1.9623093888102809 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 563774799, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67016111651981891, + -1.3985899236640167, + -1.0159317913938988, + 2.9730098451388751, + 1.2140536545386804, + 4.9491034286616689 + ], + "velocities": [ + -0.41277505691836425, + -0.035734957756977541, + -0.2758689374062635, + 1.0588133751639253, + -0.20693308126369264, + -0.14104292198194174 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.19812599705401757, + -0.48512999619858638, + -1.310445574221756, + 3.0409007972166751, + 0.4367682514114074, + 0.3288011503504028 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 866820697, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.647469079117997, + -1.454153495240555, + -1.1660215344132587, + 3.3212944501463499, + 1.2640781926827278, + 4.9867621312673629 + ], + "velocities": [ + -0.099016759483160632, + -0.24245177748463292, + -0.65491695268597472, + 1.5197407070615854, + 0.21828219185235576, + 0.16432383890114882 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.1905463841108935, + -0.46657060645184667, + -1.2603124751669899, + 2.9245664878172861, + 0.42005901415447833, + 0.31622235962148643 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 51078635, + "secs": 6 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.6247770417161751, + -1.5097170668170936, + -1.3161112774326189, + 3.6695790551538252, + 1.314102730826775, + 5.024420833873056 + ], + "velocities": [ + -0.13891928460722811, + -0.34015683461792201, + -0.9188403561091506, + 2.1321773497281833, + 0.306247205956927, + 0.23054430647110108 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.1550158896119192, + -0.37957087437469977, + -1.0253065700439239, + 2.3792331612777495, + 0.34173213032876493, + 0.25725752089508408 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 197777081, + "secs": 6 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60208500431435319, + -1.565280638393632, + -1.4662010204519789, + 4.0178636601613, + 1.3641272689708224, + 5.0620795364787501 + ], + "velocities": [ + -0.16536539419071122, + -0.4049126023236842, + -1.093760294806595, + 2.5380806481921754, + 0.36454758657917935, + 0.2744331013927066 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.18504516670768506, + 0.45310036217504662, + 1.2239263062337873, + -2.8401320539932637, + -0.40793159452472538, + -0.30709278229486686 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 326675518, + "secs": 6 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.57939296691253128, + -1.6208442099701705, + -1.6162907634713388, + 4.3661482651687749, + 1.4141518071148695, + 5.0997382390844432 + ], + "velocities": [ + -0.16309076388082594, + -0.39934295770361472, + -1.0787154280707725, + 2.50316889897424, + 0.35953316990580797, + 0.27065822543683538 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.19382816140831752, + 0.47460634447461264, + 1.282018816580746, + -2.9749362492237452, + -0.42729368377396626, + -0.32166865221625474 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 477819074, + "secs": 6 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.55670092951070937, + -1.6764077815467089, + -1.766380506490699, + 4.7144328701762497, + 1.4641763452589169, + 5.1373969416901373 + ], + "velocities": [ + -0.13338384247370766, + -0.32660278789451191, + -0.88222781786029669, + 2.047217623861517, + 0.29404433799716301, + 0.22135793129438225 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.20570256437992199, + 0.50368192846727777, + 1.3605585289457931, + -3.1571883615145797, + -0.45347077461301538, + -0.34137488670760996 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 672380022, + "secs": 6 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.53400889210888747, + -1.7319713531232472, + -1.9164702495100587, + 5.0627174751837245, + 1.5142008834029641, + 5.1750556442958304 + ], + "velocities": [ + -0.082516260923625392, + -0.20204876666076996, + -0.54577930476842162, + 1.2664858088137647, + 0.18190688517667591, + 0.13694034057986859 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.20646960996027236, + 0.50556011116421451, + 1.3656319241637049, + -3.1689612209650018, + -0.455161724623941, + -0.34264784166023227 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 141218961, + "secs": 7 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51131685470706556, + -1.7875349246997858, + -2.0665599925294189, + 5.4110020801912002, + 1.5642254215470115, + 5.2127143469015245 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.38732415514921975, + 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": [ + 0.51131685470706556, + -1.7875349246997858, + -2.0665599925294189, + 5.4110020801912002, + 1.5642254215470115, + 5.2127143469015245 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.24365294244767, + -2.5852979494360562, + -1.3782410690527644, + 2.4677248109878875, + -0.78896479405369491, + -1.0024594853739475 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 105344175, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771010843298, + -1.7892171230621343, + -2.0687853010529857, + 5.4281034391942935, + 1.5711844975914426, + 5.2215565560496708 + ], + "velocities": [ + -0.010200586290564114, + -0.12420267634318724, + -0.078824546045423383, + 0.26564982186390307, + 0.033030189210504581, + 0.041968191808858961 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.8663526506143512e-09, + -2.0657830270669311, + -0.92371827309963983, + 2.9895013001641191, + -4.7612598632513391e-12, + -6.8662561329753299e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 167460903, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771005559791, + -1.8036553340463439, + -2.0772657823871454, + 5.4510221315126417, + 1.571184497591406, + 5.2215565559968358 + ], + "velocities": [ + -1.0319557381369569e-09, + -0.28700558585005043, + -0.16092546024769722, + 0.44793104609734324, + -7.1558607810896716e-13, + -1.0319531885689245e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.4889846926732125e-09, + 0.8003316394407145, + 0.70869194687029735, + -1.50902358630985, + 2.4193197807146262e-12, + 3.4889230495847501e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 211006437, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771000276262, + -1.8185293744007303, + -2.0853359021368685, + 5.4739662916167307, + 1.5711844975913694, + 5.2215565559440007 + ], + "velocities": [ + -1.1314423523854763e-09, + -0.32278936684998966, + -0.16869188289270481, + 0.4914812497422526, + -7.8457219862382371e-13, + -1.1314387001099492e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.1499860107048876e-09, + 2.0324975502133622, + 1.0741761687148677, + -3.1066737189253044, + 4.9579959183029379e-12, + 7.1499709864748312e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 261347214, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916770994992744, + -1.8338331878761163, + -2.0929906080490364, + 5.4969248110042637, + 1.5711844975913327, + 5.2215565558911656 + ], + "velocities": [ + -7.3588570317370032e-10, + -0.21484013475656394, + -0.10493443936443894, + 0.31977457412071664, + -5.1028327988476728e-13, + -7.3588415686073095e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.7481778295924409e-09, + 2.0086248517270597, + 0.92397026729906007, + -2.9325951190235959, + 4.6793711323364199e-12, + 6.7481636496799187e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 386483521, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916770989709226, + -1.8495598121040542, + -2.1002248773946066, + 5.5198857045777521, + 1.5711844975912961, + 5.2215565558383306 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.04411237381387869 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.04411237381387869 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.04411237381387869 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.04411237381387869 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.04411237381387869 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.094112373813878714 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.044112373813878704 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.044112373813878704 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.04411237381387869 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.04411237381387869 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.04411237381387869 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.04411237381387869 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.04411237381387869 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.04411237381387869 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.04411237381387869 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.04411237381387869 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.04411237381387869 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.0155, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.0155, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.0155, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.0155, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.04411237381387869 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly04.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly04.json new file mode 100644 index 0000000..cd47c46 --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly04.json @@ -0,0 +1,9486 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.050000000000000003, + "ysize": 0.032000000000000001, + "zsize": 0.014999999999999999 + } + }, + "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": "0.18.1", + "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": [ + 0.077500000000000013, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8723218114197548, + 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": [ + -2.9316796416652133, + -0.91899984160175108, + -1.1172199804381062, + -0.28572940772927719, + 3.2095251141563512, + 0.82496261245210334 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 379869380, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2963381358050905, + -1.1045702288996271, + 1.4133229341822175, + -2.0437399605281379, + -1.3447110481372733, + -3.1504955463806854 + ], + "velocities": [ + -0.93811250587792216, + -0.2940721189497828, + -0.35750087443741285, + -0.091430975908293535, + 1.0270206896852936, + 0.26398100686862735 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7231515758378624, + -0.853632106075213, + -1.037753002425424, + -0.26540569981212653, + 2.9812341185211135, + 0.7662836710324038 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 535609618, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0890990460411458, + -1.1695339063628909, + 1.3343471659838295, + -2.0639380413603847, + -1.1178311893084689, + -3.0921793175321777 + ], + "velocities": [ + -1.5193036001006104, + -0.47625932519842146, + -0.57898424993660469, + -0.14807542804067203, + 1.6632932845900359, + 0.42752579416725012 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.622134122245301, + -0.82196595042466036, + -0.99925673703454854, + -0.25556026623373285, + 2.8706428896345555, + 0.73785777441177014 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 656948545, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88185995627720104, + -1.2344975838261545, + 1.2553713977854415, + -2.0841361221926311, + -0.89095133047966435, + -3.0338630886836704 + ], + "velocities": [ + -1.8553123590475162, + -0.58158870425486153, + -0.70703224459555292, + -0.18082374826000402, + 2.0311467618560748, + 0.52207727914129731 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6008483561583655, + -0.81529345613701532, + -0.99114504473594134, + -0.25348569804055465, + 2.8473397974893193, + 0.73186804724319543 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 760428961, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67462086651325637, + -1.2994612612894181, + 1.1763956295870535, + -2.1043342030248779, + -0.66407147165085989, + -2.9755468598351626 + ], + "velocities": [ + -2.129684521882425, + -0.66759672866573849, + -0.8115914392765462, + -0.20756479952292273, + 2.3315221284987446, + 0.59928447907527738 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.40519668310696, + -0.75396211079211861, + -0.91658507057212413, + -0.23441695810468005, + 2.6331455351419351, + 0.67681246987478716 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 852262577, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.46738177674931158, + -1.3644249387526819, + 1.0974198613886654, + -2.1245322838571248, + -0.43719161282205521, + -2.9172306309866549 + ], + "velocities": [ + -2.3623889105163465, + -0.74054306743184251, + -0.90027165822767952, + -0.2302447970899853, + 2.5862807211090688, + 0.66476653845454425 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8769699410283187, + -0.90184987558749852, + -1.0963709184169228, + -0.28039725269498139, + 3.1496303849756533, + 0.80956752735396498 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 936229709, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.26014268698536691, + -1.4293886162159453, + 1.0184440931902774, + -2.1447303646893716, + -0.21031175399325086, + -2.8589144021381472 + ], + "velocities": [ + -2.5837099597845823, + -0.80992104663870823, + -0.98461385401874224, + -0.25181534368951308, + 2.8285771357044771, + 0.72704537288109716 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2275415302327199, + -0.69827217283617216, + -0.84888330548222279, + -0.21710220758107482, + 2.4386533857592503, + 0.62682103938294453 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 13004201, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.052903597221422016, + -1.4943522936792091, + 0.93946832499188926, + -2.164928445521618, + 0.01656810483555371, + -2.8005981732896394 + ], + "velocities": [ + -2.7823535184090122, + -0.8721902647062636, + -1.060313991757696, + -0.27117568086562949, + 3.0460468350227732, + 0.7829428545638204 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.80424835834911357, + -0.2521094404132781, + -0.30648721722940603, + -0.078384214916396577, + 0.88046977147686634, + 0.22631218545661683 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 85329246, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.15433549254252243, + -1.5593159711424727, + 0.86049255679350123, + -2.1851265263538648, + 0.24344796366435806, + -2.7422819444411317 + ], + "velocities": [ + -2.8941819894335907, + -0.90724537294441132, + -1.1029301768397519, + -0.28207478537180347, + 3.1684736790510737, + 0.81441092709529217 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.7690448610050471e-14, + -3.1318017360732312e-14, + 1.5659008680366156e-14, + 3.914752170091539e-15, + 0.0, + -1.0961306076256309e-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": 156229202, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.36157458230646733, + -1.6242796486057363, + 0.7815167885951132, + -2.2053246071861117, + 0.47032782249316263, + -2.683965715592624 + ], + "velocities": [ + -2.9229791073919156, + -0.91627246665075457, + -1.1139043348291966, + -0.28488143018442302, + 3.2000000000000002, + 0.82251431783565843 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1943789850028066, + 0.37440451624743409, + 0.45516025942814692, + 0.11640739838658747, + -1.3075744340231643, + -0.33609334175628458 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 227129158, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.568813672070412, + -1.6892433260690001, + 0.70254102039672517, + -2.2255226880183585, + 0.69720768132196742, + -2.6256494867441162 + ], + "velocities": [ + -2.8799969158124274, + -0.90279874779967106, + -1.0975244539741567, + -0.2806922698244807, + 3.1529442366842311, + 0.8104193056281852 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5220977723447322, + 0.79060734343145378, + 0.96113435582662132, + 0.24581045366820461, + -2.7611257470478114, + -0.70970795634101436 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 300177454, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.77605276183435712, + -1.7542070035322639, + 0.62356525219833703, + -2.2457207688506053, + 0.92408754015077177, + -2.567333257895609 + ], + "velocities": [ + -2.7415747894974904, + -0.85940726997593653, + -1.0447738181079771, + -0.26720127592238563, + 3.0014033641930045, + 0.77146788770276653 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4824444840521989, + 0.77817714296134, + 0.94602307103927741, + 0.24194573720407267, + -2.7177143787576599, + -0.69854968384875726 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 378495114, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.98329185159830135, + -1.8191706809955273, + 0.54458948399994911, + -2.2659188496828517, + 1.1509673989795761, + -2.5090170290471012 + ], + "velocities": [ + -2.5448979987802285, + -0.79775457881994227, + -0.96982318668327028, + -0.24803262525296338, + 2.7860868302144937, + 0.71612384643274662 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.593438505625604, + 0.81297067455848149, + 0.9883212597119948, + 0.25276351401540403, + -2.8392276896590221, + -0.72978294573126468 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 463301917, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.190530941362246, + -1.8841343584587911, + 0.46561371580156097, + -2.2861169305150986, + 1.3778472578083805, + -2.4507008001985935 + ], + "velocities": [ + -2.3279378485319864, + -0.72974361988761749, + -0.88714286535098696, + -0.22688710363789821, + 2.5485646122011527, + 0.65507215108272865 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4997221150296918, + 0.78359319862649501, + 0.95260732201552034, + 0.24362966173531189, + -2.7366294708936016, + -0.70341153825659752 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 556981388, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3977700311261911, + -1.9490980359220547, + 0.38663794760317294, + -2.3063150113473454, + 1.6047271166371853, + -2.3923845713500858 + ], + "velocities": [ + -2.0877022084114034, + -0.65443644372818166, + -0.79559259725839104, + -0.20347308998116434, + 2.2855610052161541, + 0.58747082846160659 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9680559604671144, + 0.61693068036088294, + 0.74999717240770025, + 0.19181204384358416, + -2.1545754663686161, + -0.55380286560797165 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 662543817, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6050091208901358, + -2.0140617133853183, + 0.30766217940478491, + -2.3265130921795922, + 1.8316069754659896, + -2.3340683425015785 + ], + "velocities": [ + -1.8527275560452829, + -0.58077844056988548, + -0.70604721419913874, + -0.18057182638544853, + 2.0283169880864893, + 0.52134992619075993 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7490714767543283, + 0.86175727244675271, + 1.0476306953299865, + 0.26793192328894289, + -3.0096105385656862, + -0.77357742471230251 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 781491887, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.81224821065408, + -2.0790253908485816, + 0.22868641120639688, + -2.3467111730118386, + 2.058486834294794, + -2.2757521136530707 + ], + "velocities": [ + -1.5566286922395935, + -0.48795970107714803, + -0.59320829342236547, + -0.15171323222593919, + 1.704155805482741, + 0.43802892182259867 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.931185308591258, + 0.91884488196351743, + 1.117031597376263, + 0.28568122869414631, + -3.208983931418262, + -0.82482350915502634 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 932651828, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0194873004180254, + -2.1439890683118454, + 0.14971064300800885, + -2.3669092538440855, + 2.2853666931235983, + -2.217435884804563 + ], + "velocities": [ + -1.054380229650457, + -0.33051880917193227, + -0.40180879343123244, + -0.10276274196465811, + 1.1543075098788456, + 0.29669826689393042 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.36043864944266774, + 0.97991121724499664, + -0.34376389672406404, + -1.4016005234363882, + -1.1923583007117404, + 3.1441969029689214 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 213551784, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2267263901819701, + -2.2089527457751092, + 0.070734874809620762, + -2.3871073346763323, + 2.5122465519524027, + -2.1591196559560553 + ], + "velocities": [ + -0.78240714043354842, + -0.10991190571757273, + -0.32372637217231437, + -0.24548724193586752, + 0.6600206153414272, + 0.59700058549561275 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6827157583760917, + 0.037127733629112904, + -1.1881794669755872, + -1.3593496112654289, + 1.6619328987709177, + 3.1996052856470141 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 428035063, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4041139192219814, + -2.2064977719647962, + -0.0078303697731517685, + -2.4769907551956329, + 2.622137497134656, + -1.9475541653698134 + ], + "velocities": [ + -1.0625482605413545, + 0.014705251073394283, + -0.47060446933449113, + -0.53840014932925784, + 0.65824487935852372, + 1.2672736647810492 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5365791133840641, + 0.035105259793910763, + -1.1234552931937938, + -1.2853012179754282, + 1.571401765433355, + 3.0253119113737812 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 564691935, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5815014482619922, + -2.2040427981544837, + -0.086395614355924299, + -2.5668741757149336, + 2.7320284423169094, + -1.7359886747835716 + ], + "velocities": [ + -1.4545357092439295, + 0.020130203581296781, + -0.644216390912971, + -0.73702275194792632, + 0.90107971374978402, + 1.7347868960505584 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3891268233291867, + 0.033064577947069178, + -1.0581484179295602, + -1.2105861787318439, + 1.4800555946449871, + 2.8494494014648493 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 674800707, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7588889773020036, + -2.2015878243441707, + -0.16496085893869677, + -2.6567575962342347, + 2.8419193874991628, + -1.5244231841973297 + ], + "velocities": [ + -1.7338511620348287, + 0.02399581986857581, + -0.76792568988694232, + -0.87855371771880808, + 1.0741146462352433, + 2.0679191693159216 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3707391348821854, + 0.032810099552805713, + -1.050004478792615, + -1.2012690167983227, + 1.468664486859151, + 2.8275188838682057 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 770340805, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9362765063420149, + -2.1991328505338581, + -0.24352610352146936, + -2.7466410167535353, + 2.9518103326814162, + -1.3128576936110878 + ], + "velocities": [ + -1.9640611081207837, + 0.027181835207834033, + -0.86988607468688128, + -0.99520260224722257, + 1.2167288914567043, + 2.3424845823699676 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6565322075600277, + 0.036765363557938704, + -1.1765827268606313, + -1.3460822349091159, + 1.6457122818934053, + 3.1683768458368826 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 855975661, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1136640353820262, + -2.1966778767235451, + -0.32209134810424184, + -2.836524437272836, + 3.0617012778636696, + -1.101292203024846 + ], + "velocities": [ + -2.1798000128487232, + 0.030167577011888054, + -0.96543721014548933, + -1.1045189155245827, + 1.3503783778746015, + 2.5997907609063953 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2032261064325156, + 0.030491784956785124, + -0.97581266766494867, + -1.1163890702762671, + 1.364890759775357, + 2.6277304532196855 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 933499778, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2910515644220375, + -2.1942229029132325, + -0.40065659268701431, + -2.9264078577921366, + 3.171592223045923, + -0.88972671243860413 + ], + "velocities": [ + -2.3706878672640617, + 0.032809390029029779, + -1.0499817722755547, + -1.2012430391610935, + 1.4686327267515331, + 2.8274577383139654 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.1494962808638092, + 0.029748185249702165, + -0.95201563463761041, + -1.0891638164370863, + 1.3316053233741698, + 2.5636482882156866 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 5807922, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4684390934620484, + -2.1917679291029195, + -0.47922183726978679, + -3.0162912783114373, + 3.2814831682281764, + -0.67816122185236227 + ], + "velocities": [ + -2.5286775778015551, + 0.034995905641302186, + -1.1199556893660851, + -1.2812974582446448, + 1.5665067921607214, + 3.015887955468092 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1756980265929042, + 0.016271199445415697, + -0.52071869716339103, + -0.5957338754299274, + 0.72834075817159316, + 1.4022244468003116 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 73925465, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.6458266225020597, + -2.1893129552926069, + -0.55778708185255943, + -3.1061746988307384, + 3.3913741134104303, + -0.46659573126612042 + ], + "velocities": [ + -2.6435927040680198, + 0.036586285906023856, + -1.1708517982991338, + -1.3395257039061939, + 1.6376963053666418, + 3.1529442366842311 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.007550050517984e-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": 140039681, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.823214151542071, + -2.1868579814822939, + -0.63635232643533191, + -3.196058119350039, + 3.5012650585926837, + -0.25503024067987856 + ], + "velocities": [ + -2.6830467074527196, + 0.037132313834515811, + -1.1883260448961948, + -1.3595173053259118, + 1.6621379205502564, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.0453003031079005e-14, + -1.022243488754704e-13, + -3.3585001683932777e-14, + 2.0151001010359669e-14, + -2.6868001347146225e-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": 206153897, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.0006016805820819, + -2.1844030076719809, + -0.71491757101810438, + -3.2859415398693397, + 3.6111560037749371, + -0.043464750093636706 + ], + "velocities": [ + -2.6830467074527178, + 0.037132313834512432, + -1.1883260448961959, + -1.3595173053259111, + 1.6621379205502556, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.0604004041438728e-14, + 1.0285406765704421e-13, + 6.3811503199472324e-14, + -4.0302002020719364e-14, + 5.03775025258992e-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": 272268113, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1779892096220932, + -2.1819480338616684, + -0.79348281560087708, + -3.3758249603886403, + 3.7210469489571905, + 0.16810074049260537 + ], + "velocities": [ + -2.6830467074527227, + 0.037132313834512452, + -1.1883260448961948, + -1.3595173053259118, + 1.6621379205502564, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.635383345576388, + -0.036472671605240307, + 1.1672158591704374, + 1.3353659682951808, + -1.6326106368933953, + -3.1431531484036985 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 338382328, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3553767386621045, + -2.1794930600513553, + -0.87204806018364933, + -3.465708380907941, + 3.8309378941394439, + 0.37966623107884701 + ], + "velocities": [ + -2.5927864065582051, + 0.035883146680506989, + -1.1483496009247989, + -1.3137818208450913, + 1.6062219842304273, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.985023752165862, + -0.027471949977394668, + 0.87917046612870231, + 1.0058245110143278, + -1.2297151751040472, + -2.3674861825126783 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 409265716, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5327642677021158, + -2.1770380862410428, + -0.95061330476642203, + -3.5555918014272416, + 3.9408288393216973, + 0.59123172166508908 + ], + "velocities": [ + -2.4300094498017093, + 0.033630377458666705, + -1.0762554041725094, + -1.2313016728088928, + 1.5053822367652785, + 2.8982090463673034 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3019979794461021, + -0.031858748929704341, + 1.0195589017051827, + 1.1664374239886095, + -1.4260795848389489, + -2.7455330962991829 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 484509861, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.7101517967421263, + -2.1745831124307298, + -1.0291785493491943, + -3.6454752219465423, + 4.0507197845039506, + 0.80279721225133072 + ], + "velocities": [ + -2.2672989181330192, + 0.0313785275339825, + -1.0041906272069303, + -1.1488551827988958, + 1.4045836394064628, + 2.7041484286771471 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.1864182403078143, + -0.03025917068343793, + 0.96836843457734423, + 1.107872414640436, + -1.3544783463157131, + -2.6076841486025946 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 565988488, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.8875393257821376, + -2.1721281386204172, + -1.107743793931967, + -3.7353586424658434, + 4.160610729686204, + 1.0143627028375723 + ], + "velocities": [ + -2.0838594420393819, + 0.028839797150710431, + -0.92294496476703303, + -1.0559052011468841, + 1.2909435344861167, + 2.4853649383006591 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4416729883170492, + -0.033791796255999679, + 1.0814212056306269, + 1.2372116640174051, + -1.5126077575138697, + -2.9121198452906074 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 655100462, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.0649268548221489, + -2.1696731648101042, + -1.1863090385147397, + -3.8252420629851445, + 4.2705016748684574, + 1.2259281934238144 + ], + "velocities": [ + -1.8746491892563761, + 0.025944409328293089, + -0.83028538058953705, + -0.94989699848680287, + 1.1613385247959653, + 2.2358453130753442 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4973737933353428, + -0.034562673545164138, + 1.1060911888779661, + 1.2654356260276325, + -1.547114208694502, + -2.9785527462025407 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 755964218, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.2423143838621602, + -2.1672181909997916, + -1.2648742830975119, + -3.9151254835044451, + 4.3803926200507108, + 1.4374936840100561 + ], + "velocities": [ + -1.6210518053688259, + 0.022434721025078701, + -0.71796665898322454, + -0.82139754634426687, + 1.0042358447937889, + 1.933386311453785 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4800074921786202, + -0.034322330750257944, + 1.0983996239452509, + 1.2566360077107084, + -1.5363558467129161, + -2.957840410652445 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 875544405, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.4197019129021715, + -2.1647632171894786, + -1.3434395276802846, + -4.0050089040237458, + 4.4902835652329642, + 1.6490591745962981 + ], + "velocities": [ + -1.3130274740448378, + 0.01817178512179507, + -0.58154214786409475, + -0.6653196041551882, + 0.81341586386553744, + 1.5660137057146324 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.524642334134783, + -0.034940059452028646, + 1.1181684729402825, + 1.2792527739009256, + -1.5640069730190767, + -3.0110752253363966 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 30788549, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5970894419421828, + -2.1623082433791661, + -1.4220047722630569, + -4.0948923245430464, + 4.6001745104152176, + 1.8606246651825398 + ], + "velocities": [ + -0.81357502703069939, + 0.011259559197277634, + -0.3603337919583125, + -0.41224378441004911, + 0.50400684411650454, + 0.97032976700205709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6467924982345261, + -0.036630569801967695, + 1.1722689926907965, + 1.3411470605269165, + -1.6396785665055638, + -3.1567605479338212 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 396902765, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7744769709821941, + -2.159853269568853, + -1.5005700168458296, + -4.1847757450623471, + 4.710065455597471, + 2.0721901557687818 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.10754171894404371, + 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": [ + -5.7744769709821941, + -2.159853269568853, + -1.5005700168458296, + -4.1847757450623471, + 4.710065455597471, + 2.0721901557687818 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.056465128785933461, + -0.95086671866241113, + -1.0132245132785396, + 3.1290938179980685, + -0.23788914880868353, + -0.95553019242811132 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 92429296, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175971356429, + -2.1627771184745663, + -1.5005554721180288, + -4.1913443564914807, + 4.7120008103367903, + 2.0799639020471421 + ], + "velocities": [ + 0.0024850013067420217, + -0.073480513679395856, + -0.044434130693025424, + 0.066643477941695839, + 0.010469379456021298, + 0.042052393741499897 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.80828281341459e-10, + -1.8731638035475344, + -1.2190647842411484, + 3.0922285877881084, + 6.52461406857886e-13, + -8.80828281341459e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 176037949, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175971404373, + -2.1724195096721135, + -1.5079987844708069, + -4.1742586529411572, + 4.7120008103367939, + 2.0799639020423477 + ], + "velocities": [ + -8.5109424776115659e-11, + -0.17437516243129247, + -0.12745403811122952, + 0.30182920054248263, + 6.3059630522854877e-14, + -8.5109424776115659e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.4272044510245974e-11, + -0.032585127852197249, + 0.29202759028796443, + -0.25944246243562108, + -4.0208960555840631e-14, + 5.4748983269658753e-11 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 218520761, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175971452325, + -2.1823359603720425, + -1.5150459375558576, + -4.15729504915618, + 4.7120008103367974, + 2.0799639020375524 + ], + "velocities": [ + -1.1171069365445147e-10, + -0.23412210252090832, + -0.15961400784036078, + 0.39373611036121475, + 8.2763988630821604e-14, + -1.1170045604281677e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.7458769964541276e-10, + 1.8231791859407296, + 1.2641871903639843, + -3.0873663763042227, + -6.4787743988102515e-13, + 8.7431060511944339e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 261898965, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175971500278, + -2.1925220975853548, + -1.5216977926601443, + -4.1404570568385832, + 4.712000810336801, + 2.079963902032758 + ], + "velocities": [ + -7.8232969368711841e-11, + -0.16746186390246659, + -0.10663854892532837, + 0.27410041282776193, + 5.7964232498760382e-14, + -7.8222731757077129e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.7963924592707438e-10, + 1.9175392914906835, + 1.148037725700721, + -3.065577017191119, + -6.5182604366585729e-13, + 8.7963924592707438e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 366305876, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175971548222, + -2.2029734567120984, + -1.5279550592598918, + -4.1237484311120935, + 4.7120008103368045, + 2.0799639020279637 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.04411237381387869 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.04411237381387869 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.04411237381387869 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.04411237381387869 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.04411237381387869 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.094112373813878714 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.044112373813878704 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.044112373813878704 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.04411237381387869 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.04411237381387869 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.04411237381387869 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.04411237381387869 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.04411237381387869 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.04411237381387869 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.04411237381387869 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.04411237381387869 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.04411237381387869 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.094112373813878686 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.04411237381387869 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "1": { + "x": -0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "2": { + "x": 0.025000000000000001, + "y": 0.016, + "z": -0.0074999999999999997 + }, + "3": { + "x": 0.025000000000000001, + "y": -0.016, + "z": -0.0074999999999999997 + }, + "4": { + "x": -0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "5": { + "x": 0.025000000000000001, + "y": -0.016, + "z": 0.0074999999999999997 + }, + "6": { + "x": 0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + }, + "7": { + "x": -0.025000000000000001, + "y": 0.016, + "z": 0.0074999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.04411237381387869 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly05.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly05.json new file mode 100644 index 0000000..dc72d54 --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly05.json @@ -0,0 +1,9372 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.045999999999999999, + "ysize": 0.043999999999999997, + "zsize": 0.043999999999999997 + } + }, + "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": "0.18.1", + "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": [ + 0.091999999999999998, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7553833915204029, + 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": [ + -2.6909135644278925, + -0.26783773586380594, + -1.3085068399914974, + 0.41258366937825336, + -1.1524496988280626, + 3.1144708774364807 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 383152702, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3013238275526759, + -1.0597376670959555, + 1.3939492205486996, + -1.9925314265171208, + -1.658210882691854, + -2.974723127302501 + ], + "velocities": [ + -0.89365678727981668, + -0.088949349287344298, + -0.43455725751231411, + 0.13701971008462166, + -0.38273042619086983, + 1.0343208623269855 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7636711046058866, + -0.27507959419991379, + -1.343886549039923, + 0.42373920157310524, + -1.1836098989824211, + 3.1986806577110456 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 543741718, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0990704295363165, + -1.0798687827555475, + 1.2955997387167939, + -1.9615209733383503, + -1.7448308584176302, + -2.7406344793758088 + ], + "velocities": [ + -1.4550579690077359, + -0.14482792651590709, + -0.70754903843801498, + 0.22309641006210135, + -0.62316424441409335, + 1.684088158520971 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6623220722223007, + -0.26499190661141131, + -1.2946036943790971, + 0.40819988577288635, + -1.1402046914012141, + 3.0813790044778226 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 666269880, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89681703151995729, + -1.0999998984151396, + 1.197250256884888, + -1.93051052015958, + -1.8314508341434066, + -2.5065458314491167 + ], + "velocities": [ + -1.8011940087021256, + -0.17928027548696018, + -0.87586413465478019, + 0.27616763436637487, + -0.77140548856722868, + 2.0847069779101308 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2975816765633903, + -0.22868778928755362, + -1.1172418835614477, + 0.35227615310426824, + -0.98399567574044577, + 2.659227451517836 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 769898200, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69456363350359795, + -1.1201310140747316, + 1.0989007750529822, + -1.8995000669808098, + -1.9180708098691828, + -2.2724571835224245 + ], + "velocities": [ + -2.0645954331581819, + -0.20549770665317102, + -1.0039479832482354, + 0.31655359386286364, + -0.88421360559413142, + 2.3895685224756043 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2945177531063767, + -0.22838282433720011, + -1.1157519937136406, + 0.35180637778364304, + -0.98268347541121781, + 2.6556812579486171 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862782721, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.49231023548723862, + -1.1402621297343236, + 1.0005512932210761, + -1.8684896138020395, + -2.0046907855949589, + -2.0383685355957324 + ], + "velocities": [ + -2.2794700148098981, + -0.2268850608235434, + -1.1084347506971788, + 0.34949918696028948, + -0.97623891260654005, + 2.6382649636033602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4158119128712654, + -0.24045573279266882, + -1.1747335380492154, + 0.37040377540031616, + -1.0346306727267329, + 2.7960674573362656 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 947710738, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.2900568374708794, + -1.1603932453939156, + 0.90220181138917033, + -1.837479160623269, + -2.0913107613207353, + -1.8042798876690402 + ], + "velocities": [ + -2.4801288389380138, + -0.24685746196121963, + -1.206008841276379, + 0.38026515248453097, + -1.0621759729754046, + 2.8705080472568225 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4544008468258056, + -0.24429664869440262, + -1.1934981259181994, + 0.37632041433623054, + -1.0511573296592935, + 2.8407303973064444 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 26140336, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.08780343945451996, + -1.1805243610535077, + 0.80385232955726449, + -1.8064687074444987, + -2.1779307370465113, + -1.5701912397423481 + ], + "velocities": [ + -2.6718000889611764, + -0.26593529274516903, + -1.2992125565500627, + 0.40965310038975533, + -1.1442638844130784, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.2495005156151872e-14, + 0.0, + -2.1247502578075936e-14, + 0.0, + 8.1954652801150035e-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": 99293039, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11444995856183926, + -1.2006554767130997, + 0.70550284772535865, + -1.7754582542657285, + -2.2645507127722877, + -1.3361025918156559 + ], + "velocities": [ + -2.7648110208874046, + -0.27519305477328526, + -1.3444408545631692, + 0.42391397896040256, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.2495005156151872e-14, + -4.0977326400575018e-14, + 0.0, + 4.1736165778363442e-14, + -8.1954652801150035e-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": 172445741, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.3167033565781987, + -1.2207865923726917, + 0.6071533658934527, + -1.7444478010869582, + -2.3511706884980637, + -1.1020139438889638 + ], + "velocities": [ + -2.7648110208874046, + -0.27519305477328676, + -1.3444408545631701, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8919295289996326e-14, + 4.0977326400575018e-14, + 0.0, + -4.1736165778363442e-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": 245598444, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51895675459455792, + -1.240917708032284, + 0.50880388406154675, + -1.7134373479081877, + -2.4377906642238401, + -0.86792529596227164 + ], + "velocities": [ + -2.7648110208874055, + -0.27519305477328676, + -1.3444408545631701, + 0.42391397896040406, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6390930560230007e-13, + 0.0, + 4.2495005156151872e-14, + 0.0, + 8.1954652801150035e-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": 318751146, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.72121015261091759, + -1.261048823691876, + 0.4104544022296408, + -1.6824268947294174, + -2.5244106399496165, + -0.63383664803557949 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6390930560230007e-13, + 0.0, + -4.2495005156151872e-14, + 4.1736165778363442e-14, + -8.1954652801150035e-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": 391903849, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92346355062727636, + -1.281179939351468, + 0.31210492039773507, + -1.6514164415506472, + -2.6110306156753924, + -0.39974800010888734 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.8919295289996326e-14, + 0.0, + 4.2495005156151872e-14, + -4.1736165778363442e-14, + 8.1954652801150035e-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": 465056551, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.125716948643636, + -1.30131105501106, + 0.21375543856582913, + -1.6204059883718767, + -2.6976505914011688, + -0.16565935218219519 + ], + "velocities": [ + -2.7648110208874055, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8919295289996326e-14, + 0.0, + -4.2495005156151872e-14, + 0.0, + -8.1954652801150035e-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": 538209254, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3279703466599952, + -1.3214421706706521, + 0.1154059567339234, + -1.5893955351931064, + -2.7842705671269448, + 0.068429295744496965 + ], + "velocities": [ + -2.7648110208874055, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6390930560230007e-13, + 0.0, + 4.2495005156151872e-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": 611361956, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5302237446763549, + -1.3415732863302441, + 0.017056474902017449, + -1.5583850820143361, + -2.8708905428527212, + 0.30251794367118912 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6390930560230007e-13, + 0.0, + -4.2495005156151872e-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": 684514658, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7324771426927137, + -1.3617044019898361, + -0.081293006929888278, + -1.5273746288355659, + -2.9575105185784976, + 0.53660659159788127 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2141430044614819e-13, + 0.0, + 0.0, + 4.1736165778363442e-14, + 8.1954652801150035e-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": 757667361, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9347305407090734, + -1.3818355176494281, + -0.17964248876179423, + -1.4963641756567956, + -3.044130494304274, + 0.77069523952457342 + ], + "velocities": [ + -2.7648110208874042, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0353575111537023e-14, + 7.5883937778842557e-15, + 3.6424290133844422e-14, + -1.0623751289037957e-14, + 3.0353575111537023e-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": 830820063, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1369839387254324, + -1.4019666333090202, + -0.27799197059370018, + -1.4653537224780251, + -3.1307504700300499, + 1.0047838874512656 + ], + "velocities": [ + -2.7648110208873984, + -0.27519305477328498, + -1.3444408545631688, + 0.42391397896040522, + -1.1840980960737852, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4569716053537784e-13, + -1.44179481779801e-14, + -6.9813222756535211e-14, + -1.9729823822499081e-14, + -1.4266180302422414e-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": 903972766, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3392373367417916, + -1.4220977489686122, + -0.37634145242560613, + -1.4343432692992546, + -3.2173704457558259, + 1.2388725353779582 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040411, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.821214506692223e-14, + 1.44179481779801e-14, + 1.0927287040153338e-13, + -2.200634195586436e-14, + 6.0707150223074096e-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": 977125468, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5414907347581508, + -1.4422288646282042, + -0.47469093425751208, + -1.4033328161204843, + -3.3039904214816023, + 1.4729611833046499 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040262, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.821214506692223e-14, + -1.44179481779801e-14, + -1.5176787555768526e-13, + 2.200634195586436e-14, + -6.0707150223074096e-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": 50278171, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7437441327745109, + -1.4623599802877962, + -0.5730404160894178, + -1.3723223629417141, + -3.3906103972073787, + 1.7070498312313425 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040262, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6998002062460779e-13, + 0.0, + 1.6694466311345409e-13, + 0.0, + 1.6694466311345409e-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": 123430873, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9459975307908701, + -1.4824910959473883, + -0.67138989792132397, + -1.3413119097629438, + -3.4772303729331551, + 1.9411384791580342 + ], + "velocities": [ + -2.7648110208874019, + -0.27519305477328576, + -1.3444408545631696, + 0.42391397896040339, + -1.1840980960737886, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4282860089229639e-14, + 1.44179481779801e-14, + -9.7131440356918556e-14, + -2.200634195586436e-14, + -1.0623751289037967e-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": 196583576, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1482509288072285, + -1.5026222116069803, + -0.76973937975322926, + -1.3103014565841735, + -3.5638503486589306, + 2.1752271270847259 + ], + "velocities": [ + -2.7648110208873966, + -0.27519305477328526, + -1.344440854563167, + 0.42391397896040262, + -1.1840980960737864, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0960646613767791e-13, + -5.6154113956343545e-14, + 1.2141430044614819e-14, + 6.3742507734227805e-14, + -6.0707150223074096e-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": 269736278, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3505043268235877, + -1.5227533272665723, + -0.86808886158513543, + -1.2792910034054032, + -3.650470324384707, + 2.4093157750114185 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328676, + -1.3444408545631701, + 0.42391397896040411, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0960646613767791e-13, + 9.7131440356918556e-14, + -1.2141430044614819e-14, + -6.3742507734227805e-14, + 6.0707150223074096e-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": 342888981, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.5527577248399478, + -1.5428844429261646, + -0.96643834341704116, + -1.2482805502266328, + -3.7370903001104834, + 2.6434044229381102 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040411, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -8.2713492178938301e-14, + 8.1954652801149884e-14, + 4.1736165778363366e-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": 416041683, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.755011122856307, + -1.5630155585857564, + -1.0647878252489473, + -1.2172700970478625, + -3.8237102758362598, + 2.8774930708648028 + ], + "velocities": [ + -2.7648110208873975, + -0.27519305477328471, + -1.3444408545631674, + 0.42391397896040328, + -1.1840980960737901, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4569716053537784e-13, + 6.8295544000958363e-14, + -6.9813222756535211e-14, + -1.9729823822499081e-14, + 2.1247502578075936e-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": 489194386, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9572645208726662, + -1.5831466742453486, + -1.1631373070808531, + -1.186259643869092, + -3.9103302515620362, + 3.1115817187914954 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.344440854563167, + 0.42391397896040411, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.73730217313937463, + 0.073386729069048154, + 0.35852691422229643, + -0.11304667680735188, + 0.31576772981944395, + -0.8533555950917312 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 562347088, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1595179188890254, + -1.6032777899049404, + -1.2614867889127588, + -1.1552491906903217, + -3.9969502272878121, + 3.3456703667181871 + ], + "velocities": [ + -2.7375721710100196, + -0.27248185959587956, + -1.3311954564763551, + 0.41973758891182689, + -1.1724323908825878, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0421194447567168, + 0.20326057874085643, + 0.99301861526433877, + -0.31310746839450776, + 0.87458771258642842, + -2.3635547507058714 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 636970160, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3617713169053847, + -1.6234089055645327, + -1.359836270744665, + -1.1242387375115515, + -4.0835702030135881, + 3.5797590146448797 + ], + "velocities": [ + -2.6317949561281786, + -0.26195341672263084, + -1.2797593155992049, + 0.40351932310445138, + -1.1271307055943927, + 3.0460468350227727 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3682108742980374, + 0.23571780491390551, + 1.1515866464554076, + -0.36310535771034735, + 1.0142443610693335, + -2.740973882301998 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 716184054, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5640247149217448, + -1.6435400212241247, + -1.4581857525765707, + -1.0932282843327812, + -4.1701901787393645, + 3.8138476625715714 + ], + "velocities": [ + -2.4555731078594265, + -0.24441332867447513, + -1.1940681596795861, + 0.37650015097478351, + -1.0516593791835724, + 2.8420871755018045 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.474097330394176, + 0.24625712101621935, + 1.2030759079078572, + -0.37934037290048966, + 1.0595928315854972, + -2.8635271624170793 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 801961351, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.766278112938104, + -1.6636711368837167, + -1.5565352344084769, + -1.0622178311540107, + -4.2568101544651409, + 4.0479363104982635 + ], + "velocities": [ + -2.2462281711735126, + -0.22357636289537236, + -1.0922702850870079, + 0.34440238935010131, + -0.96200227818109418, + 2.5997907609063957 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4121578626549756, + 0.24009203008973373, + 1.1729566880734272, + -0.3698435190374818, + 1.0330657361466065, + -2.7918382494072667 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 896712851, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.9685315109544623, + -1.6838022525433085, + -1.6548847162403821, + -1.0312073779752406, + -4.3434301301909173, + 4.2820249584249552 + ], + "velocities": [ + -2.0129399414695728, + -0.20035622231799918, + -0.97882953831147335, + 0.30863352813271339, + -0.8620908749994769, + 2.329782312078307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0974283873609161, + 0.20876570612803208, + 1.0199136187556388, + -0.32158769859987246, + 0.8982751230961632, + -2.427569475399642 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 3650931, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1707849089708215, + -1.7039333682029008, + -1.7532341980722883, + -1.0001969247964702, + -4.4300501059166937, + 4.5161136063516469 + ], + "velocities": [ + -1.7709909125269276, + -0.17627403663834829, + -0.86117731659543784, + 0.27153675197339278, + -0.75847027223366981, + 2.0497498300144987 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7161845883152607, + 0.27035306519671953, + 1.3207953460391195, + -0.41645834298433537, + 1.1632726342999151, + -3.1437196310868258 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 126179093, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3730383069871817, + -1.7240644838624928, + -1.851583679904194, + -0.96918647161769989, + -4.5166700816424701, + 4.7502022542783404 + ], + "velocities": [ + -1.4591175062579198, + -0.1452319890172511, + -0.70952306403634102, + 0.22371883762603295, + -0.6249028407566859, + 1.6887866782760108 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7259340112412667, + 0.27132346550872249, + 1.3255361845236551, + -0.41795317088901601, + 1.1674480636645923, + -3.15500364041961 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 285739496, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5752917050035409, + -1.7441955995220848, + -1.9499331617361002, + -0.93817601843892939, + -4.6032900573682456, + 4.9842909022050321 + ], + "velocities": [ + -0.89771632452999994, + -0.08935341178868858, + -0.43653128311064215, + 0.13764213764855388, + -0.38446902253346377, + 1.0390193820820235 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7553833915204016, + 0.27425468390266328, + 1.3398564941902804, + -0.42246848997510378, + 1.180060482689145, + -3.1890884354314006 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 668892199, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7775451030199001, + -1.7643267151816768, + -2.0482826435680059, + -0.90716556526015901, + -4.689910033094022, + 5.2183795501317247 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.48631247491959873, + 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": [ + -5.7775451030199001, + -1.7643267151816768, + -2.0482826435680059, + -0.90716556526015901, + -4.689910033094022, + 5.2183795501317247 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.30591656736564371, + -1.9976912424776476, + -0.98233480774522597, + 2.3997932220745488, + 1.9157827127611418, + -0.27551996546157193 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 120445656, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975328869, + -1.7644291097394824, + -2.0525631463893852, + -0.89609203812530369, + -4.7120008080408837, + 5.2215565542349749 + ], + "velocities": [ + 0.01464355625393586, + -0.096475236768473999, + -0.082561089059098106, + 0.20681080094080864, + -0.091704324017338745, + 0.013188537471550878 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.5154190974544267e-10, + -1.9861492704950845, + -1.0771818850544623, + 3.0633311555494944, + -3.5535827104835458e-13, + -4.5154190974544267e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 191471242, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975362726, + -1.7780731492021613, + -2.0617668766345352, + -0.87324426841747615, + -4.7120008080408864, + 5.2215565542315892 + ], + "velocities": [ + -6.0849761575104442e-11, + -0.25007607220962369, + -0.16102626227355152, + 0.41110233448315492, + -4.7888060001393836e-14, + -6.0849761575104442e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4227062326711807e-10, + 0.41030870081259446, + 0.53766015370420195, + -0.94796885451689339, + 1.1196533835292598e-13, + 1.4227062326711807e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 237205721, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975396584, + -1.792161737754471, + -2.0705693560249534, + -0.85035320047474927, + -4.7120008080408891, + 5.2215565542282034 + ], + "velocities": [ + -7.0611405501484585e-11, + -0.2981917701631413, + -0.1795488348076508, + 0.47774060497076798, + -5.5570361097705599e-14, + -7.0611405501484585e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.5743415561677114e-10, + 1.9228801999246663, + 1.171730175892904, + -3.0946103758173904, + 3.5993159018473673e-13, + 4.5743415561677114e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 287594298, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975430441, + -1.8066903636630649, + -2.0789655264781701, + -0.82742840411293994, + -4.7120008080408917, + 5.2215565542248177 + ], + "velocities": [ + -4.7141191539775895e-11, + -0.20404347892966596, + -0.11526638584103635, + 0.31930986477068374, + -3.7102370701936527e-14, + -4.7141191539775895e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.3361471219481308e-10, + 1.9168665087743073, + 1.0228869657402191, + -2.9397534745143559, + 3.4133931686812892e-13, + 4.3361471219481308e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 412543238, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.774017597546429, + -1.8216536513572013, + -2.0869503036532588, + -0.8044803392437162, + -4.7120008080408944, + 5.2215565542214328 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.058612373813878689 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.058612373813878689 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.058612373813878689 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.058612373813878689 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.058612373813878689 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.058612373813878703 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.058612373813878703 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.058612373813878689 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.058612373813878689 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.058612373813878689 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.058612373813878689 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.058612373813878689 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.058612373813878689 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.058612373813878689 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.058612373813878689 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.058612373813878689 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.058612373813878689 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly06.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly06.json new file mode 100644 index 0000000..544b169 --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly06.json @@ -0,0 +1,11326 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.045999999999999999, + "ysize": 0.043999999999999997, + "zsize": 0.043999999999999997 + } + }, + "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": "0.18.1", + "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": [ + 0.091999999999999998, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7553833915204029, + 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": [ + -2.6909135644278925, + -0.26783773586380594, + -1.3085068399914974, + 0.41258366937825336, + -1.1524496988280626, + 3.1144708774364807 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 383152702, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3013238275526759, + -1.0597376670959555, + 1.3939492205486996, + -1.9925314265171208, + -1.658210882691854, + -2.974723127302501 + ], + "velocities": [ + -0.89365678727981668, + -0.088949349287344298, + -0.43455725751231411, + 0.13701971008462166, + -0.38273042619086983, + 1.0343208623269855 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7636711046058866, + -0.27507959419991379, + -1.343886549039923, + 0.42373920157310524, + -1.1836098989824211, + 3.1986806577110456 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 543741718, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0990704295363165, + -1.0798687827555475, + 1.2955997387167939, + -1.9615209733383503, + -1.7448308584176302, + -2.7406344793758088 + ], + "velocities": [ + -1.4550579690077359, + -0.14482792651590709, + -0.70754903843801498, + 0.22309641006210135, + -0.62316424441409335, + 1.684088158520971 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6623220722223007, + -0.26499190661141131, + -1.2946036943790971, + 0.40819988577288635, + -1.1402046914012141, + 3.0813790044778226 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 666269880, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89681703151995729, + -1.0999998984151396, + 1.197250256884888, + -1.93051052015958, + -1.8314508341434066, + -2.5065458314491167 + ], + "velocities": [ + -1.8011940087021256, + -0.17928027548696018, + -0.87586413465478019, + 0.27616763436637487, + -0.77140548856722868, + 2.0847069779101308 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2975816765633903, + -0.22868778928755362, + -1.1172418835614477, + 0.35227615310426824, + -0.98399567574044577, + 2.659227451517836 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 769898200, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69456363350359795, + -1.1201310140747316, + 1.0989007750529822, + -1.8995000669808098, + -1.9180708098691828, + -2.2724571835224245 + ], + "velocities": [ + -2.0645954331581819, + -0.20549770665317102, + -1.0039479832482354, + 0.31655359386286364, + -0.88421360559413142, + 2.3895685224756043 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2945177531063767, + -0.22838282433720011, + -1.1157519937136406, + 0.35180637778364304, + -0.98268347541121781, + 2.6556812579486171 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 862782721, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.49231023548723862, + -1.1402621297343236, + 1.0005512932210761, + -1.8684896138020395, + -2.0046907855949589, + -2.0383685355957324 + ], + "velocities": [ + -2.2794700148098981, + -0.2268850608235434, + -1.1084347506971788, + 0.34949918696028948, + -0.97623891260654005, + 2.6382649636033602 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4158119128712654, + -0.24045573279266882, + -1.1747335380492154, + 0.37040377540031616, + -1.0346306727267329, + 2.7960674573362656 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 947710738, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.2900568374708794, + -1.1603932453939156, + 0.90220181138917033, + -1.837479160623269, + -2.0913107613207353, + -1.8042798876690402 + ], + "velocities": [ + -2.4801288389380138, + -0.24685746196121963, + -1.206008841276379, + 0.38026515248453097, + -1.0621759729754046, + 2.8705080472568225 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4544008468258056, + -0.24429664869440262, + -1.1934981259181994, + 0.37632041433623054, + -1.0511573296592935, + 2.8407303973064444 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 26140336, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.08780343945451996, + -1.1805243610535077, + 0.80385232955726449, + -1.8064687074444987, + -2.1779307370465113, + -1.5701912397423481 + ], + "velocities": [ + -2.6718000889611764, + -0.26593529274516903, + -1.2992125565500627, + 0.40965310038975533, + -1.1442638844130784, + 3.0923488875314167 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.2495005156151872e-14, + 0.0, + -2.1247502578075936e-14, + 0.0, + 8.1954652801150035e-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": 99293039, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11444995856183926, + -1.2006554767130997, + 0.70550284772535865, + -1.7754582542657285, + -2.2645507127722877, + -1.3361025918156559 + ], + "velocities": [ + -2.7648110208874046, + -0.27519305477328526, + -1.3444408545631692, + 0.42391397896040256, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.2495005156151872e-14, + -4.0977326400575018e-14, + 0.0, + 4.1736165778363442e-14, + -8.1954652801150035e-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": 172445741, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.3167033565781987, + -1.2207865923726917, + 0.6071533658934527, + -1.7444478010869582, + -2.3511706884980637, + -1.1020139438889638 + ], + "velocities": [ + -2.7648110208874046, + -0.27519305477328676, + -1.3444408545631701, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8919295289996326e-14, + 4.0977326400575018e-14, + 0.0, + -4.1736165778363442e-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": 245598444, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.51895675459455792, + -1.240917708032284, + 0.50880388406154675, + -1.7134373479081877, + -2.4377906642238401, + -0.86792529596227164 + ], + "velocities": [ + -2.7648110208874055, + -0.27519305477328676, + -1.3444408545631701, + 0.42391397896040406, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6390930560230007e-13, + 0.0, + 4.2495005156151872e-14, + 0.0, + 8.1954652801150035e-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": 318751146, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.72121015261091759, + -1.261048823691876, + 0.4104544022296408, + -1.6824268947294174, + -2.5244106399496165, + -0.63383664803557949 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6390930560230007e-13, + 0.0, + -4.2495005156151872e-14, + 4.1736165778363442e-14, + -8.1954652801150035e-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": 391903849, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92346355062727636, + -1.281179939351468, + 0.31210492039773507, + -1.6514164415506472, + -2.6110306156753924, + -0.39974800010888734 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.8919295289996326e-14, + 0.0, + 4.2495005156151872e-14, + -4.1736165778363442e-14, + 8.1954652801150035e-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": 465056551, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.125716948643636, + -1.30131105501106, + 0.21375543856582913, + -1.6204059883718767, + -2.6976505914011688, + -0.16565935218219519 + ], + "velocities": [ + -2.7648110208874055, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8919295289996326e-14, + 0.0, + -4.2495005156151872e-14, + 0.0, + -8.1954652801150035e-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": 538209254, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.3279703466599952, + -1.3214421706706521, + 0.1154059567339234, + -1.5893955351931064, + -2.7842705671269448, + 0.068429295744496965 + ], + "velocities": [ + -2.7648110208874055, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6390930560230007e-13, + 0.0, + 4.2495005156151872e-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": 611361956, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.5302237446763549, + -1.3415732863302441, + 0.017056474902017449, + -1.5583850820143361, + -2.8708905428527212, + 0.30251794367118912 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.6390930560230007e-13, + 0.0, + -4.2495005156151872e-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": 684514658, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.7324771426927137, + -1.3617044019898361, + -0.081293006929888278, + -1.5273746288355659, + -2.9575105185784976, + 0.53660659159788127 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040256, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.2141430044614819e-13, + 0.0, + 0.0, + 4.1736165778363442e-14, + 8.1954652801150035e-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": 757667361, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.9347305407090734, + -1.3818355176494281, + -0.17964248876179423, + -1.4963641756567956, + -3.044130494304274, + 0.77069523952457342 + ], + "velocities": [ + -2.7648110208874042, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040406, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0353575111537023e-14, + 7.5883937778842557e-15, + 3.6424290133844422e-14, + -1.0623751289037957e-14, + 3.0353575111537023e-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": 830820063, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.1369839387254324, + -1.4019666333090202, + -0.27799197059370018, + -1.4653537224780251, + -3.1307504700300499, + 1.0047838874512656 + ], + "velocities": [ + -2.7648110208873984, + -0.27519305477328498, + -1.3444408545631688, + 0.42391397896040522, + -1.1840980960737852, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4569716053537784e-13, + -1.44179481779801e-14, + -6.9813222756535211e-14, + -1.9729823822499081e-14, + -1.4266180302422414e-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": 903972766, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.3392373367417916, + -1.4220977489686122, + -0.37634145242560613, + -1.4343432692992546, + -3.2173704457558259, + 1.2388725353779582 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040411, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.821214506692223e-14, + 1.44179481779801e-14, + 1.0927287040153338e-13, + -2.200634195586436e-14, + 6.0707150223074096e-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": 977125468, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.5414907347581508, + -1.4422288646282042, + -0.47469093425751208, + -1.4033328161204843, + -3.3039904214816023, + 1.4729611833046499 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328526, + -1.3444408545631685, + 0.42391397896040262, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.821214506692223e-14, + -1.44179481779801e-14, + -1.5176787555768526e-13, + 2.200634195586436e-14, + -6.0707150223074096e-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": 50278171, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.7437441327745109, + -1.4623599802877962, + -0.5730404160894178, + -1.3723223629417141, + -3.3906103972073787, + 1.7070498312313425 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040262, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6998002062460779e-13, + 0.0, + 1.6694466311345409e-13, + 0.0, + 1.6694466311345409e-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": 123430873, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.9459975307908701, + -1.4824910959473883, + -0.67138989792132397, + -1.3413119097629438, + -3.4772303729331551, + 1.9411384791580342 + ], + "velocities": [ + -2.7648110208874019, + -0.27519305477328576, + -1.3444408545631696, + 0.42391397896040339, + -1.1840980960737886, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4282860089229639e-14, + 1.44179481779801e-14, + -9.7131440356918556e-14, + -2.200634195586436e-14, + -1.0623751289037967e-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": 196583576, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.1482509288072285, + -1.5026222116069803, + -0.76973937975322926, + -1.3103014565841735, + -3.5638503486589306, + 2.1752271270847259 + ], + "velocities": [ + -2.7648110208873966, + -0.27519305477328526, + -1.344440854563167, + 0.42391397896040262, + -1.1840980960737864, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.0960646613767791e-13, + -5.6154113956343545e-14, + 1.2141430044614819e-14, + 6.3742507734227805e-14, + -6.0707150223074096e-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": 269736278, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.3505043268235877, + -1.5227533272665723, + -0.86808886158513543, + -1.2792910034054032, + -3.650470324384707, + 2.4093157750114185 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328676, + -1.3444408545631701, + 0.42391397896040411, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.0960646613767791e-13, + 9.7131440356918556e-14, + -1.2141430044614819e-14, + -6.3742507734227805e-14, + 6.0707150223074096e-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": 342888981, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.5527577248399478, + -1.5428844429261646, + -0.96643834341704116, + -1.2482805502266328, + -3.7370903001104834, + 2.6434044229381102 + ], + "velocities": [ + -2.764811020887409, + -0.27519305477328526, + -1.3444408545631701, + 0.42391397896040411, + -1.1840980960737923, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -8.2713492178938301e-14, + 8.1954652801149884e-14, + 4.1736165778363366e-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": 416041683, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.755011122856307, + -1.5630155585857564, + -1.0647878252489473, + -1.2172700970478625, + -3.8237102758362598, + 2.8774930708648028 + ], + "velocities": [ + -2.7648110208873975, + -0.27519305477328471, + -1.3444408545631674, + 0.42391397896040328, + -1.1840980960737901, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4569716053537784e-13, + 6.8295544000958363e-14, + -6.9813222756535211e-14, + -1.9729823822499081e-14, + 2.1247502578075936e-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": 489194386, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9572645208726662, + -1.5831466742453486, + -1.1631373070808531, + -1.186259643869092, + -3.9103302515620362, + 3.1115817187914954 + ], + "velocities": [ + -2.7648110208874028, + -0.27519305477328526, + -1.344440854563167, + 0.42391397896040411, + -1.1840980960737895, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.73730217313937463, + 0.073386729069048154, + 0.35852691422229643, + -0.11304667680735188, + 0.31576772981944395, + -0.8533555950917312 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 562347088, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1595179188890254, + -1.6032777899049404, + -1.2614867889127588, + -1.1552491906903217, + -3.9969502272878121, + 3.3456703667181871 + ], + "velocities": [ + -2.7375721710100196, + -0.27248185959587956, + -1.3311954564763551, + 0.41973758891182689, + -1.1724323908825878, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0421194447567168, + 0.20326057874085643, + 0.99301861526433877, + -0.31310746839450776, + 0.87458771258642842, + -2.3635547507058714 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 636970160, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3617713169053847, + -1.6234089055645327, + -1.359836270744665, + -1.1242387375115515, + -4.0835702030135881, + 3.5797590146448797 + ], + "velocities": [ + -2.6317949561281786, + -0.26195341672263084, + -1.2797593155992049, + 0.40351932310445138, + -1.1271307055943927, + 3.0460468350227727 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.3682108742980374, + 0.23571780491390551, + 1.1515866464554076, + -0.36310535771034735, + 1.0142443610693335, + -2.740973882301998 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 716184054, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5640247149217448, + -1.6435400212241247, + -1.4581857525765707, + -1.0932282843327812, + -4.1701901787393645, + 3.8138476625715714 + ], + "velocities": [ + -2.4555731078594265, + -0.24441332867447513, + -1.1940681596795861, + 0.37650015097478351, + -1.0516593791835724, + 2.8420871755018045 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.474097330394176, + 0.24625712101621935, + 1.2030759079078572, + -0.37934037290048966, + 1.0595928315854972, + -2.8635271624170793 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 801961351, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.766278112938104, + -1.6636711368837167, + -1.5565352344084769, + -1.0622178311540107, + -4.2568101544651409, + 4.0479363104982635 + ], + "velocities": [ + -2.2462281711735126, + -0.22357636289537236, + -1.0922702850870079, + 0.34440238935010131, + -0.96200227818109418, + 2.5997907609063957 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4121578626549756, + 0.24009203008973373, + 1.1729566880734272, + -0.3698435190374818, + 1.0330657361466065, + -2.7918382494072667 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 896712851, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.9685315109544623, + -1.6838022525433085, + -1.6548847162403821, + -1.0312073779752406, + -4.3434301301909173, + 4.2820249584249552 + ], + "velocities": [ + -2.0129399414695728, + -0.20035622231799918, + -0.97882953831147335, + 0.30863352813271339, + -0.8620908749994769, + 2.329782312078307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.0974283873609161, + 0.20876570612803208, + 1.0199136187556388, + -0.32158769859987246, + 0.8982751230961632, + -2.427569475399642 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 3650931, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1707849089708215, + -1.7039333682029008, + -1.7532341980722883, + -1.0001969247964702, + -4.4300501059166937, + 4.5161136063516469 + ], + "velocities": [ + -1.7709909125269276, + -0.17627403663834829, + -0.86117731659543784, + 0.27153675197339278, + -0.75847027223366981, + 2.0497498300144987 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7161845883152607, + 0.27035306519671953, + 1.3207953460391195, + -0.41645834298433537, + 1.1632726342999151, + -3.1437196310868258 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 126179093, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3730383069871817, + -1.7240644838624928, + -1.851583679904194, + -0.96918647161769989, + -4.5166700816424701, + 4.7502022542783404 + ], + "velocities": [ + -1.4591175062579198, + -0.1452319890172511, + -0.70952306403634102, + 0.22371883762603295, + -0.6249028407566859, + 1.6887866782760108 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7259340112412667, + 0.27132346550872249, + 1.3255361845236551, + -0.41795317088901601, + 1.1674480636645923, + -3.15500364041961 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 285739496, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5752917050035409, + -1.7441955995220848, + -1.9499331617361002, + -0.93817601843892939, + -4.6032900573682456, + 4.9842909022050321 + ], + "velocities": [ + -0.89771632452999994, + -0.08935341178868858, + -0.43653128311064215, + 0.13764213764855388, + -0.38446902253346377, + 1.0390193820820235 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.7553833915204016, + 0.27425468390266328, + 1.3398564941902804, + -0.42246848997510378, + 1.180060482689145, + -3.1890884354314006 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 668892199, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7775451030199001, + -1.7643267151816768, + -2.0482826435680059, + -0.90716556526015901, + -4.689910033094022, + 5.2183795501317247 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.48631247491959873, + 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": [ + -5.7775451030199001, + -1.7643267151816768, + -2.0482826435680059, + -0.90716556526015901, + -4.689910033094022, + 5.2183795501317247 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.30591656736564371, + -1.9976912424776476, + -0.98233480774522597, + 2.3997932220745488, + 1.9157827127611418, + -0.27551996546157193 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 120445656, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975328869, + -1.7644291097394824, + -2.0525631463893852, + -0.89609203812530369, + -4.7120008080408837, + 5.2215565542349749 + ], + "velocities": [ + 0.01464355625393586, + -0.096475236768473999, + -0.082561089059098106, + 0.20681080094080864, + -0.091704324017338745, + 0.013188537471550878 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.5154190974544267e-10, + -1.9861492704950845, + -1.0771818850544623, + 3.0633311555494944, + -3.5535827104835458e-13, + -4.5154190974544267e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 191471242, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975362726, + -1.7780731492021613, + -2.0617668766345352, + -0.87324426841747615, + -4.7120008080408864, + 5.2215565542315892 + ], + "velocities": [ + -6.0849761575104442e-11, + -0.25007607220962369, + -0.16102626227355152, + 0.41110233448315492, + -4.7888060001393836e-14, + -6.0849761575104442e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4227062326711807e-10, + 0.41030870081259446, + 0.53766015370420195, + -0.94796885451689339, + 1.1196533835292598e-13, + 1.4227062326711807e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 237205721, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975396584, + -1.792161737754471, + -2.0705693560249534, + -0.85035320047474927, + -4.7120008080408891, + 5.2215565542282034 + ], + "velocities": [ + -7.0611405501484585e-11, + -0.2981917701631413, + -0.1795488348076508, + 0.47774060497076798, + -5.5570361097705599e-14, + -7.0611405501484585e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.5743415561677114e-10, + 1.9228801999246663, + 1.171730175892904, + -3.0946103758173904, + 3.5993159018473673e-13, + 4.5743415561677114e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 287594298, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7740175975430441, + -1.8066903636630649, + -2.0789655264781701, + -0.82742840411293994, + -4.7120008080408917, + 5.2215565542248177 + ], + "velocities": [ + -4.7141191539775895e-11, + -0.20404347892966596, + -0.11526638584103635, + 0.31930986477068374, + -3.7102370701936527e-14, + -4.7141191539775895e-11 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.3361471219481308e-10, + 1.9168665087743073, + 1.0228869657402191, + -2.9397534745143559, + 3.4133931686812892e-13, + 4.3361471219481308e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 412543238, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.774017597546429, + -1.8216536513572013, + -2.0869503036532588, + -0.8044803392437162, + -4.7120008080408944, + 5.2215565542214328 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.058612373813878689 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.058612373813878689 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.058612373813878689 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.058612373813878689 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.058612373813878689 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.058612373813878703 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.058612373813878703 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.058612373813878689 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.058612373813878689 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.058612373813878689 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.058612373813878689 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.058612373813878689 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.058612373813878689 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.78393555343766719, + 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": [ + -0.76088761071594013, + -0.50010264934485549, + -1.5448027586104582, + -1.0615309489420448, + 3.0967404033553629, + 2.3300831418792338 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 374963261, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4484675568850784, + -1.0758280523850146, + 1.3804115234988517, + -2.1004265839151079, + -1.3472997827242765, + -3.0400482047010655 + ], + "velocities": [ + -0.24828579292142272, + -0.16318886138500666, + -0.50408571834663429, + -0.34638894056996233, + 1.0104996266077124, + 0.76033113472563374 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.74180552591463089, + -0.48756071669968187, + -1.5060610879274978, + -1.0349091150448284, + 3.019078128201647, + 2.2716476469635243 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 532600483, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3933578882011217, + -1.1120495533336654, + 1.2685243446170977, + -2.1773112881343253, + -1.123008658482475, + -2.8712846341729383 + ], + "velocities": [ + -0.40138465455169337, + -0.26381495285328321, + -0.81491683250293701, + -0.55998051122966719, + 1.6335974715996553, + 1.2291692016116706 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.77075413683462934, + -0.50658754380534987, + -1.5648344118420208, + -1.0752959553450874, + 3.1368962287915956, + 2.3602976254038688 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 654209411, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.338248219517165, + -1.1482710542823165, + 1.1566371657353438, + -2.2541959923535426, + -0.89871753424067358, + -2.7025210636448107 + ], + "velocities": [ + -0.49629023914667059, + -0.32619280422730235, + -1.0076002286117385, + -0.69238536821006891, + 2.0198541988484919, + 1.5198006951733507 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.70090315625388844, + -0.46067713607128868, + -1.4230184774345156, + -0.97784532445544614, + 2.8526093633834124, + 2.1463914058745344 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 756376124, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2831385508332083, + -1.1844925552309675, + 1.0447499868535899, + -2.3310806965727595, + -0.67442640999887216, + -2.5337574931166831 + ], + "velocities": [ + -0.57321949205920741, + -0.37675549266098662, + -1.1637869248378845, + -0.79971105165602074, + 2.3329489612537291, + 1.7553828663171314 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.65444692454138798, + -0.43014321196633448, + -1.3287000605048589, + -0.91303321943563409, + 2.6635369068133659, + 2.0041274488538026 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 847161903, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2280288821492515, + -1.2207140561796186, + 0.93286280797183596, + -2.4079654007919764, + -0.45013528575707062, + -2.3649939225885559 + ], + "velocities": [ + -0.63546461834294066, + -0.41766686002312614, + -1.2901609667317868, + -0.88655058884971782, + 2.5862807211090679, + 1.9459975081844116 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.68904268642443611, + -0.45288169782170185, + -1.3989385919784849, + -0.96129852356706658, + 2.8043383761753735, + 2.1100708239449291 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 930170957, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1729192134652948, + -1.2569355571282697, + 0.82097562909008204, + -2.4848501050111937, + -0.22584416151526931, + -2.1962303520604287 + ], + "velocities": [ + -0.69140375431018875, + -0.45443353844618434, + -1.4037321832156251, + -0.96459250101916327, + 2.8139476985166385, + 2.1173011749190254 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.59416476948327845, + -0.39052203135020908, + -1.2063113685124514, + -0.82893226633560779, + 2.4181942536531476, + 1.819524057657824 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 6828426, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1178095447813381, + -1.2931570580769205, + 0.70908845020832811, + -2.5617348092304111, + -0.0015530372734677833, + -2.0274667815323006 + ], + "velocities": [ + -0.74102168142240932, + -0.48704552536035356, + -1.5044696766377732, + -1.0338155564483489, + 3.0158879554680924, + 2.269247262450131 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.3249869995921848, + -0.21360166364880423, + -0.65980942048742075, + -0.45339647171585712, + 1.3226662624398224, + 0.99521495476475907 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 79043229, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0626998760973814, + -1.3293785590255716, + 0.59720127132657419, + -2.638619513449628, + 0.22273808696833353, + -1.8587032110041735 + ], + "velocities": [ + -0.77469722821191911, + -0.50917918863780576, + -1.572839928492973, + -1.0807970483745639, + 3.1529442366842311, + 2.3723726422864098 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.217563966088376e-14, + 3.0095510968342248e-14, + -4.435127932176752e-14, + -1.2038204387336899e-13, + 0.0, + 1.9007691137900366e-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": 149134205, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0075902074134246, + -1.3656000599742226, + 0.48531409244482027, + -2.7155042176688449, + 0.44702921121013528, + -1.6899396404760458 + ], + "velocities": [ + -0.78625911027376572, + -0.51677837644045721, + -1.5963136019400459, + -1.0969272829372243, + 3.2000000000000002, + 2.4077788522197761 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -4.4351279321767564e-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": 219225182, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.95248053872946792, + -1.4018215609228735, + 0.37342691356306634, + -2.7923889218880622, + 0.67132033545193659, + -1.5211760699479184 + ], + "velocities": [ + -0.78625911027376649, + -0.51677837644045765, + -1.5963136019400475, + -1.0969272829372285, + 3.2000000000000002, + 2.4077788522197765 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 8.8702558643535129e-14, + 0.0, + -4.4351279321767564e-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": 289316158, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.89737087004551119, + -1.4380430618715245, + 0.26153973468131242, + -2.8692736261072795, + 0.8956114596937379, + -1.352412499419791 + ], + "velocities": [ + -0.78625911027376649, + -0.51677837644045921, + -1.5963136019400475, + -1.0969272829372254, + 3.2000000000000002, + 2.4077788522197752 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.217563966088376e-14, + 1.4255768353425275e-14, + 4.435127932176752e-14, + 3.1679485229833945e-14, + 0.0, + 1.140461468274022e-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": 359407134, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84226120136155447, + -1.4742645628201756, + 0.1496525557995585, + -2.9461583303264964, + 1.1199025839355392, + -1.1836489288916638 + ], + "velocities": [ + -0.78625911027376572, + -0.51677837644045876, + -1.5963136019400459, + -1.0969272829372212, + 3.2000000000000002, + 2.4077788522197774 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.217563966088376e-14, + -1.4255768353425275e-14, + -4.435127932176752e-14, + -1.2038204387336899e-13, + 0.0, + -1.140461468274022e-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": 429498111, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.78715153267759774, + -1.5104860637688267, + 0.037765376917804572, + -3.0230430345457133, + 1.344193708177341, + -1.0148853583635358 + ], + "velocities": [ + -0.78625911027376572, + -0.51677837644045876, + -1.5963136019400459, + -1.0969272829372243, + 3.2000000000000002, + 2.4077788522197774 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 4.4351279321767564e-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": 499589087, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.73204186399364102, + -1.5467075647174777, + -0.074121801963949352, + -3.0999277387649307, + 1.5684848324191423, + -0.84612178783540859 + ], + "velocities": [ + -0.78625911027376649, + -0.51677837644045765, + -1.5963136019400475, + -1.0969272829372285, + 3.2000000000000002, + 2.4077788522197734 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -4.4351279321767564e-14, + 0.0, + 8.8702558643535129e-14, + 0.0, + 9.5038455689501929e-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": 569680063, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67693219530968429, + -1.5829290656661286, + -0.18600898084570328, + -3.176812442984148, + 1.7927759566609436, + -0.67735821730728141 + ], + "velocities": [ + -0.78625911027376649, + -0.51677837644045765, + -1.5963136019400475, + -1.0969272829372254, + 3.2000000000000002, + 2.4077788522197769 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2175639660883782e-14, + 0.0, + 4.4351279321767564e-14, + 0.0, + 0.0, + -9.5038455689501929e-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": 639771040, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.62182252662572757, + -1.6191505666147796, + -0.2978961597274572, + -3.2536971472033649, + 2.0170670809027449, + -0.50859464677915378 + ], + "velocities": [ + -0.78625911027376572, + -0.51677837644045921, + -1.5963136019400459, + -1.0969272829372223, + 3.2000000000000002, + 2.4077788522197769 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.3759613922375435e-14, + 7.4446790290109692e-14, + 0.0, + -2.8511536706850519e-14, + 0.0, + 4.4351279321767476e-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": 709862016, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.56671285794177095, + -1.6553720675634307, + -0.4097833386092109, + -3.3305818514225818, + 2.2413582051445462, + -0.3398310762510266 + ], + "velocities": [ + -0.78625911027376572, + -0.51677837644045654, + -1.5963136019400443, + -1.0969272829372234, + 3.2000000000000002, + 2.4077788522197752 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5839742614916973e-15, + -1.3463781222679426e-13, + -1.3622178648828596e-13, + -9.1870507166518434e-14, + 0.0, + 1.140461468274022e-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": 779952992, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51160318925781401, + -1.6915935685120815, + -0.52167051749096505, + -3.4074665556417991, + 2.4656493293863484, + -0.17106750572289853 + ], + "velocities": [ + -0.7862591102737666, + -0.51677837644045876, + -1.5963136019400492, + -1.0969272829372274, + 3.2000000000000002, + 2.4077788522197805 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2175639660883782e-14, + 1.2038204387336912e-13, + 1.8057306581005365e-13, + 1.5206152910320308e-13, + 0.0, + -2.2175639660883782e-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": 850043968, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.45649352057385739, + -1.7278150694607328, + -0.63355769637271919, + -3.4843512598610165, + 2.6899404536281493, + -0.0023039351947709008 + ], + "velocities": [ + -0.78625911027376572, + -0.51677837644045921, + -1.5963136019400475, + -1.0969272829372254, + 3.2000000000000002, + 2.4077788522197769 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.21883360657598766, + 0.14383105319763675, + 0.44429000335162461, + 0.30529955117870666, + -0.89063202180191381, + -0.67013904600114982 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 920134945, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.40138385188990067, + -1.7640365704093837, + -0.74544487525447289, + -3.5612359640802334, + 2.914231577869951, + 0.16645963533335628 + ], + "velocities": [ + -0.77851290494267023, + -0.51168708864198043, + -1.5805867597682042, + -1.0861203824436245, + 3.1684736790510737, + 2.3840574744481771 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.60610748134992098, + 0.39837152418032828, + 1.2305582270196931, + 0.84559380488899683, + -2.4667999581515789, + -1.8560964912170781 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 991634750, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.34627418320594394, + -1.8002580713580347, + -0.85733205413622704, + -3.6381206682994502, + 3.1385227021117519, + 0.33522320586148391 + ], + "velocities": [ + -0.74843189823663381, + -0.49191598061395886, + -1.5195143734041516, + -1.044153712012833, + 3.0460468350227732, + 2.2919397350746307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.782815036761072, + 0.5145147171773119, + 1.5893212233175795, + 1.0921223806459202, + -3.1859829474830743, + -2.3972319889008014 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 67533233, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29116451452198722, + -1.8364795723066858, + -0.96921923301798074, + -3.7150053725186676, + 3.3628138263535536, + 0.50398677638961109 + ], + "velocities": [ + -0.69499829439366168, + -0.45679609369561164, + -1.4110300487067686, + -0.96960732251458592, + 2.8285771357044776, + 2.1283088153817529 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.65444692454135756, + 0.43014321196628291, + 1.3287000605047368, + 0.91303321943559113, + -2.6635369068133876, + -2.0041274488537066 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 150542287, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.23605484583803049, + -1.8727010732553366, + -1.0811064118997344, + -3.7918900767378849, + 3.5871049505953554, + 0.67275034691773827 + ], + "velocities": [ + -0.63546461834294088, + -0.41766686002312498, + -1.2901609667317873, + -0.88655058884971827, + 2.5862807211090679, + 1.9459975081844125 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.68078921748876542, + 0.44745700484095674, + 1.3821818707487492, + 0.94978392852311833, + -2.7707475404710236, + -2.084796041495633 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 241328067, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.18094517715407377, + -1.9089225742039877, + -1.1929935907814886, + -3.8687747809571018, + 3.8113960748371563, + 0.84151391744586546 + ], + "velocities": [ + -0.5742563429517058, + -0.3774369755383673, + -1.1658920059253446, + -0.80115758501564471, + 2.33716884603807, + 1.7585580379866783 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.73124917189175853, + 0.4806224244474423, + 1.4846289019046097, + 1.0201817146436987, + -2.9761147686274465, + -2.2393206880250411 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 343103515, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.12583550847011704, + -1.9451440751526388, + -1.3048807696632427, + -3.9456594851763187, + 4.035687199078958, + 1.0102774879739935 + ], + "velocities": [ + -0.50100016902993083, + -0.32928846300748671, + -1.0171626299099752, + -0.69895629441258911, + 2.0390231667237098, + 1.5342240187573619 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.78211058314077742, + 0.51405170645544929, + 1.5878909964606396, + 1.0911395819913741, + -3.1831158880678592, + -2.3950747248295667 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 462772541, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.070725839786160316, + -1.9813655761012896, + -1.4167679485449964, + -4.0225441893955356, + 4.2599783233207598, + 1.1790410585021216 + ], + "velocities": [ + -0.40655878716351157, + -0.26721571453055321, + -0.82542168791073134, + -0.56719905681251226, + 1.6546557005492097, + 1.2450140635897788 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.77410457694156276, + 0.50878966137219761, + 1.57163668992733, + 1.0799702276239866, + -3.1505322022284461, + -2.3705577530509623 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 619067609, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.015616171102203591, + -2.0175870770499409, + -1.5286551274267506, + -4.0994288936147534, + 4.4842694475625606, + 1.3478046290302488 + ], + "velocities": [ + -0.24879545444195905, + -0.16352384262678349, + -0.50512046580709224, + -0.34709998050531654, + 1.0125739006535133, + 0.76189188259475527 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.76292645974002637, + 0.50144270769802313, + 1.5489421604780103, + 1.0643753918121868, + -3.1050383254930236, + -2.3363267548293707 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 999158586, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.039493497581753099, + -2.0538085779985917, + -1.6405423063085041, + -4.1763135978339703, + 4.7085605718043624, + 1.516568199558376 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.14193570239374614, + 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": [ + -0.039493497581753099, + -2.0538085779985917, + -1.6405423063085041, + -4.1763135978339703, + 4.7085605718043624, + 1.516568199558376 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.087177333658927977, + -2.5851228064625151, + -1.0441876306606099, + 1.6988695784036401, + -0.46894027039132435, + -1.8775804281290482 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 100546138, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.038776046257066613, + -2.0487001956488573, + -1.6449311450024513, + -4.1611460202616088, + 4.7124198513520552, + 1.5320202908388194 + ], + "velocities": [ + 0.0035677729178552426, + -0.054990928332652858, + -0.086383832319950393, + 0.22037889534130967, + 0.019191585233924086, + 0.076840800984909016 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6253021579245976e-08, + -1.8374574465254991, + -1.1787424876186785, + 3.0161999341435339, + -2.0914368714671994e-11, + 2.6252953259184123e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 163701746, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.038776046099865957, + -2.0588548726506608, + -1.6530856497552877, + -4.142836838506974, + 4.71241985135193, + 1.5320202909960201 + ], + "velocities": [ + 3.1713438239687538e-09, + -0.20853863792339747, + -0.1597499197332678, + 0.36828855765656765, + -2.5264366407794762e-12, + 3.1713427077383383e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.4140576655181833e-09, + 0.33678723825507634, + 0.57143162041557249, + -0.90821885867054664, + 5.9063616609175841e-12, + -7.4140337807739331e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 204495060, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.038776045942665364, + -2.0693097532350047, + -1.6608519696095685, + -4.1246156380683541, + 4.7124198513518047, + 1.5320202911532206 + ], + "velocities": [ + 3.6956122863598646e-09, + -0.24911298198951343, + -0.17820640642301422, + 0.42731938841241551, + -2.9440934980572462e-12, + 3.6956099036038872e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.7309233994391267e-08, + 1.8331387126473422, + 1.3277468192971431, + -3.1608855319436628, + 2.1755791856148892e-11, + -2.7309201451660087e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 248931654, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.038776045785464806, + -2.080060604858089, + -1.6682298057741265, + -4.1064869502807166, + 4.7124198513516795, + 1.5320202913104211 + ], + "velocities": [ + 2.4858094740281744e-09, + -0.17133269883725508, + -0.11489184912204842, + 0.2862245479592252, + -1.9803093109290787e-12, + 2.4858088535943845e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.6161511561441405e-08, + 1.8376874622279082, + 1.1631086831941795, + -3.000796145421238, + 2.0841447907472535e-11, + -2.6161523109229471e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 358556935, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.038776045628264179, + -2.0911029951863633, + -1.675218752664184, + -4.0884556130623899, + 4.7124198513515543, + 1.5320202914676218 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.058612373813878689 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.058612373813878689 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.058612373813878689 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.023, + "y": 0.021999999999999999, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.023, + "y": -0.021999999999999999, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.023, + "y": -0.021999999999999999, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.023, + "y": 0.021999999999999999, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.058612373813878689 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly07.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly07.json new file mode 100644 index 0000000..fa3a62c --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly07.json @@ -0,0 +1,9714 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.01, + "ysize": 0.01, + "zsize": 0.043999999999999997 + } + }, + "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": "0.18.1", + "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": [ + 0.091999999999999998, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1667969775547702, + 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": [ + -0.97301680916880273, + -0.40739874124083614, + -0.97916134167315561, + 1.2688724862151481, + 1.0327240563360356, + 2.5856763609669309 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 392283065, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4138003638983498, + -1.0771958100108727, + 1.4019549061621548, + -1.9064674482993893, + -1.47630506619127, + -2.970240450668018 + ], + "velocities": [ + -0.3674393213776338, + -0.15384556114658643, + -0.36975967476958682, + 0.47916299169376553, + 0.38998650676407942, + 0.97642626357861406 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1174178201567631, + -0.46785894044403259, + -1.1244742348581303, + 1.4571800962150192, + 1.18598594904057, + 2.9694048609198336 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 569700226, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3240235022276643, + -1.114785068585382, + 1.3116111099437038, + -1.7893930169028873, + -1.3810192254164624, + -2.7316691261068424 + ], + "velocities": [ + -0.59251872393001537, + -0.24808552125314623, + -0.596260437869917, + 0.772680080423642, + 0.62887746055978466, + 1.574547986693974 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0672314543913615, + -0.44684608429641287, + -1.0739709457335276, + 1.3917340544788721, + 1.1327199964509971, + 2.8360405671279341 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 701916318, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.234246640556979, + -1.1523743271598912, + 1.221267313725253, + -1.6723185855063856, + -1.2857333846416545, + -2.4930978015456673 + ], + "velocities": [ + -0.74390813426388058, + -0.31147173886627888, + -0.74860586164964027, + 0.9701009838107828, + 0.78955658187924826, + 1.9768473261425794 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0712029076469054, + -0.44850891791033398, + -1.0779674784361979, + 1.3969130685706139, + 1.136935150060862, + 2.846594231468329 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 812916378, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1444697788862936, + -1.1899635857344004, + 1.1309235175068022, + -1.5552441541098836, + -1.1904475438668469, + -2.2545264769844922 + ], + "velocities": [ + -0.86464504671855136, + -0.36202386262389041, + -0.87010521918857076, + 1.1275491849525165, + 0.91770227556586681, + 2.2976913007670881 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0364941345238197, + -0.43397647577049131, + -1.0430395218595154, + 1.3516507392551382, + 1.1000965418967068, + 2.7543597979654426 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 910447979, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0546929172156081, + -1.2275528443089097, + 1.0405797212883512, + -1.4381697227133818, + -1.0951617030920391, + -2.0159551524233166 + ], + "velocities": [ + -0.96864178626636965, + -0.40556693442459785, + -0.97475869080974786, + 1.2631671930124531, + 1.0280805688281307, + 2.5740502583231644 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.99213424240439796, + -0.41540314379847099, + -0.99839950015091417, + 1.2938027698558145, + 1.0530145929554948, + 2.6364786644151459 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 998742066, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.96491605554492277, + -1.2651421028834189, + 0.9502359250699004, + -1.3210952913168801, + -0.99987586231723136, + -1.7773838278621412 + ], + "velocities": [ + -1.0589176789916011, + -0.44336513555955065, + -1.0656046694286481, + 1.380892390941368, + 1.1238960627086527, + 2.8139476985166385 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0079820832690873, + -0.42203857944442824, + -1.0143474190126134, + 1.3144693082440653, + 1.0698349051513005, + 2.6785924152878042 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 80280173, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.87513919387423733, + -1.3027313614579281, + 0.8598921288514495, + -1.2040208599203781, + -0.90459002154242363, + -1.5388125033009659 + ], + "velocities": [ + -1.1407537804139996, + -0.47762962553894095, + -1.1479575600580583, + 1.4876115930101366, + 1.2107538742277191, + 3.0314173978349341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.31509269128095629, + -0.13192820986483283, + -0.31708247939685985, + 0.41089983524068119, + 0.33442772950599081, + 0.83732132444307117 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 156332238, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.785362332203552, + -1.3403206200324373, + 0.76954833263299871, + -1.0869464285238764, + -0.8093041807676159, + -1.3002411787397907 + ], + "velocities": [ + -1.1923294793060295, + -0.49922419061657664, + -1.1998589558499675, + 1.5548694087690622, + 1.2654944136163897, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1913296571866919e-14, + -1.3402458643350285e-14, + 1.1913296571866919e-14, + 0.0, + 1.1913296571866919e-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": 230885777, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69558547053286646, + -1.3779098786069466, + 0.6792045364145477, + -0.96987199712737437, + -0.71401833999280806, + -1.0616698541786151 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885388, + -1.2117975554304756, + 1.5703403632348105, + 1.2780860861641297, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.9349724289001895e-15, + 1.3402458643350285e-14, + 8.9349724289001895e-15, + 0.0, + -5.0631510430434412e-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": 305439316, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60580860886218113, + -1.4154991371814558, + 0.58886074019609691, + -0.85279756573087262, + -0.61873249921800033, + -0.82309852961744001 + ], + "velocities": [ + -1.2041931605762883, + -0.50419147254885388, + -1.2117975554304747, + 1.5703403632348105, + 1.2780860861641283, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.9349724289001895e-15, + 2.680491728670057e-14, + -8.9349724289001895e-15, + 0.0, + 7.1479779431201516e-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": 379992855, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51603174719149569, + -1.453088395755965, + 0.49851694397764601, + -0.73572313433437064, + -0.52344665844319271, + -0.58452720505626443 + ], + "velocities": [ + -1.2041931605762883, + -0.50419147254885233, + -1.2117975554304747, + 1.5703403632348105, + 1.278086086164129, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1913296571866919e-14, + -6.701229321675143e-14, + -1.1913296571866919e-14, + 0.0, + -3.276156557263403e-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": 454546394, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42625488552081037, + -1.4906776543304741, + 0.40817314775919522, + -0.61864870293786889, + -0.42816081766838487, + -0.3459558804950893 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885388, + -1.2117975554304756, + 1.5703403632348105, + 1.2780860861641306, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1913296571866919e-14, + 6.701229321675143e-14, + 1.1913296571866919e-14, + 0.0, + -8.9349724289001895e-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": 529099933, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.33647802385012482, + -1.5282669129049835, + 0.31782935154074421, + -0.50157427154136691, + -0.33287497689357703, + -0.10738455593391372 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885388, + -1.2117975554304756, + 1.5703403632348105, + 1.2780860861641288, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -8.0414751860101789e-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": 603653472, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.24670116217943949, + -1.5658561714794925, + 0.22748555532229342, + -0.38449984014486516, + -0.23758913611876942, + 0.13118676862726142 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885432, + -1.2117975554304752, + 1.5703403632348105, + 1.2780860861641286, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 8.0414751860101789e-14, + 0.0, + 0.0, + 4.1696538001534259e-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": 678207011, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.15692430050875417, + -1.603445430054002, + 0.13714175910384263, + -0.2674254087483634, + -0.1423032953439618, + 0.36975809318843655 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885432, + -1.2117975554304752, + 1.5703403632348105, + 1.2780860861641301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1913296571866919e-14, + -2.680491728670057e-14, + -1.1913296571866919e-14, + 0.0, + -7.1479779431201516e-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": 752760550, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.06714743883806884, + -1.641034688628511, + 0.046797962885391842, + -0.15035097735186165, + -0.04701745456915396, + 0.60832941774961169 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885233, + -1.2117975554304756, + 1.5703403632348105, + 1.278086086164129, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 7.743642771713491e-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": 827314089, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.022629422832616708, + -1.6786239472030202, + -0.04354583333305917, + -0.033276545955359671, + 0.048268386205653657, + 0.84690074231078727 + ], + "velocities": [ + -1.2041931605762894, + -0.50419147254885333, + -1.2117975554304761, + 1.5703403632348105, + 1.2780860861641292, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.1696538001534183e-14, + -4.0207375930050819e-14, + 4.1696538001534183e-14, + -4.1696538001534183e-14, + -7.743642771713491e-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": 901867628, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11240628450330226, + -1.7162132057775294, + -0.13388962955151018, + 0.083797885441142306, + 0.14355422698046172, + 1.0854720668719628 + ], + "velocities": [ + -1.2041931605762879, + -0.50419147254885477, + -1.2117975554304745, + 1.570340363234809, + 1.2780860861641292, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9566482859334654e-14, + 5.5098996644884555e-14, + -5.9566482859334654e-14, + 8.0414751860101789e-14, + 1.0126302086086891e-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": 976421167, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.20218314617398758, + -1.7538024643520389, + -0.22423342576996097, + 0.20087231683764406, + 0.23884006775526934, + 1.3240433914331384 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885432, + -1.2117975554304752, + 1.5703403632348105, + 1.2780860861641301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.9566482859334654e-14, + -1.4891620714833663e-14, + 5.9566482859334654e-14, + 0.0, + -1.0126302086086891e-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": 50974706, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.29196000784467291, + -1.7913917229265479, + -0.31457722198841176, + 0.31794674823414582, + 0.33412590853007718, + 1.5626147159943131 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885277, + -1.2117975554304752, + 1.5703403632348134, + 1.2780860861641301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.9081538981427314, + 0.3802408668277566, + 0.91388882593998155, + -1.1842873460601817, + -0.9638809613870537, + -2.413310894961489 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 125528245, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.38173686951535823, + -1.8289809815010571, + -0.40492101820686255, + 0.43502117963064801, + 0.42941174930488479, + 1.8011860405554887 + ], + "velocities": [ + -1.1692987949114417, + -0.48958132345965139, + -1.1766828343082241, + 1.5248360100737619, + 1.2410504969398695, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0531704904135266, + 0.44095880776506241, + 1.0598211877601631, + -1.3733977111052396, + -1.1177962092991163, + -2.7986752289062919 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 204668328, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.47151373118604378, + -1.8665702400755664, + -0.49526481442531356, + 0.55209561102714977, + 0.52469759007969241, + 2.0397573651166643 + ], + "velocities": [ + -1.0910039435827259, + -0.45679954253214095, + -1.0978935565170056, + 1.4227348112792821, + 1.1579512373047871, + 2.8992131277293911 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0002924376796656, + 0.41881895168036071, + 1.0066092138537905, + -1.3044415475464701, + -1.0616733997075338, + -2.6581580973629717 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 290365699, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.56129059285672889, + -1.9041594986500756, + -0.58560861064376413, + 0.66917004242365152, + 0.61998343085450003, + 2.278328689677839 + ], + "velocities": [ + -1.0027345097527531, + -0.41984143873217505, + -1.0090667074397337, + 1.3076261565209752, + 1.0642653246911662, + 2.6646476132393939 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0816616206439231, + 0.45288794453127373, + 1.0884922374679373, + -1.410551859841316, + -1.1480356412431325, + -2.8743870164518102 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 384091651, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.65106745452741444, + -1.9417487572245848, + -0.67595240686221514, + 0.78624447382015328, + 0.71526927162930809, + 2.5169000142390145 + ], + "velocities": [ + -0.9039613060624484, + -0.37848544315987864, + -0.90966975793649429, + 1.1788199536301778, + 0.95943109920692393, + 2.4021695805143839 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1232550472417855, + 0.47030296704706154, + 1.1303483236203828, + -1.4647921916836786, + -1.1921813659913785, + -2.9849165971458729 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 489704400, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.74084431619809998, + -1.9793380157990943, + -0.76629620308066615, + 0.90331890521665548, + 0.81055511240411571, + 2.7554713388001901 + ], + "velocities": [ + -0.78542318946441281, + -0.32885394755154107, + -0.79038308149491043, + 1.0242391146336784, + 0.83361912612484246, + 2.0871686441760788 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1938235180469341, + 0.4998497394217411, + 1.2013624293401182, + -1.556817725215174, + -1.2670801310822055, + -3.1724439091830847 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 614257939, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.83062117786878553, + -2.0169272743736033, + -0.85663999929911716, + 1.0203933366131572, + 0.90584095317892377, + 2.9940426633613657 + ], + "velocities": [ + -0.63479132425357643, + -0.26578491143686511, + -0.63879998668222371, + 0.82780609568452623, + 0.67374403518280124, + 1.6868823907281729 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.8340566258380766, + 0.34921659758406098, + 0.83932363458822412, + -1.08766004297033, + -0.88523685688972764, + -2.2164062129405817 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 777847506, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92039803953947064, + -2.0545165329481128, + -0.94698379551756773, + 1.137467768009659, + 1.0011267939537314, + 3.2326139879225404 + ], + "velocities": [ + -0.46577484621145182, + -0.19501830210958976, + -0.4687161815052388, + 0.60739843501128399, + 0.4943561960966476, + 1.2377412168354709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9222167821636233, + 0.92861724216012509, + 0.51122652139043634, + 2.0205372170118729, + -1.1035880436972454, + -2.2397580627655338 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 12401045, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0101749012101562, + -2.0921057915226218, + -1.0373275917360187, + 1.2545421994061607, + 1.096412634728539, + 3.4711853124837164 + ], + "velocities": [ + -0.0021267688420271991, + -0.039302907623858588, + -0.31858429615567474, + 0.76231983485578647, + 0.26249701126803249, + 0.7253926861407981 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1350770267615862, + 0.24486574408008813, + -0.75569815782730576, + 3.0753379360100195, + 0.35611632256850562, + 1.3004732575158953 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 298862381, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.90174847318855578, + -2.0687153806963159, + -1.1095144565776844, + 1.5483089654486608, + 1.1304300801581704, + 3.5954109524408202 + ], + "velocities": [ + 0.50804832018952095, + 0.10959928447038852, + -0.33824240170717484, + 1.3764883224380262, + 0.15939385187733024, + 0.58207790163576667 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0715772967560935, + 0.23116719475690534, + -0.71342205862318975, + 2.9032939918475114, + 0.33619407077367947, + 1.2277207492855058 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 468918030, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.79332204516695537, + -2.04532496987001, + -1.1817013214193501, + 1.8420757314911609, + 1.164447525587802, + 3.7196365923979235 + ], + "velocities": [ + 0.71940423481955151, + 0.15519427237113348, + -0.47895644275116411, + 1.9491286340090146, + 0.22570414562531338, + 0.82423126067111074 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.024016201486357, + 0.22090702499938986, + -0.68175739514029043, + 2.7744336263281721, + 0.32127236771261519, + 1.1732293526329329 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 604245593, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.68489561714535485, + -2.0219345590437046, + -1.2538881862610158, + 2.1358424975336607, + 1.1984649710174333, + 3.8438622323550273 + ], + "velocities": [ + 0.86570000761846877, + 0.18675408938582738, + -0.5763555120614493, + 2.3454972762764221, + 0.27160262774428012, + 0.99184432632835096 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0724166141914637, + 0.23134825743680049, + -0.7139808494583495, + 2.9055680091066685, + 0.33645739619700515, + 1.228682366738324 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 720809918, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.57646918912375456, + -1.9985441482173987, + -1.3260750511026815, + 2.429609263576161, + 1.2324824164470647, + 3.9680878723121307 + ], + "velocities": [ + 0.98917074396153271, + 0.21338995022517543, + -0.65855839856179754, + 2.6800245643022, + 0.31034003810026778, + 1.1333064358717555 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.99174289698764317, + 0.21394483077491122, + -0.66027085618153158, + 2.6869934656118923, + 0.31114701917302656, + 1.1362533867358393 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 824254839, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.46804276110215404, + -1.9751537373910928, + -1.3982619159443475, + 2.7233760296186613, + 1.2664998618766963, + 4.092313512269234 + ], + "velocities": [ + 1.0972545333035675, + 0.2367064449442518, + -0.73051714547591862, + 2.9728629971084772, + 0.34424998489882835, + 1.2571395100123943 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.37272814671307436, + 0.080407190730403075, + -0.24815053710061316, + 1.0098565845137517, + 0.11693882775861272, + 0.42703973007596868 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 918838649, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35961633308055363, + -1.9517633265647871, + -1.4704487807860132, + 3.0171427956611612, + 1.3005173073063276, + 4.2165391522263382 + ], + "velocities": [ + 1.1637207501052194, + 0.25104494290483426, + -0.77476823717324683, + 3.1529442366842311, + 0.36510293509021252, + 1.333290762694701 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9349846691842711e-14, + -2.2373260237443135e-14, + -1.3303019600641863e-14, + 0.0, + 3.2652866292484576e-14, + 2.1768577528323049e-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": 10640763, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.25118990505895322, + -1.9283729157384812, + -1.5426356456276789, + 3.3109095617036615, + 1.334534752735959, + 4.3407647921834416 + ], + "velocities": [ + 1.1810885701717702, + 0.25479163505292435, + -0.78633117900038796, + 3.2000000000000002, + 0.37055187297487641, + 1.3531893114322537 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.6088928454562873, + -0.13135408095875944, + 0.40538147700717353, + -1.6497129467408769, + -0.19103256946432842, + -0.69761685201905632 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 102442878, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14276347703735282, + -1.9049825049121756, + -1.6148225104693446, + 3.6046763277461613, + 1.3685521981655906, + 4.4649904321405449 + ], + "velocities": [ + 1.1524269093573623, + 0.24860856664750114, + -0.76724915745730948, + 3.122345100170798, + 0.3615596327944427, + 1.3203512550481267 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0482906434831647, + -0.22614365578435128, + 0.69791854602854175, + -2.8402019491716324, + -0.32888817246635649, + -1.2010409124775865 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 198927823, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.034337049015752297, + -1.8815920940858697, + -1.6870093753110105, + 3.8984430937886621, + 1.402569643595222, + 4.5892160720976491 + ], + "velocities": [ + 1.0705476340931046, + 0.23094506964279027, + -0.71273654199369751, + 2.9005042598962043, + 0.33587102689879533, + 1.2265410507047734 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0102649616065016, + -0.21794052360271574, + 0.67260225729496459, + -2.7371764986859937, + -0.31695808695342298, + -1.1574743692266896 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 305507227, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.074089379005848111, + -1.8582016832595638, + -1.7591962401526762, + 4.1922098598311619, + 1.4365870890248535, + 4.7134417120547525 + ], + "velocities": [ + 0.96007937870732363, + 0.20711418335532522, + -0.63919029347908807, + 2.6012054383157932, + 0.30121298348761039, + 1.099976061240121 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0578417196947538, + -0.22820407223906411, + 0.70427734858395152, + -2.8660793004972374, + -0.33188470402931014, + -1.2119837109844271 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 425603569, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.18251580702744841, + -1.8348112724332581, + -1.8313831049943419, + 4.4859766258736613, + 1.4706045344544849, + 4.8376673520118558 + ], + "velocities": [ + 0.83354918081753815, + 0.17981831679790006, + -0.55495051485574753, + 2.2583889523443585, + 0.26151570506155281, + 0.95500868480283563 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1051094130553243, + -0.23840094754604499, + 0.73574667441396024, + -2.9941447331614897, + -0.34671435588463212, + -1.2661389530610023 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 567472910, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29094223504904893, + -1.8114208616069523, + -1.9035699698360076, + 4.7797433919161616, + 1.5046219798841163, + 4.9618929919689592 + ], + "velocities": [ + 0.67370451788840868, + 0.14533565050956793, + -0.44853102572319004, + 1.8253114217584661, + 0.21136642690469792, + 0.7718724706121165 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0750104218851257, + -0.23190780946360903, + 0.71570772406653349, + -2.9125955808141479, + -0.33727117115282457, + -1.2316541276508026 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 753408598, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39936866307064944, + -1.7880304507806466, + -1.9757568346776733, + 5.0735101579586619, + 1.5386394253137479, + 5.0861186319260634 + ], + "velocities": [ + 0.41712076789984109, + 0.089983837920195126, + -0.27770573138348759, + 1.1301323973403354, + 0.13086646142001523, + 0.47790096268258042 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1630425860340079, + -0.25089864521226446, + 0.7743167371188574, + -3.1511068427049143, + -0.36489016953382836, + -1.3325137808529135 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 185210713, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50779509109224985, + -1.7646400399543407, + -2.047943699519339, + 5.3672769240011622, + 1.5726568707433792, + 5.2103442718831667 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.20459477419922245, + 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": [ + 0.50779509109224985, + -1.7646400399543407, + -2.047943699519339, + 5.3672769240011622, + 1.5726568707433792, + 5.2103442718831667 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.13435385878761516, + -2.5751270902578427, + -1.2709944902973636, + 2.3379823914534659, + 0.14411795459518051, + -1.0974734603995326 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 115835798, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771049160747, + -1.7644291107882202, + -2.0525631459468934, + 5.3870932713658908, + 1.5711844967241113, + 5.2215565554846792 + ], + "velocities": [ + 0.0059248488239868708, + -0.11173921084961179, + -0.095928659821585952, + 0.27417507457020363, + -0.0063554360652335945, + 0.048397315680571845 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4739313664175178e-08, + -2.0020807746857416, + -1.0340341426461066, + 3.0361149173266453, + -1.0260720515063172e-11, + -1.4739319805477946e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 176395400, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771037997022, + -1.7780731499681872, + -2.0617668764570425, + 5.409941041055963, + 1.5711844967240336, + 5.2215565553730423 + ], + "velocities": [ + -2.2244625616106677e-09, + -0.27705633150696041, + -0.17870948501998485, + 0.45576581652608478, + -1.5485472965534913e-12, + -2.2244572205531593e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.3652402320759611e-09, + 0.86837400246809882, + 0.83256962179152816, + -1.7009436242563374, + 5.8234838778910903e-12, + 8.3653181209129999e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 219242170, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771026833307, + -1.7921617382413118, + -2.0705693561180887, + 5.4328321089900911, + 1.5711844967239559, + 5.2215565552614054 + ], + "velocities": [ + -2.4105132810151246e-09, + -0.30857252102712995, + -0.18603468546696023, + 0.49460720649317186, + -1.678064632450081e-12, + -2.4105062832218926e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5080254068977749e-08, + 1.9228801621831915, + 1.1717302126037865, + -3.0946103747813303, + 1.049800471287955e-11, + 1.5080173809957216e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 269630747, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771015669571, + -1.806690363874875, + -2.078965526847528, + 5.4557569053530512, + 1.5711844967238782, + 5.2215565551497685 + ], + "velocities": [ + -1.5544956878674994e-09, + -0.2040434751092261, + -0.11526638970391859, + 0.31930986481255058, + -1.0821524787539128e-12, + -1.5544903926804206e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4301235581507392e-08, + 1.9168664738832908, + 1.0228870016902651, + -2.939753475568009, + 9.9557300739058825e-12, + 1.4301207136564323e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 394579687, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771004505856, + -1.821653651298774, + -2.0869503043043816, + 5.4787049702337605, + 1.5711844967238005, + 5.2215565550381315 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.058612373813878689 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.058612373813878689 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.058612373813878689 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.058612373813878689 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.058612373813878689 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.058612373813878703 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.058612373813878703 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.058612373813878689 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.058612373813878689 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.058612373813878689 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.058612373813878689 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.058612373813878689 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.058612373813878689 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.058612373813878689 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.058612373813878689 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.058612373813878689 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.058612373813878689 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly08.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly08.json new file mode 100644 index 0000000..6a762c8 --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly08.json @@ -0,0 +1,12181 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.01, + "ysize": 0.01, + "zsize": 0.043999999999999997 + } + }, + "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": "0.18.1", + "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": [ + 0.091999999999999998, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1667969775547702, + 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": [ + -0.97301680916880273, + -0.40739874124083614, + -0.97916134167315561, + 1.2688724862151481, + 1.0327240563360356, + 2.5856763609669309 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 392283065, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4138003638983498, + -1.0771958100108727, + 1.4019549061621548, + -1.9064674482993893, + -1.47630506619127, + -2.970240450668018 + ], + "velocities": [ + -0.3674393213776338, + -0.15384556114658643, + -0.36975967476958682, + 0.47916299169376553, + 0.38998650676407942, + 0.97642626357861406 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1174178201567631, + -0.46785894044403259, + -1.1244742348581303, + 1.4571800962150192, + 1.18598594904057, + 2.9694048609198336 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 569700226, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3240235022276643, + -1.114785068585382, + 1.3116111099437038, + -1.7893930169028873, + -1.3810192254164624, + -2.7316691261068424 + ], + "velocities": [ + -0.59251872393001537, + -0.24808552125314623, + -0.596260437869917, + 0.772680080423642, + 0.62887746055978466, + 1.574547986693974 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0672314543913615, + -0.44684608429641287, + -1.0739709457335276, + 1.3917340544788721, + 1.1327199964509971, + 2.8360405671279341 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 701916318, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.234246640556979, + -1.1523743271598912, + 1.221267313725253, + -1.6723185855063856, + -1.2857333846416545, + -2.4930978015456673 + ], + "velocities": [ + -0.74390813426388058, + -0.31147173886627888, + -0.74860586164964027, + 0.9701009838107828, + 0.78955658187924826, + 1.9768473261425794 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0712029076469054, + -0.44850891791033398, + -1.0779674784361979, + 1.3969130685706139, + 1.136935150060862, + 2.846594231468329 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 812916378, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1444697788862936, + -1.1899635857344004, + 1.1309235175068022, + -1.5552441541098836, + -1.1904475438668469, + -2.2545264769844922 + ], + "velocities": [ + -0.86464504671855136, + -0.36202386262389041, + -0.87010521918857076, + 1.1275491849525165, + 0.91770227556586681, + 2.2976913007670881 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0364941345238197, + -0.43397647577049131, + -1.0430395218595154, + 1.3516507392551382, + 1.1000965418967068, + 2.7543597979654426 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 910447979, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0546929172156081, + -1.2275528443089097, + 1.0405797212883512, + -1.4381697227133818, + -1.0951617030920391, + -2.0159551524233166 + ], + "velocities": [ + -0.96864178626636965, + -0.40556693442459785, + -0.97475869080974786, + 1.2631671930124531, + 1.0280805688281307, + 2.5740502583231644 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.99213424240439796, + -0.41540314379847099, + -0.99839950015091417, + 1.2938027698558145, + 1.0530145929554948, + 2.6364786644151459 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 998742066, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.96491605554492277, + -1.2651421028834189, + 0.9502359250699004, + -1.3210952913168801, + -0.99987586231723136, + -1.7773838278621412 + ], + "velocities": [ + -1.0589176789916011, + -0.44336513555955065, + -1.0656046694286481, + 1.380892390941368, + 1.1238960627086527, + 2.8139476985166385 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0079820832690873, + -0.42203857944442824, + -1.0143474190126134, + 1.3144693082440653, + 1.0698349051513005, + 2.6785924152878042 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 80280173, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.87513919387423733, + -1.3027313614579281, + 0.8598921288514495, + -1.2040208599203781, + -0.90459002154242363, + -1.5388125033009659 + ], + "velocities": [ + -1.1407537804139996, + -0.47762962553894095, + -1.1479575600580583, + 1.4876115930101366, + 1.2107538742277191, + 3.0314173978349341 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.31509269128095629, + -0.13192820986483283, + -0.31708247939685985, + 0.41089983524068119, + 0.33442772950599081, + 0.83732132444307117 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 156332238, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.785362332203552, + -1.3403206200324373, + 0.76954833263299871, + -1.0869464285238764, + -0.8093041807676159, + -1.3002411787397907 + ], + "velocities": [ + -1.1923294793060295, + -0.49922419061657664, + -1.1998589558499675, + 1.5548694087690622, + 1.2654944136163897, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1913296571866919e-14, + -1.3402458643350285e-14, + 1.1913296571866919e-14, + 0.0, + 1.1913296571866919e-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": 230885777, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.69558547053286646, + -1.3779098786069466, + 0.6792045364145477, + -0.96987199712737437, + -0.71401833999280806, + -1.0616698541786151 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885388, + -1.2117975554304756, + 1.5703403632348105, + 1.2780860861641297, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.9349724289001895e-15, + 1.3402458643350285e-14, + 8.9349724289001895e-15, + 0.0, + -5.0631510430434412e-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": 305439316, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.60580860886218113, + -1.4154991371814558, + 0.58886074019609691, + -0.85279756573087262, + -0.61873249921800033, + -0.82309852961744001 + ], + "velocities": [ + -1.2041931605762883, + -0.50419147254885388, + -1.2117975554304747, + 1.5703403632348105, + 1.2780860861641283, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.9349724289001895e-15, + 2.680491728670057e-14, + -8.9349724289001895e-15, + 0.0, + 7.1479779431201516e-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": 379992855, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.51603174719149569, + -1.453088395755965, + 0.49851694397764601, + -0.73572313433437064, + -0.52344665844319271, + -0.58452720505626443 + ], + "velocities": [ + -1.2041931605762883, + -0.50419147254885233, + -1.2117975554304747, + 1.5703403632348105, + 1.278086086164129, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1913296571866919e-14, + -6.701229321675143e-14, + -1.1913296571866919e-14, + 0.0, + -3.276156557263403e-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": 454546394, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.42625488552081037, + -1.4906776543304741, + 0.40817314775919522, + -0.61864870293786889, + -0.42816081766838487, + -0.3459558804950893 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885388, + -1.2117975554304756, + 1.5703403632348105, + 1.2780860861641306, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1913296571866919e-14, + 6.701229321675143e-14, + 1.1913296571866919e-14, + 0.0, + -8.9349724289001895e-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": 529099933, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.33647802385012482, + -1.5282669129049835, + 0.31782935154074421, + -0.50157427154136691, + -0.33287497689357703, + -0.10738455593391372 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885388, + -1.2117975554304756, + 1.5703403632348105, + 1.2780860861641288, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + -8.0414751860101789e-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": 603653472, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.24670116217943949, + -1.5658561714794925, + 0.22748555532229342, + -0.38449984014486516, + -0.23758913611876942, + 0.13118676862726142 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885432, + -1.2117975554304752, + 1.5703403632348105, + 1.2780860861641286, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 8.0414751860101789e-14, + 0.0, + 0.0, + 4.1696538001534259e-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": 678207011, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.15692430050875417, + -1.603445430054002, + 0.13714175910384263, + -0.2674254087483634, + -0.1423032953439618, + 0.36975809318843655 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885432, + -1.2117975554304752, + 1.5703403632348105, + 1.2780860861641301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1913296571866919e-14, + -2.680491728670057e-14, + -1.1913296571866919e-14, + 0.0, + -7.1479779431201516e-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": 752760550, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.06714743883806884, + -1.641034688628511, + 0.046797962885391842, + -0.15035097735186165, + -0.04701745456915396, + 0.60832941774961169 + ], + "velocities": [ + -1.204193160576289, + -0.50419147254885233, + -1.2117975554304756, + 1.5703403632348105, + 1.278086086164129, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + 7.743642771713491e-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": 827314089, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.022629422832616708, + -1.6786239472030202, + -0.04354583333305917, + -0.033276545955359671, + 0.048268386205653657, + 0.84690074231078727 + ], + "velocities": [ + -1.2041931605762894, + -0.50419147254885333, + -1.2117975554304761, + 1.5703403632348105, + 1.2780860861641292, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.1696538001534183e-14, + -4.0207375930050819e-14, + 4.1696538001534183e-14, + -4.1696538001534183e-14, + -7.743642771713491e-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": 901867628, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.11240628450330226, + -1.7162132057775294, + -0.13388962955151018, + 0.083797885441142306, + 0.14355422698046172, + 1.0854720668719628 + ], + "velocities": [ + -1.2041931605762879, + -0.50419147254885477, + -1.2117975554304745, + 1.570340363234809, + 1.2780860861641292, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -5.9566482859334654e-14, + 5.5098996644884555e-14, + -5.9566482859334654e-14, + 8.0414751860101789e-14, + 1.0126302086086891e-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": 976421167, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.20218314617398758, + -1.7538024643520389, + -0.22423342576996097, + 0.20087231683764406, + 0.23884006775526934, + 1.3240433914331384 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885432, + -1.2117975554304752, + 1.5703403632348105, + 1.2780860861641301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 5.9566482859334654e-14, + -1.4891620714833663e-14, + 5.9566482859334654e-14, + 0.0, + -1.0126302086086891e-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": 50974706, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.29196000784467291, + -1.7913917229265479, + -0.31457722198841176, + 0.31794674823414582, + 0.33412590853007718, + 1.5626147159943131 + ], + "velocities": [ + -1.2041931605762886, + -0.50419147254885277, + -1.2117975554304752, + 1.5703403632348134, + 1.2780860861641301, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.9081538981427314, + 0.3802408668277566, + 0.91388882593998155, + -1.1842873460601817, + -0.9638809613870537, + -2.413310894961489 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 125528245, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.38173686951535823, + -1.8289809815010571, + -0.40492101820686255, + 0.43502117963064801, + 0.42941174930488479, + 1.8011860405554887 + ], + "velocities": [ + -1.1692987949114417, + -0.48958132345965139, + -1.1766828343082241, + 1.5248360100737619, + 1.2410504969398695, + 3.1072723764067307 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0531704904135266, + 0.44095880776506241, + 1.0598211877601631, + -1.3733977111052396, + -1.1177962092991163, + -2.7986752289062919 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 204668328, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.47151373118604378, + -1.8665702400755664, + -0.49526481442531356, + 0.55209561102714977, + 0.52469759007969241, + 2.0397573651166643 + ], + "velocities": [ + -1.0910039435827259, + -0.45679954253214095, + -1.0978935565170056, + 1.4227348112792821, + 1.1579512373047871, + 2.8992131277293911 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0002924376796656, + 0.41881895168036071, + 1.0066092138537905, + -1.3044415475464701, + -1.0616733997075338, + -2.6581580973629717 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 290365699, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.56129059285672889, + -1.9041594986500756, + -0.58560861064376413, + 0.66917004242365152, + 0.61998343085450003, + 2.278328689677839 + ], + "velocities": [ + -1.0027345097527531, + -0.41984143873217505, + -1.0090667074397337, + 1.3076261565209752, + 1.0642653246911662, + 2.6646476132393939 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0816616206439231, + 0.45288794453127373, + 1.0884922374679373, + -1.410551859841316, + -1.1480356412431325, + -2.8743870164518102 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 384091651, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.65106745452741444, + -1.9417487572245848, + -0.67595240686221514, + 0.78624447382015328, + 0.71526927162930809, + 2.5169000142390145 + ], + "velocities": [ + -0.9039613060624484, + -0.37848544315987864, + -0.90966975793649429, + 1.1788199536301778, + 0.95943109920692393, + 2.4021695805143839 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1232550472417855, + 0.47030296704706154, + 1.1303483236203828, + -1.4647921916836786, + -1.1921813659913785, + -2.9849165971458729 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 489704400, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.74084431619809998, + -1.9793380157990943, + -0.76629620308066615, + 0.90331890521665548, + 0.81055511240411571, + 2.7554713388001901 + ], + "velocities": [ + -0.78542318946441281, + -0.32885394755154107, + -0.79038308149491043, + 1.0242391146336784, + 0.83361912612484246, + 2.0871686441760788 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1938235180469341, + 0.4998497394217411, + 1.2013624293401182, + -1.556817725215174, + -1.2670801310822055, + -3.1724439091830847 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 614257939, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.83062117786878553, + -2.0169272743736033, + -0.85663999929911716, + 1.0203933366131572, + 0.90584095317892377, + 2.9940426633613657 + ], + "velocities": [ + -0.63479132425357643, + -0.26578491143686511, + -0.63879998668222371, + 0.82780609568452623, + 0.67374403518280124, + 1.6868823907281729 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.8340566258380766, + 0.34921659758406098, + 0.83932363458822412, + -1.08766004297033, + -0.88523685688972764, + -2.2164062129405817 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 777847506, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.92039803953947064, + -2.0545165329481128, + -0.94698379551756773, + 1.137467768009659, + 1.0011267939537314, + 3.2326139879225404 + ], + "velocities": [ + -0.46577484621145182, + -0.19501830210958976, + -0.4687161815052388, + 0.60739843501128399, + 0.4943561960966476, + 1.2377412168354709 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.9222167821636233, + 0.92861724216012509, + 0.51122652139043634, + 2.0205372170118729, + -1.1035880436972454, + -2.2397580627655338 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 12401045, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.0101749012101562, + -2.0921057915226218, + -1.0373275917360187, + 1.2545421994061607, + 1.096412634728539, + 3.4711853124837164 + ], + "velocities": [ + -0.0021267688420271991, + -0.039302907623858588, + -0.31858429615567474, + 0.76231983485578647, + 0.26249701126803249, + 0.7253926861407981 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1350770267615862, + 0.24486574408008813, + -0.75569815782730576, + 3.0753379360100195, + 0.35611632256850562, + 1.3004732575158953 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 298862381, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.90174847318855578, + -2.0687153806963159, + -1.1095144565776844, + 1.5483089654486608, + 1.1304300801581704, + 3.5954109524408202 + ], + "velocities": [ + 0.50804832018952095, + 0.10959928447038852, + -0.33824240170717484, + 1.3764883224380262, + 0.15939385187733024, + 0.58207790163576667 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0715772967560935, + 0.23116719475690534, + -0.71342205862318975, + 2.9032939918475114, + 0.33619407077367947, + 1.2277207492855058 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 468918030, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.79332204516695537, + -2.04532496987001, + -1.1817013214193501, + 1.8420757314911609, + 1.164447525587802, + 3.7196365923979235 + ], + "velocities": [ + 0.71940423481955151, + 0.15519427237113348, + -0.47895644275116411, + 1.9491286340090146, + 0.22570414562531338, + 0.82423126067111074 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.024016201486357, + 0.22090702499938986, + -0.68175739514029043, + 2.7744336263281721, + 0.32127236771261519, + 1.1732293526329329 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 604245593, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.68489561714535485, + -2.0219345590437046, + -1.2538881862610158, + 2.1358424975336607, + 1.1984649710174333, + 3.8438622323550273 + ], + "velocities": [ + 0.86570000761846877, + 0.18675408938582738, + -0.5763555120614493, + 2.3454972762764221, + 0.27160262774428012, + 0.99184432632835096 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0724166141914637, + 0.23134825743680049, + -0.7139808494583495, + 2.9055680091066685, + 0.33645739619700515, + 1.228682366738324 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 720809918, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.57646918912375456, + -1.9985441482173987, + -1.3260750511026815, + 2.429609263576161, + 1.2324824164470647, + 3.9680878723121307 + ], + "velocities": [ + 0.98917074396153271, + 0.21338995022517543, + -0.65855839856179754, + 2.6800245643022, + 0.31034003810026778, + 1.1333064358717555 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.99174289698764317, + 0.21394483077491122, + -0.66027085618153158, + 2.6869934656118923, + 0.31114701917302656, + 1.1362533867358393 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 824254839, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.46804276110215404, + -1.9751537373910928, + -1.3982619159443475, + 2.7233760296186613, + 1.2664998618766963, + 4.092313512269234 + ], + "velocities": [ + 1.0972545333035675, + 0.2367064449442518, + -0.73051714547591862, + 2.9728629971084772, + 0.34424998489882835, + 1.2571395100123943 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.37272814671307436, + 0.080407190730403075, + -0.24815053710061316, + 1.0098565845137517, + 0.11693882775861272, + 0.42703973007596868 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 918838649, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.35961633308055363, + -1.9517633265647871, + -1.4704487807860132, + 3.0171427956611612, + 1.3005173073063276, + 4.2165391522263382 + ], + "velocities": [ + 1.1637207501052194, + 0.25104494290483426, + -0.77476823717324683, + 3.1529442366842311, + 0.36510293509021252, + 1.333290762694701 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.9349846691842711e-14, + -2.2373260237443135e-14, + -1.3303019600641863e-14, + 0.0, + 3.2652866292484576e-14, + 2.1768577528323049e-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": 10640763, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.25118990505895322, + -1.9283729157384812, + -1.5426356456276789, + 3.3109095617036615, + 1.334534752735959, + 4.3407647921834416 + ], + "velocities": [ + 1.1810885701717702, + 0.25479163505292435, + -0.78633117900038796, + 3.2000000000000002, + 0.37055187297487641, + 1.3531893114322537 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.6088928454562873, + -0.13135408095875944, + 0.40538147700717353, + -1.6497129467408769, + -0.19103256946432842, + -0.69761685201905632 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 102442878, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.14276347703735282, + -1.9049825049121756, + -1.6148225104693446, + 3.6046763277461613, + 1.3685521981655906, + 4.4649904321405449 + ], + "velocities": [ + 1.1524269093573623, + 0.24860856664750114, + -0.76724915745730948, + 3.122345100170798, + 0.3615596327944427, + 1.3203512550481267 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0482906434831647, + -0.22614365578435128, + 0.69791854602854175, + -2.8402019491716324, + -0.32888817246635649, + -1.2010409124775865 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 198927823, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.034337049015752297, + -1.8815920940858697, + -1.6870093753110105, + 3.8984430937886621, + 1.402569643595222, + 4.5892160720976491 + ], + "velocities": [ + 1.0705476340931046, + 0.23094506964279027, + -0.71273654199369751, + 2.9005042598962043, + 0.33587102689879533, + 1.2265410507047734 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0102649616065016, + -0.21794052360271574, + 0.67260225729496459, + -2.7371764986859937, + -0.31695808695342298, + -1.1574743692266896 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 305507227, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.074089379005848111, + -1.8582016832595638, + -1.7591962401526762, + 4.1922098598311619, + 1.4365870890248535, + 4.7134417120547525 + ], + "velocities": [ + 0.96007937870732363, + 0.20711418335532522, + -0.63919029347908807, + 2.6012054383157932, + 0.30121298348761039, + 1.099976061240121 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0578417196947538, + -0.22820407223906411, + 0.70427734858395152, + -2.8660793004972374, + -0.33188470402931014, + -1.2119837109844271 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 425603569, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.18251580702744841, + -1.8348112724332581, + -1.8313831049943419, + 4.4859766258736613, + 1.4706045344544849, + 4.8376673520118558 + ], + "velocities": [ + 0.83354918081753815, + 0.17981831679790006, + -0.55495051485574753, + 2.2583889523443585, + 0.26151570506155281, + 0.95500868480283563 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1051094130553243, + -0.23840094754604499, + 0.73574667441396024, + -2.9941447331614897, + -0.34671435588463212, + -1.2661389530610023 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 567472910, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29094223504904893, + -1.8114208616069523, + -1.9035699698360076, + 4.7797433919161616, + 1.5046219798841163, + 4.9618929919689592 + ], + "velocities": [ + 0.67370451788840868, + 0.14533565050956793, + -0.44853102572319004, + 1.8253114217584661, + 0.21136642690469792, + 0.7718724706121165 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0750104218851257, + -0.23190780946360903, + 0.71570772406653349, + -2.9125955808141479, + -0.33727117115282457, + -1.2316541276508026 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 753408598, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39936866307064944, + -1.7880304507806466, + -1.9757568346776733, + 5.0735101579586619, + 1.5386394253137479, + 5.0861186319260634 + ], + "velocities": [ + 0.41712076789984109, + 0.089983837920195126, + -0.27770573138348759, + 1.1301323973403354, + 0.13086646142001523, + 0.47790096268258042 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1630425860340079, + -0.25089864521226446, + 0.7743167371188574, + -3.1511068427049143, + -0.36489016953382836, + -1.3325137808529135 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 185210713, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50779509109224985, + -1.7646400399543407, + -2.047943699519339, + 5.3672769240011622, + 1.5726568707433792, + 5.2103442718831667 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.20459477419922245, + 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": [ + 0.50779509109224985, + -1.7646400399543407, + -2.047943699519339, + 5.3672769240011622, + 1.5726568707433792, + 5.2103442718831667 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.13435385878761516, + -2.5751270902578427, + -1.2709944902973636, + 2.3379823914534659, + 0.14411795459518051, + -1.0974734603995326 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 115835798, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771049160747, + -1.7644291107882202, + -2.0525631459468934, + 5.3870932713658908, + 1.5711844967241113, + 5.2215565554846792 + ], + "velocities": [ + 0.0059248488239868708, + -0.11173921084961179, + -0.095928659821585952, + 0.27417507457020363, + -0.0063554360652335945, + 0.048397315680571845 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4739313664175178e-08, + -2.0020807746857416, + -1.0340341426461066, + 3.0361149173266453, + -1.0260720515063172e-11, + -1.4739319805477946e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 176395400, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771037997022, + -1.7780731499681872, + -2.0617668764570425, + 5.409941041055963, + 1.5711844967240336, + 5.2215565553730423 + ], + "velocities": [ + -2.2244625616106677e-09, + -0.27705633150696041, + -0.17870948501998485, + 0.45576581652608478, + -1.5485472965534913e-12, + -2.2244572205531593e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.3652402320759611e-09, + 0.86837400246809882, + 0.83256962179152816, + -1.7009436242563374, + 5.8234838778910903e-12, + 8.3653181209129999e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 219242170, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771026833307, + -1.7921617382413118, + -2.0705693561180887, + 5.4328321089900911, + 1.5711844967239559, + 5.2215565552614054 + ], + "velocities": [ + -2.4105132810151246e-09, + -0.30857252102712995, + -0.18603468546696023, + 0.49460720649317186, + -1.678064632450081e-12, + -2.4105062832218926e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5080254068977749e-08, + 1.9228801621831915, + 1.1717302126037865, + -3.0946103747813303, + 1.049800471287955e-11, + 1.5080173809957216e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 269630747, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771015669571, + -1.806690363874875, + -2.078965526847528, + 5.4557569053530512, + 1.5711844967238782, + 5.2215565551497685 + ], + "velocities": [ + -1.5544956878674994e-09, + -0.2040434751092261, + -0.11526638970391859, + 0.31930986481255058, + -1.0821524787539128e-12, + -1.5544903926804206e-09 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.4301235581507392e-08, + 1.9168664738832908, + 1.0228870016902651, + -2.939753475568009, + 9.9557300739058825e-12, + 1.4301207136564323e-08 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 394579687, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.50916771004505856, + -1.821653651298774, + -2.0869503043043816, + 5.4787049702337605, + 1.5711844967238005, + 5.2215565550381315 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.058612373813878689 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.058612373813878689 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.058612373813878689 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.058612373813878689 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.058612373813878689 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.058612373813878703 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.058612373813878703 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.058612373813878689 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.058612373813878689 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.10010473600256632, + 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": [ + -0.10062369233415157, + -0.3331218444832087, + -1.7773969806583754, + 3.1267341412387202, + 0.34655790000901443, + 0.35671406015552054 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 465168621, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4927468018057561, + -1.0754614346837132, + 1.3009922411529902, + -1.6870022938469396, + -1.5342898615706699, + -3.1704175924658076 + ], + "velocities": [ + -0.039819032342830435, + -0.13182372055609962, + -0.70335550422715243, + 1.2373182200864279, + 0.13714066646746231, + 0.14115968485141955 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.10049095788775099, + -0.33268241771810275, + -1.7750523856747886, + 3.1226096123561216, + 0.34610074951156761, + 0.35624351249223096 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 657349814, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4819163780424771, + -1.1113163179310632, + 1.1096857799253748, + -1.3504627079979881, + -1.4969888161752622, + -3.132023409702422 + ], + "velocities": [ + -0.064889173876851391, + -0.2148201957950962, + -1.1461895210834614, + 2.0163362191457135, + 0.2234847013703648, + 0.23003410167938215 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.092726357830632891, + -0.30697716050985496, + -1.6379000274441, + 2.8813360163627117, + 0.31935870270549438, + 0.32871776832993632 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 804856901, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4710859542791979, + -1.147171201178413, + 0.91837931869775913, + -1.0139231221490363, + -1.4596877707798543, + -3.093629226939036 + ], + "velocities": [ + -0.079758701360505502, + -0.26404681734958502, + -1.4088419107959937, + 2.4783850484893475, + 0.27469681751642017, + 0.28274703039674876 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.10061376272559447, + -0.33308897181234315, + -1.7772215860186136, + 3.1264255931685376, + 0.34652370145986788, + 0.35667885939015392 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 930654081, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4602555305159188, + -1.183026084425763, + 0.72707285747014372, + -0.67738353630008485, + -1.4223867253844467, + -3.0552350441756504 + ], + "velocities": [ + -0.092038852809749119, + -0.30470112655263726, + -1.6257560748621687, + 2.8599728028765181, + 0.31699086774775342, + 0.32628054204962786 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.046343004107974935, + -0.15342179012947724, + -0.81859364991915584, + 1.4400411055358744, + 0.15960986733060006, + 0.16428736385723963 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 41187358, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4494251067526398, + -1.2188809676731127, + 0.53576639624252831, + -0.34084395045113336, + -1.3850856799890388, + -3.0168408614122648 + ], + "velocities": [ + -0.10048244542983828, + -0.3326542366246501, + -1.7749020233036008, + 3.122345100170798, + 0.3460714317687249, + 0.35621333556916102 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.1876174621681629e-15, + 1.5307069512389654e-14, + -2.1113199327434008e-15, + 0.0, + -1.5307069512389654e-14, + 4.7504698486726517e-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": 146355979, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4385946829893608, + -1.2547358509204627, + 0.34445993501491268, + -0.0043043646021816429, + -1.3477846345936308, + -2.9784466786488792 + ], + "velocities": [ + -0.10298151391333826, + -0.34092757944682373, + -1.8190450742491069, + 3.2000000000000002, + 0.35467846958984073, + 0.3650726096096687 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1876174621681629e-15, + 4.7504698486726517e-15, + 2.3224519260177407e-14, + 0.0, + 1.5307069512389654e-14, + -4.7504698486726517e-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": 251524599, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4277642592260817, + -1.2905907341678124, + 0.15315347378729727, + 0.33223522124676963, + -1.3104835891982232, + -2.9400524958854937 + ], + "velocities": [ + -0.10298151391333826, + -0.34092757944682273, + -1.819045074249106, + 3.2000000000000002, + 0.35467846958984073, + 0.3650726096096687 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.0057539361062293e-14, + -2.0057539361062293e-14, + 0.0, + 0.0, + 0.0, + 4.0115078722124585e-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": 356693220, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4169338354628027, + -1.3264456174151622, + -0.038152987440318142, + 0.66877480709572135, + -1.2731825438028153, + -2.9016583131221081 + ], + "velocities": [ + -0.10298151391333925, + -0.3409275794468235, + -1.8190450742491047, + 3.2000000000000002, + 0.35467846958984156, + 0.36507260960967053 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8869921898894144e-14, + -4.7504698486726517e-15, + -2.3224519260177407e-14, + 0.0, + -1.5307069512389654e-14, + -3.5364608873451959e-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": 461861841, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.4061034116995235, + -1.3623005006625122, + -0.22945944866793355, + 1.0053143929446731, + -1.2358814984074074, + -2.8632641303587221 + ], + "velocities": [ + -0.10298151391333932, + -0.34092757944682484, + -1.819045074249106, + 3.2000000000000002, + 0.35467846958984073, + 0.36507260960967081 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1876174621681629e-15, + 2.4808009209734959e-14, + 2.1113199327434008e-15, + 0.0, + 1.5307069512389654e-14, + -4.7504698486726517e-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": 567030461, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3952729879362444, + -1.3981553839098622, + -0.42076590989554896, + 1.3418539787936243, + -1.1985804530119997, + -2.8248699475953365 + ], + "velocities": [ + -0.10298151391333826, + -0.34092757944682373, + -1.8190450742491069, + 3.2000000000000002, + 0.35467846958984073, + 0.3650726096096687 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.037447927321456478, + 0.12397400981838794, + 0.6614727745433846, + -1.1636395977777521, + -0.12897434740435987, + -0.13275404518933387 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 672199082, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3844425641729654, + -1.4340102671572119, + -0.61207237112316459, + 1.6783935646425761, + -1.1612794076165918, + -2.7864757648319509 + ], + "velocities": [ + -0.10097236231456994, + -0.33427614109366133, + -1.7835558181653919, + 3.1375685511725062, + 0.34775875373846277, + 0.35795010587680415 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.088626567138567564, + 0.29340451369421378, + 1.5654821363057305, + -2.7539410139389511, + -0.30523862005144159, + -0.31418388520930857 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 781637970, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3736121404096864, + -1.4698651504045617, + -0.80337883235078023, + 2.0149331504915278, + -1.1239783622211839, + -2.7480815820685653 + ], + "velocities": [ + -0.09383314182104438, + -0.31064124712576652, + -1.6574500407376456, + 2.9157277108979125, + 0.32317057570061269, + 0.33264135135272682 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0901004940891868, + 0.29828405302563049, + 1.5915172901637631, + -2.7997411392494076, + -0.31031496953644949, + -0.31940900123038568 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 903735474, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3627817166464071, + -1.5057200336519116, + -0.99468529357839541, + 2.3514727363404795, + -1.0866773168257762, + -2.7096873993051798 + ], + "velocities": [ + -0.082778523790412742, + -0.27404415291268269, + -1.4621834563558314, + 2.5722216159322624, + 0.28509738318273825, + 0.29345239306962362 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.094233792371300876, + 0.31196762908610698, + 1.6645270527395872, + -2.9281773410509357, + -0.32455045562862878, + -0.33406166978045115 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 44657577, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3519512928831281, + -1.5415749168992614, + -1.185991754806011, + 2.6880123221894303, + -1.0493762714303683, + -2.6712932165417937 + ], + "velocities": [ + -0.069417521702359944, + -0.22981161128684452, + -1.2261773605845507, + 2.1570480079996219, + 0.23908077697160107, + 0.24608723291680162 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.10056248100999954, + 0.33291920006883186, + 1.7763157559467089, + -3.1248320888232639, + -0.34634708218408572, + -0.35649706414335625 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 219395186, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.3411208691198491, + -1.5774298001466112, + -1.3772982160336262, + 3.024551908038382, + -1.0120752260349604, + -2.6328990337784082 + ], + "velocities": [ + -0.050670147080451852, + -0.16774710273622739, + -0.89502744672930601, + 1.574500747715702, + 0.17451297361495785, + 0.1796272177502955 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.33419892837192361, + 0.39012366376965973, + 1.9874170121240575, + -3.0442817768756694, + 0.70065756540911561, + 2.9624688839277478 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 494563807, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.33029044535657, + -1.6132846833939611, + -1.5686046772612419, + 3.3610914938873337, + -0.97477418063955268, + -2.5945048510150226 + ], + "velocities": [ + -0.091023770234329143, + -0.069991424970297408, + -0.38799441374584831, + 0.75240819959860261, + 0.24387323485363063, + 0.59750421305627222 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.41678369999142617, + -0.028278629606423598, + -0.2358811009029099, + 0.82307941405020757, + 1.028723417144723, + 3.0829878901161085 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 837763953, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2813197947255484, + -1.6166073250683086, + -1.5963198949701276, + 3.4578004928905788, + -0.85390271887657643, + -2.2322643822307247 + ], + "velocities": [ + -0.19851079649353653, + -0.013468888747406328, + -0.11234831213162252, + 0.39202624782088102, + 0.48997286821234559, + 1.4684028709843293 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.40647044101046054, + -0.027578878558664834, + -0.23004425343892221, + 0.80271241994951581, + 1.0032677886712116, + 3.0066997518165781 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 30309148, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2323491440945264, + -1.6199299667426561, + -1.6240351126790133, + 3.5545094918938234, + -0.73303125711360007, + -1.8700239134464269 + ], + "velocities": [ + -0.28925022992402588, + -0.019625527859565298, + -0.16370280956837566, + 0.57122173867321602, + 0.71393983244417469, + 2.1396109206944098 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.39974748623169537, + -0.027122728406792276, + -0.22623935901871003, + 0.78943568748586201, + 0.98667390312950753, + 2.9569694284638945 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 181375183, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1833784934635045, + -1.6232526084170036, + -1.6517503303878991, + 3.6512184908970684, + -0.61215979535062381, + -1.507783444662129 + ], + "velocities": [ + -0.35213934841106431, + -0.023892532754444983, + -0.19929526316922813, + 0.6954174276973113, + 0.86916545396569167, + 2.6048075939798792 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.43375044238583799, + -0.029429817197994916, + -0.24548352507356103, + 0.8565859460682308, + 1.0706014589543158, + 3.2084924656016418 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 310207509, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.1344078428324829, + -1.6265752500913511, + -1.6794655480967848, + 3.747927489900313, + -0.49128833358764751, + -1.1455429758778313 + ], + "velocities": [ + -0.40635693791493965, + -0.027571177412968793, + -0.22998001571770732, + 0.80248826996149791, + 1.0029876354591745, + 3.0058601588358869 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7653700160290044e-14, + 1.7347212310285011e-14, + 1.7408509880286017e-14, + 0.0, + -3.9230444800644546e-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": 423407655, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0854371922014612, + -1.6298978917656985, + -1.7071807658056706, + 3.844636488903558, + -0.3704168718246712, + -0.78330250709353333 + ], + "velocities": [ + -0.43260236092666654, + -0.029351920268861114, + -0.24483376185460154, + 0.85431867358437641, + 1.0677677150198361, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 8.8268500801450221e-15, + -1.7347212310285011e-14, + -1.7408509880286017e-14, + 0.0, + 7.8460889601289092e-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": 536607802, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0364665415704393, + -1.6332205334400458, + -1.7348959835145561, + 3.9413454879068031, + -0.24954541006169495, + -0.42106203830923539 + ], + "velocities": [ + -0.43260236092666704, + -0.029351920268861114, + -0.24483376185460154, + 0.85431867358437641, + 1.0677677150198364, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.9038056000805714e-15, + -3.0648785000503571e-16, + -2.6970930800443139e-15, + -6.0807189440999086e-14, + 3.923044480064457e-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": 649807948, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.98749589093941748, + -1.6365431751143933, + -1.7626112012234418, + 4.0380544869100481, + -0.12867394829871859, + -0.058821569524937445 + ], + "velocities": [ + -0.43260236092666682, + -0.029351920268862113, + -0.24483376185460265, + 0.85431867358437297, + 1.067767715019837, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.9038056000805714e-15, + 3.0648785000503571e-16, + 2.6970930800443139e-15, + 6.0807189440999086e-14, + -3.923044480064457e-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": 763008095, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.93852524030839568, + -1.6398658167887408, + -1.7903264189323276, + 4.1347634859132922, + -0.0078024865357423367, + 0.30341889925936005 + ], + "velocities": [ + -0.43260236092666682, + -0.029351920268862113, + -0.24483376185460265, + 0.85431867358437297, + 1.067767715019837, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 0.0, + 0.0, + -7.8460889601289092e-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": 876208241, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.88955458967737389, + -1.6431884584630883, + -1.8180416366412133, + 4.2314724849165373, + 0.11306897522723403, + 0.665659368043658 + ], + "velocities": [ + -0.43260236092666654, + -0.029351920268862096, + -0.24483376185460251, + 0.85431867358437641, + 1.0677677150198364, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.9230444800644522e-15, + 3.3713663500553884e-16, + 2.6970930800443108e-15, + -9.8076112001611302e-15, + 5.8845667200966779e-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": 989408388, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.84058393904635209, + -1.6465111001374357, + -1.8457568543500991, + 4.3281814839197823, + 0.23394043699021028, + 1.0278998368279559 + ], + "velocities": [ + -0.43260236092666676, + -0.029351920268862075, + -0.24483376185460237, + 0.85431867358437585, + 1.0677677150198361, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.8460889601289092e-15, + -6.4362448501057456e-16, + -5.3941861600886247e-15, + 1.863446128030616e-14, + -1.1769133440193364e-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": 102608534, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.79161328841533019, + -1.6498337418117832, + -1.8734720720589848, + 4.4248904829230273, + 0.35481189875318675, + 1.3901403056122543 + ], + "velocities": [ + -0.43260236092666654, + -0.029351920268862096, + -0.24483376185460251, + 0.85431867358437641, + 1.0677677150198359, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8460889601289092e-15, + 6.4362448501057456e-16, + 5.3941861600886247e-15, + -1.863446128030616e-14, + 1.1769133440193364e-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": 215808681, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.7426426377843085, + -1.6531563834861307, + -1.9011872897678705, + 4.5215994819262724, + 0.47568336051616278, + 1.7523807743965518 + ], + "velocities": [ + -0.43260236092666654, + -0.029351920268862096, + -0.24483376185460251, + 0.85431867358437641, + 1.0677677150198359, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.8460889601289092e-15, + -6.4362448501057456e-16, + 1.2014323720197392e-14, + -5.0999578240837907e-14, + 5.8845667200966819e-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": 329008827, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.6936719871532866, + -1.6564790251604782, + -1.9289025074767563, + 4.6183084809295174, + 0.59655482227913925, + 2.1146212431808502 + ], + "velocities": [ + -0.43260236092666654, + -0.029351920268862096, + -0.24483376185460154, + 0.85431867358437241, + 1.067767715019837, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.8460889601289092e-15, + 6.4362448501057456e-16, + -1.2014323720197392e-14, + 5.0999578240837907e-14, + -5.8845667200966819e-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": 442208974, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.64470133652226491, + -1.6598016668348257, + -1.9566177251856418, + 4.7150174799327615, + 0.7174262840421155, + 2.4768617119651477 + ], + "velocities": [ + -0.43260236092666654, + -0.029351920268862096, + -0.24483376185460154, + 0.85431867358437241, + 1.067767715019837, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.4711416800241722e-15, + 1.6029314555263376e-14, + -1.0543182040173234e-14, + 3.7268922560612364e-14, + 1.1769133440193378e-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": 555409120, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.59573068589124301, + -1.6631243085091731, + -1.9843329428945276, + 4.8117264789360066, + 0.83829774580509198, + 2.8391021807494461 + ], + "velocities": [ + -0.43260236092666704, + -0.029351920268861152, + -0.24483376185460282, + 0.85431867358437741, + 1.0677677150198372, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.11071444914941533, + 0.0075119370062536875, + 0.062659470972028564, + -0.2186428690341837, + -0.27327015537945132, + -0.8189651034710419 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 668609267, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.54676003526022132, + -1.6664469501835204, + -2.0120481606034133, + 4.9084354779392516, + 0.95916920756806801, + 3.2013426495337427 + ], + "velocities": [ + -0.42624097520616455, + -0.028920302452287744, + -0.24123349949537171, + 0.84175598067799362, + 1.052066269746653, + 3.1529442366842311 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.38103105686458011, + 0.025852825160482356, + 0.21564668957366301, + -0.75247381081715903, + -0.94047720883533903, + -2.8185222552988503 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 785239491, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.49778938462919942, + -1.6697695918578679, + -2.039763378312299, + 5.0051444769424966, + 1.0800406693310447, + 3.5635831183180411 + ], + "velocities": [ + -0.39625070293968123, + -0.026885472872252042, + -0.22426033466492923, + 0.78253011429979413, + 0.97804299252225047, + 2.9311033964096369 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.38414947702507796, + 0.026064408887673338, + 0.21741157716537349, + -0.75863217890726276, + -0.94817422732158341, + -2.8415894999903815 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 916661347, + "secs": 4 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.44881873399817773, + -1.6730922335322154, + -2.0674785960211848, + 5.1018534759457417, + 1.2009121310940207, + 3.9258235871023386 + ], + "velocities": [ + -0.3452008120880935, + -0.023421755469507866, + -0.19536835915030693, + 0.68171495706039598, + 0.85203946080353998, + 2.5534825938436221 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.39468041863302983, + 0.026778929626233322, + 0.22337162334778121, + -0.77942906047485561, + -0.9741671493981976, + -2.9194878569786211 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 70763808, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.39984808336715583, + -1.6764148752065628, + -2.0951938137300705, + 5.1985624749489858, + 1.3217835928569972, + 4.288064055886637 + ], + "velocities": [ + -0.28312825521075519, + -0.019210153996863807, + -0.16023804322771587, + 0.55913184321921194, + 0.69882931169483042, + 2.0943261029220333 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.43257612764137787, + 0.02935014034954667, + 0.24481891497788022, + -0.85426686715076938, + -1.0677029648991241, + -3.1998059499427125 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 267847278, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.35087743273613414, + -1.6797375168809103, + -2.1229090314389563, + 5.2952714739522309, + 1.4426550546199732, + 4.6503045246709345 + ], + "velocities": [ + -0.17503408297373221, + -0.011876001871033, + -0.099061532848393433, + 0.34566359110445405, + 0.4320266362557752, + 1.2947434320888769 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.42151065114140712, + 0.028599351603806868, + 0.23855634573900911, + -0.83241436688750925, + -1.0403906808591818, + -3.1179535885176355 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 749882372, + "secs": 5 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.30190678210511224, + -1.6830601585552578, + -2.150624249147842, + 5.3919804729554759, + 1.5635265163829499, + 5.0125449934552329 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.43568256312393649, + 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": [ + 0.30190678210511224, + -1.6830601585552578, + -2.150624249147842, + 5.3919804729554759, + 1.5635265163829499, + 5.0125449934552329 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.24580397125834802, + -2.6542387327471806, + -1.3051407276269973, + 2.4582571340304762, + -0.95967623325573914, + 0.021945651447171696 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 93937948, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29998447699939323, + -1.6814766087887425, + -2.1530697341900735, + 5.4045819058239974, + 1.5710316454670197, + 5.0123733679313398 + ], + "velocities": [ + -0.010231781405877232, + -0.093627349894216519, + -0.080360481583786211, + 0.23647321609261207, + 0.039947269778242027, + -0.00091350469577424485 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.0534092813187839e-09, + -2.0055165843197242, + -1.0566828632022613, + 3.0621994475220484, + 7.917329472942089e-13, + 1.0531827839964653e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 166503112, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.2999844770079611, + -1.6962880369394853, + -2.1628433895226604, + 5.4291669893073289, + 1.5710316454670261, + 5.0123733679399081 + ], + "velocities": [ + 1.4963401022719622e-10, + -0.26420212676073529, + -0.16634869989215451, + 0.43055082665291616, + 1.1246027645096819e-13, + 1.4963257871552121e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.3464648807104889e-10, + 0.39852724950106871, + 0.52741877321757713, + -0.92594602271809778, + -2.515757283243807e-13, + -3.3437372003930197e-10 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 213787417, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29998447701652886, + -1.7116219661787357, + -2.1722061274797277, + 5.453863656503648, + 1.5710316454670326, + 5.0123733679484754 + ], + "velocities": [ + 1.728852033127964e-10, + -0.3143941350455346, + -0.18491019105827577, + 0.49930432610385223, + 1.2993421284005667e-13, + 1.7288376000456074e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0846392805113709e-09, + 1.9617481972936512, + 1.1695774604377303, + -3.1313256577317863, + -8.151459634655502e-13, + -1.0847279465948291e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 265849056, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29998447702509684, + -1.7274745330928531, + -2.1811508877118921, + 5.4786609836499327, + 1.571031645467039, + 5.0123733679570437 + ], + "velocities": [ + 1.1595464635924235e-10, + -0.21656046920001876, + -0.11938448160633058, + 0.33594495080638664, + 8.7146918938349364e-14, + 1.1595600318030301e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.0584107266794935e-09, + 2.0217838113303994, + 1.0524765204842756, + -3.0742603318149766, + -7.9547786276464775e-13, + -1.0583695812727989e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 393088001, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.29998447703366454, + -1.7438406195054195, + -2.1896705531602509, + 5.5035467355108603, + 1.5710316454670454, + 5.0123733679656111 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.058612373813878689 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.058612373813878689 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.058612373813878689 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.058612373813878689 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.058612373813878689 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.058612373813878689 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.058612373813878689 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.0050000000000000001, + "y": -0.0050000000000000001, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.0050000000000000001, + "y": 0.0050000000000000001, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.058612373813878689 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly09.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly09.json new file mode 100644 index 0000000..e8ef1a8 --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly09.json @@ -0,0 +1,6962 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.024, + "ysize": 0.012999999999999999, + "zsize": 0.043999999999999997 + } + }, + "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": "0.18.1", + "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": [ + 0.091999999999999998, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.058612373813878689 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.058612373813878689 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.058612373813878689 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.058612373813878689 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.058612373813878689 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.058612373813878703 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.058612373813878703 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.058612373813878689 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.058612373813878689 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.058612373813878689 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.058612373813878689 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.058612373813878689 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.058612373813878689 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.058612373813878689 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.058612373813878689 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.058612373813878689 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.1086123738138787 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.058612373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "1": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "2": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": -0.021999999999999999 + }, + "3": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": -0.021999999999999999 + }, + "4": { + "x": -0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "5": { + "x": 0.012, + "y": -0.0064999999999999997, + "z": 0.021999999999999999 + }, + "6": { + "x": 0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + }, + "7": { + "x": -0.012, + "y": 0.0064999999999999997, + "z": 0.021999999999999999 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.058612373813878689 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/assembly10.json b/lecture_06/assignment_05/Kaushik_Ravi/assembly10.json new file mode 100644 index 0000000..068127d --- /dev/null +++ b/lecture_06/assignment_05/Kaushik_Ravi/assembly10.json @@ -0,0 +1,9372 @@ +{ + "dtype": "assembly/Assembly", + "value": { + "compas": "0.18.1", + "data": { + "adjacency": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "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": 0.024, + "ysize": 0.049000000000000002, + "zsize": 0.012999999999999999 + } + }, + "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": "0.18.1", + "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": [ + 0.076500000000000012, + 0.0, + 0.0 + ], + "xaxis": [ + 0.0, + 0.0, + 1.0 + ], + "yaxis": [ + 0.0, + 1.0, + -0.0 + ] + }, + "id": "brick", + "mesh": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "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": 0.017662145531399796 + }, + "edge": { + "0": {}, + "1": {}, + "10": {}, + "11": {}, + "12": {}, + "13": {}, + "14": {}, + "15": {}, + "2": {}, + "3": {}, + "4": {}, + "5": {}, + "6": {}, + "7": {}, + "8": {}, + "9": {} + }, + "edge_attributes": {}, + "max_int_key": 15, + "node": { + "0": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.47443579737981917, + -0.13992224598127848, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.47443579737981917, + "y": -0.13992224598127848, + "z": 0.043112373813878689 + }, + "1": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.40676845465124095, + -0.089750465722480424, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.40676845465124095, + "y": -0.089750465722480424, + "z": 0.043112373813878689 + }, + "10": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32407637293777591, + -0.19533954960145969, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32407637293777591, + "y": -0.19533954960145969, + "z": 0.043112373813878689 + }, + "11": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.37206096168255004, + -0.26339698471260919, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.37206096168255004, + "y": -0.26339698471260919, + "z": 0.043112373813878689 + }, + "12": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45754661888721854, + -0.26804654099600073, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.45754661888721854, + "y": -0.26804654099600073, + "z": 0.043112373813878689 + }, + "13": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.093112373813878713 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.54216853627084904, + -0.2489332458463849, + 0.043112373813878703 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.54216853627084904, + "y": -0.2489332458463849, + "z": 0.043112373813878703 + }, + "14": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.61558661802511294, + -0.20718246582282601, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.61558661802511294, + "y": -0.20718246582282601, + "z": 0.043112373813878689 + }, + "15": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.55955810232931624, + -0.15643604468492309, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.55955810232931624, + "y": -0.15643604468492309, + "z": 0.043112373813878689 + }, + "2": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.45570801676131989, + -0.0267443837155209, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": [ + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8607239421202348, + 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": [ + -2.8475054724597197, + -0.25597323903739161, + -1.3910921793805768, + 0.4473434037553245, + -1.1904856136902757, + 3.1251176216113565 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 381337217, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.2955767439703283, + -1.0583045162027545, + 1.3906842029326338, + -1.9908649825587146, + -1.6585517867181403, + -2.9805326809009687 + ], + "velocities": [ + -0.92962014626103784, + -0.083567136995630426, + -0.45414743808772462, + 0.14604342096969256, + -0.38865576239417421, + 1.0202517005088538 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.8161211497492298, + -0.2531519813376476, + -1.3757599925595159, + 0.44241292341679417, + -1.1773644502566527, + 3.09067354384102 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 539658163, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 1.0875762623716214, + -1.0770024809691456, + 1.2890697034846621, + -1.9581880854215383, + -1.7455126664702028, + -2.7522535865727442 + ], + "velocities": [ + -1.5109810518830022, + -0.13582790892426727, + -0.73815974887346369, + 0.2373752792739226, + -0.63171123715926691, + 1.6582912857693315 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5637140294250091, + -0.23046213270685456, + -1.2524515127343192, + 0.40275973875040233, + -1.0718380347870133, + 2.8136584697087947 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 661426037, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.87957578077291465, + -1.0957004457355366, + 1.1874552040366906, + -1.9255111882843619, + -1.832473546222265, + -2.5239744922445198 + ], + "velocities": [ + -1.8529491526313246, + -0.16656873918521686, + -0.90522146487350186, + 0.29109850321292874, + -0.77468132386122557, + 2.0335989183669274 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.820728981117921, + -0.25356619705446126, + -1.3780110569535602, + 0.44313681420062678, + -1.1792908932460249, + 3.0957306069956996 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 765544648, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.67157529917420777, + -1.1143984105019276, + 1.0858407045887188, + -1.8928342911471856, + -1.9194344259743277, + -2.2956953979162948 + ], + "velocities": [ + -2.1356625256973527, + -0.19198293365220206, + -1.0433354618726838, + 0.33551280331443478, + -0.89287818307295685, + 2.3438748959125069 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.4324594718150974, + -0.21866315476820777, + -1.1883297084515343, + 0.38213963419663616, + -1.0169631051065615, + 2.6696074977718838 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 857029778, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.46357481757550079, + -1.1330963752683185, + 0.9842262051407471, + -1.8601573940100091, + -2.0063953057263899, + -2.0674163035880704 + ], + "velocities": [ + -2.380100172967794, + -0.21395637564191972, + -1.1627506141007746, + 0.37391398294112449, + -0.9950727197768261, + 2.6121435283201593 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.5610455886130605, + -0.2302222562800941, + -1.2511478990343354, + 0.40234052642331836, + -1.0707224125596746, + 2.8107298743173619 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 940678275, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.25557433597679413, + -1.1517943400347097, + 0.88261170569277547, + -1.8274804968728326, + -2.0933561854784521, + -1.8391372092598459 + ], + "velocities": [ + -2.5896173409550491, + -0.23279068119193186, + -1.2651060605264042, + 0.4068291516665542, + -1.0826676960542572, + 2.8420871755018053 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -2.2084017315250843, + -0.1985217411455725, + -1.0788707545490002, + 0.34694014006094465, + -0.92328900367600997, + 2.4237056727495379 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 17926259, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + 0.047573854378087255, + -1.1704923048011007, + 0.78099720624480373, + -1.7948035997356562, + -2.1803170652305148, + -1.6108581149316212 + ], + "velocities": [ + -2.7754587450131547, + -0.24949668109398393, + -1.3558951832482715, + 0.43602485543396585, + -1.160364304576688, + 3.0460468350227732 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.79733798137921919, + -0.071675783479659999, + -0.38952361670499575, + 0.12526187920741488, + -0.33335121047567645, + 0.8750729366767187 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 90697354, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.16042662722061962, + -1.1891902695674916, + 0.6793827067968321, + -1.7621267025984799, + -2.2672779449825775, + -1.3825790206033968 + ], + "velocities": [ + -2.8870101010119753, + -0.25952446231870807, + -1.410391380158198, + 0.45354958498011461, + -1.2070017160895499, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -8.0927739721974423e-14, + -4.6689080608831401e-14, + -2.1788237617454652e-14, + -3.735126448706512e-14, + -1.867563224353256e-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": 162034571, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.3684271088193265, + -1.2078882343338826, + 0.57776820734886036, + -1.7294498054613034, + -2.3542388247346397, + -1.1542999262751721 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113621, + -1.4244247778816677, + 0.45806240447325863, + -1.2190113861521181, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.1827900420903949e-13, + 5.0579837326233984e-14, + 4.0463869860987186e-14, + 3.1126053739220917e-14, + -5.2914291356675553e-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": 233371788, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.5764275904180336, + -1.2265861991002738, + 0.47615370790088862, + -1.6967729083241272, + -2.441199704486702, + -0.92602083194694762 + ], + "velocities": [ + -2.9157358586627558, + -0.26210673136113605, + -1.4244247778816672, + 0.45806240447325841, + -1.2190113861521206, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -6.8477318226286081e-14, + -1.4784875526129948e-14, + -3.4238659113143041e-14, + 2.4900842991376756e-14, + 2.1788237617454661e-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": 304709005, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.78442807201674047, + -1.2452841638666647, + 0.37453920845291688, + -1.6640960111869507, + -2.5281605842387647, + -0.69774173761872271 + ], + "velocities": [ + -2.915735858662754, + -0.26210673136113483, + -1.4244247778816668, + 0.45806240447326041, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 6.8477318226286081e-14, + -2.8791599708779374e-14, + 3.4238659113143041e-14, + -6.8477318226286081e-14, + 6.5364712852363989e-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": 376046222, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -0.99242855361544691, + -1.2639821286330557, + 0.27292470900494537, + -1.6314191140497742, + -2.6151214639908269, + -0.46946264329049869 + ], + "velocities": [ + -2.915735858662754, + -0.26210673136113638, + -1.4244247778816668, + 0.45806240447325886, + -1.2190113861521188, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -7.4702528974130189e-14, + 3.6573113143584578e-14, + -4.0463869860987186e-14, + 5.6026896730597645e-14, + -1.2139160958296158e-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": 447383439, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.2004290352141538, + -1.2826800933994469, + 0.17131020955697362, + -1.598742216912598, + -2.7020823437428891, + -0.24118354896227379 + ], + "velocities": [ + -2.915735858662754, + -0.26210673136113605, + -1.4244247778816672, + 0.45806240447325841, + -1.2190113861521206, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.4702528974130189e-14, + 7.0033620913247056e-15, + 4.0463869860987186e-14, + -1.2450421495688365e-14, + 3.4238659113143009e-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": 518720656, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.4084295168128607, + -1.3013780581658378, + 0.069695710109001885, + -1.5660653197754215, + -2.7890432234949518, + -0.012904454634049323 + ], + "velocities": [ + -2.915735858662754, + -0.26210673136113449, + -1.4244247778816672, + 0.45806240447325997, + -1.2190113861521237, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5563026869610471e-13, + -1.4784875526129948e-14, + -3.4238659113143041e-14, + -1.8675632243532566e-14, + 2.1788237617454661e-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": 590057873, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.6164299984115675, + -1.3200760229322288, + -0.031918789338969855, + -1.533388422638245, + -2.8760041032470145, + 0.21537463969417558 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113483, + -1.4244247778816668, + 0.45806240447325886, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.120537934611954e-13, + -2.8791599708779374e-14, + 3.4238659113143041e-14, + 1.8675632243532566e-14, + 6.5364712852363989e-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": 661395090, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -1.8244304800102744, + -1.3387739876986198, + -0.13353328878694137, + -1.5007115255010688, + -2.9629649829990767, + 0.4436537340223996 + ], + "velocities": [ + -2.9157358586627584, + -0.26210673136113638, + -1.4244247778816668, + 0.45806240447325886, + -1.2190113861521188, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -3.1126053739220917e-14, + 3.6573113143584578e-14, + -4.0463869860987186e-14, + 1.2450421495688365e-14, + -1.2139160958296158e-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": 732732307, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.0324309616089815, + -1.357471952465011, + -0.23514778823491311, + -1.4680346283638923, + -3.049925862751139, + 0.67193282835062451 + ], + "velocities": [ + -2.9157358586627558, + -0.26210673136113605, + -1.4244247778816672, + 0.45806240447325997, + -1.2190113861521206, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 7.4702528974130189e-14, + 7.0033620913247056e-15, + 4.0463869860987186e-14, + -5.6026896730597645e-14, + 3.4238659113143009e-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": 804069524, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.2404314432076884, + -1.3761699172314019, + -0.33676228768288485, + -1.4353577312267158, + -3.1368867425032017, + 0.90021192267884897 + ], + "velocities": [ + -2.915735858662754, + -0.26210673136113449, + -1.4244247778816672, + 0.45806240447325841, + -1.2190113861521237, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5563026869610471e-13, + -5.836135076103927e-14, + -7.7815134348052356e-14, + 6.8477318226286081e-14, + 2.1788237617454661e-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": 875406741, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.4484319248063953, + -1.3948678819977929, + -0.43837678713085659, + -1.4026808340895396, + -3.2238476222552643, + 1.1284910170070739 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113638, + -1.4244247778816685, + 0.45806240447325886, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5563026869610471e-13, + 5.836135076103927e-14, + 1.2139160958296168e-13, + -6.8477318226286081e-14, + 6.5364712852363989e-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": 946743958, + "secs": 1 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.6564324064051021, + -1.4135658467641841, + -0.53999128657882833, + -1.3700039369523631, + -3.3108085020073266, + 1.3567701113352979 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113638, + -1.4244247778816668, + 0.45806240447325886, + -1.2190113861521188, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + -8.715295046981848e-14, + 4.357647523490924e-14, + -8.715295046981848e-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": 18081175, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -2.864432888003809, + -1.432263811530575, + -0.64160578602679985, + -1.3373270398151869, + -3.3977693817593888, + 1.5850492056635228 + ], + "velocities": [ + -2.9157358586627513, + -0.26210673136113427, + -1.4244247778816657, + 0.45806240447325797, + -1.2190113861521195, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.8675632243532566e-14, + -1.4784875526129948e-14, + 9.3378161217662831e-15, + 2.4900842991376756e-14, + 2.1788237617454661e-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": 89418392, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.0724333696025159, + -1.450961776296966, + -0.74322028547477181, + -1.3046501426780104, + -3.4847302615114515, + 1.8133282999917477 + ], + "velocities": [ + -2.9157358586627504, + -0.26210673136113483, + -1.4244247778816685, + 0.45806240447326041, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.7430590093963764e-13, + -4.357647523490941e-14, + 0.0, + -4.357647523490941e-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": 160755609, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.2804338512012219, + -1.469659741063357, + -0.84483478492274333, + -1.2719732455408339, + -3.5716911412635137, + 2.0416073943199717 + ], + "velocities": [ + -2.9157358586627562, + -0.26210673136113688, + -1.4244247778816681, + 0.45806240447325974, + -1.219011386152121, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5563026869610471e-13, + 5.836135076103927e-14, + -9.3378161217662831e-15, + 1.8675632243532566e-14, + -2.1788237617454661e-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": 232092826, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.4884343327999288, + -1.4883577058297481, + -0.94644928437071485, + -1.2392963484036577, + -3.658652021015576, + 2.2698864886481958 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113638, + -1.4244247778816685, + 0.45806240447325886, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.0, + 0.0, + 8.715295046981848e-14, + -4.357647523490924e-14, + 8.715295046981848e-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": 303430043, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.6964348143986356, + -1.5070556705961391, + -1.0480637838186868, + -1.2066194512664812, + -3.7456129007676386, + 2.4981655829764207 + ], + "velocities": [ + -2.9157358586627513, + -0.26210673136113427, + -1.4244247778816657, + 0.45806240447325797, + -1.2190113861521195, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -1.5563026869610471e-13, + -5.836135076103927e-14, + -7.7815134348052356e-14, + 6.8477318226286081e-14, + -1.5251766332218262e-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": 374767260, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -3.9044352959973425, + -1.5257536353625301, + -1.1496782832666583, + -1.1739425541293049, + -3.8325737805197009, + 2.7264446773046456 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113638, + -1.4244247778816654, + 0.45806240447325886, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.5563026869610471e-13, + 5.836135076103927e-14, + -9.3378161217662831e-15, + -2.4900842991376756e-14, + 1.5251766332218262e-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": 446104477, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.1124357775960494, + -1.5444516001289212, + -1.2512927827146298, + -1.1412656569921285, + -3.9195346602717636, + 2.9547237716328696 + ], + "velocities": [ + -2.9157358586627566, + -0.26210673136113638, + -1.4244247778816685, + 0.45806240447326041, + -1.2190113861521219, + 3.2000000000000002 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.79733798137925493, + 0.071675783479662969, + 0.38952361670507835, + -0.12526187920737847, + 0.33335121047569133, + -0.87507293667671116 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 517441693, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.3204362591947563, + -1.5631495648953122, + -1.3529072821626018, + -1.108588759854952, + -4.0064955400238258, + 3.1830028659610945 + ], + "velocities": [ + -2.8870101010119713, + -0.25952446231870763, + -1.4103913801581967, + 0.45354958498011544, + -1.2070017160895483, + 3.1684736790510737 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.2084017315250515, + 0.19852174114553076, + 1.0788707545489218, + -0.34694014006097967, + 0.92328900367599387, + -2.4237056727495458 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 590212789, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.5284367407934631, + -1.5818475296617032, + -1.4545217816105733, + -1.0759118627177755, + -4.0934564197758885, + 3.4112819602893194 + ], + "velocities": [ + -2.7754587450131503, + -0.24949668109398498, + -1.3558951832482702, + 0.43602485543396674, + -1.1603643045766865, + 3.0460468350227732 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.5610455886128021, + 0.23022225628015458, + 1.2511478990343443, + -0.40234052642333651, + 1.0707224125595702, + -2.8107298743173574 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 667460772, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.73643722239217, + -1.6005454944280944, + -1.5561362810585453, + -1.043234965580599, + -4.1804172995279512, + 3.6395610546175443 + ], + "velocities": [ + -2.5896173409550567, + -0.23279068119193203, + -1.2651060605264053, + 0.40682915166655298, + -1.0826676960542603, + 2.8420871755018049 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.4324594718154291, + 0.21866315476818227, + 1.1883297084515734, + -0.38213963419664215, + 1.0169631051067005, + -2.669607497771886 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 751109270, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -4.9444377039908778, + -1.6192434591944853, + -1.6577507805065168, + -1.0105580684434228, + -4.2673781792800138, + 3.8678401489457683 + ], + "velocities": [ + -2.3801001729677971, + -0.21395637564191858, + -1.1627506141007737, + 0.37391398294112232, + -0.99507271977682732, + 2.6121435283201593 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8207289811177403, + 0.25356619705445493, + 1.37801105695348, + -0.44313681420056911, + 1.1792908932460349, + -3.0957306069957098 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 842594399, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.1524381855895838, + -1.6379414239608763, + -1.7593652799544883, + -0.97788117130624652, + -4.3543390590320756, + 4.0961192432739928 + ], + "velocities": [ + -2.1356625256973505, + -0.1919829336522024, + -1.0433354618726853, + 0.33551280331443523, + -0.89287818307295175, + 2.3438748959125064 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6989093015958048, + 0.24261535666192874, + 1.3184984747595165, + -0.42399892996864647, + 1.1283604991385732, + -2.9620343487037104 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 946713010, + "secs": 2 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.3604386671882907, + -1.6566393887272672, + -1.8609797794024603, + -0.94520427416907005, + -4.4412999387841374, + 4.3243983376022168 + ], + "velocities": [ + -1.8444928552820259, + -0.16580857003235705, + -0.90109030894671016, + 0.28977001802616215, + -0.77114591350405459, + 2.0243181903348058 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.6675626119917326, + 0.23979748194713452, + 1.3031846728442598, + -0.41907436179501473, + 1.1152550693611165, + -2.9276315730083962 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 69698563, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.5684391487869975, + -1.6753373534936582, + -1.9625942788504318, + -0.91252737703189357, + -4.5282608185362001, + 4.5526774319304426 + ], + "velocities": [ + -1.50387544626268, + -0.13518915865546263, + -0.73468844653399756, + 0.23625898789724886, + -0.62874052424954363, + 1.6504929325963356 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.85923816098766, + 0.25702793561801635, + 1.3968239510706406, + -0.44918661033457513, + 1.1953908182763671, + -3.1379941663703219 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 227694641, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.7764396303857044, + -1.6940353182600494, + -2.0642087782984038, + -0.87985047989471732, + -4.6152216982882628, + 4.7809565262586666 + ], + "velocities": [ + -0.9309708379900179, + -0.083688555879685961, + -0.4548072916750529, + 0.14625561477978705, + -0.38922045984161935, + 1.0217340753679789 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 2.8607239421202371, + 0.25716149820908779, + 1.3975497998999968, + -0.44942002670392922, + 1.1960119939266105, + -3.1396248009184147 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "time_from_start": { + "nsecs": 609031858, + "secs": 3 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9844401119844113, + -1.7127332830264403, + -2.1658232777463753, + -0.84717358275754084, + -4.7021825780403255, + 5.0092356205868906 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 0.24319917716087991, + 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": [ + -5.9844401119844113, + -1.7127332830264403, + -2.1658232777463753, + -0.84717358275754084, + -4.7021825780403255, + 5.0092356205868906 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -0.14319982378503696, + -2.8933501376675324, + -0.836009880855485, + 2.2756868009181668, + 1.1521650892934356, + -0.36256870289650706 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 100952944, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9832008301444022, + -1.7103334373094454, + -2.1714471751556603, + -0.83136913229092402, + -4.7121536610194257, + 5.0123733676008326 + ], + "velocities": [ + 0.0061379180213353779, + -0.10024462032919371, + -0.091541673949210561, + 0.25409452535490773, + -0.049384805163362334, + 0.015540641167886693 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + -4.154590775946573e-09, + -2.2086871821553693, + -0.9888880768590933, + 3.1975752590135245, + -3.1745673567976337e-12, + -4.154590775946573e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 171450448, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9832008301769459, + -1.7261432895552886, + -2.1804268116649186, + -0.80657964353583023, + -4.7121536610194505, + 5.0123733675682889 + ], + "velocities": [ + -5.8286040326617498e-10, + -0.28871049004800664, + -0.15623092060529015, + 0.44494141065316078, + -4.453978405533302e-13, + -5.8286040326617498e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 1.6054183285304938e-09, + 0.60658444511369136, + 0.59067875745762388, + -1.1972632025709418, + 1.2265157530054146e-12, + 1.6054183285304938e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 217672643, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9832008302094906, + -1.7424671113612054, + -2.1889819205607179, + -0.78170071283412168, + -4.7121536610194754, + 5.0123733675357443 + ], + "velocities": [ + -6.6464787118654943e-10, + -0.33825677270221144, + -0.17057434076137995, + 0.50883111346343712, + -5.0789747489110725e-13, + -6.6464787118654943e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 4.1190124351701995e-09, + 2.0877696121108058, + 1.0655758636069477, + -3.153345475716788, + 3.1476888513093324e-12, + 4.1190124351701995e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 269725588, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9832008302420343, + -1.7592986252545539, + -2.1971054114879309, + -0.75674570801356766, + -4.7121536610195003, + 5.0123733675032005 + ], + "velocities": [ + -4.3837880142469941e-10, + -0.228658842145746, + -0.1077307970299288, + 0.33638963917557352, + -3.3499386828306713e-13, + -4.3837880142469941e-10 + ] + } + }, + { + "dtype": "compas_fab.robots/JointTrajectoryPoint", + "value": { + "accelerations": [ + 3.8887434935888228e-09, + 2.0709418839295486, + 0.91825401267307716, + -2.9891958966017369, + 2.9715850068360635e-12, + 3.8887434935888228e-09 + ], + "effort": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_names": [], + "time_from_start": { + "nsecs": 399100492, + "secs": 0 + }, + "types": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "values": [ + -5.9832008302745789, + -1.7766301990761952, + -2.2047902177739789, + -0.73172932790588585, + -4.7121536610195252, + 5.0123733674706559 + ], + "velocities": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } + ] + } + }, + "x": -0.45570801676131989, + "y": -0.0267443837155209, + "z": 0.043112373813878689 + }, + "3": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.5378969747907083, + 0.00032144895623101126, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.5378969747907083, + "y": 0.00032144895623101126, + "z": 0.043112373813878689 + }, + "4": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.56423055858858118, + 0.078104844007105143, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.56423055858858118, + "y": 0.078104844007105143, + "z": 0.043112373813878689 + }, + "5": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.513572486077016, + 0.1408558147490746, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.513572486077016, + "y": 0.1408558147490746, + "z": 0.043112373813878689 + }, + "6": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.43012017092199439, + 0.12592353807194956, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.43012017092199439, + "y": 0.12592353807194956, + "z": 0.043112373813878689 + }, + "7": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.38068787987020702, + 0.056560360156316762, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.38068787987020702, + "y": 0.056560360156316762, + "z": 0.043112373813878689 + }, + "8": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.3532942986321701, + -0.025790546834842689, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.3532942986321701, + "y": -0.025790546834842689, + "z": 0.043112373813878689 + }, + "9": { + "element": { + "dtype": "assembly/Element", + "value": { + "approach_frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.093112373813878685 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "frame": { + "dtype": "compas.geometry/Frame", + "value": { + "point": [ + -0.32966802997717881, + -0.10927579492419696, + 0.043112373813878689 + ], + "xaxis": [ + 6.1230317691118863e-17, + -1.0, + 0.0 + ], + "yaxis": [ + 0.99999968293183461, + 6.123029827693437e-17, + 0.00079632671073326335 + ] + } + }, + "geometry_at_origin": { + "dtype": "compas.datastructures/Mesh", + "value": { + "compas": "0.18.1", + "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": -0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "1": { + "x": -0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "2": { + "x": 0.012, + "y": 0.024500000000000001, + "z": -0.0064999999999999997 + }, + "3": { + "x": 0.012, + "y": -0.024500000000000001, + "z": -0.0064999999999999997 + }, + "4": { + "x": -0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "5": { + "x": 0.012, + "y": -0.024500000000000001, + "z": 0.0064999999999999997 + }, + "6": { + "x": 0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + }, + "7": { + "x": -0.012, + "y": 0.024500000000000001, + "z": 0.0064999999999999997 + } + } + }, + "datatype": "compas.datastructures/Mesh" + } + }, + "trajectory": null + } + }, + "x": -0.32966802997717881, + "y": -0.10927579492419696, + "z": 0.043112373813878689 + } + }, + "node_attributes": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + "datatype": "assembly/Assembly" + } +} \ No newline at end of file diff --git a/lecture_06/assignment_05/Kaushik_Ravi/ezgif-3-96d534b0df0f.gif b/lecture_06/assignment_05/Kaushik_Ravi/ezgif-3-96d534b0df0f.gif new file mode 100644 index 0000000..94962a6 Binary files /dev/null and b/lecture_06/assignment_05/Kaushik_Ravi/ezgif-3-96d534b0df0f.gif differ