diff --git a/src/components/3d-viewport/TrajectoryRenderer.tsx b/src/components/3d-viewport/TrajectoryRenderer.tsx new file mode 100644 index 0000000..34b7a08 --- /dev/null +++ b/src/components/3d-viewport/TrajectoryRenderer.tsx @@ -0,0 +1,40 @@ +import { Line } from "@react-three/drei" +import type { GetTrajectoryResponse } from "@wandelbots/wandelbots-js" +import * as THREE from "three" + +export type TrajectoryRendererProps = { + trajectory: GetTrajectoryResponse +} & JSX.IntrinsicElements["group"] + +export function TrajectoryRenderer({ + trajectory, + ...props +}: TrajectoryRendererProps) { + const points = + trajectory.trajectory + ?.map((point) => { + if (point.tcp_pose) { + return new THREE.Vector3( + point.tcp_pose.position.x / 1000, + point.tcp_pose.position.z / 1000, + -point.tcp_pose.position.y / 1000, + ) + } + return null + }) + .filter((point): point is THREE.Vector3 => point !== null) || [] + + return ( + + {points.length > 0 && ( + + )} + + ) +} diff --git a/src/index.ts b/src/index.ts index 278ad3d..cb9d497 100644 --- a/src/index.ts +++ b/src/index.ts @@ -1,5 +1,6 @@ export * from "./components/3d-viewport/PresetEnvironment" export * from "./components/3d-viewport/SafetyZonesRenderer" +export * from "./components/3d-viewport/TrajectoryRenderer" export * from "./components/jogging/JoggingCartesianAxisControl" export * from "./components/jogging/JoggingJointRotationControl" export * from "./components/jogging/JoggingPanel" diff --git a/stories/TrajectoryRenderer.mdx b/stories/TrajectoryRenderer.mdx new file mode 100644 index 0000000..e2934cf --- /dev/null +++ b/stories/TrajectoryRenderer.mdx @@ -0,0 +1,51 @@ +import { Meta, Story } from '@storybook/blocks'; +import * as TrajectoryRenderer from './TrajectoryRenderer.stories'; + + + +# Trajectory Renderer + +The `TrajectoryRenderer` component visualizes the planned trajectory of the robot. + +This component should be used with [wandelbots-js](https://github.com/wandelbotsgmbh/wandelbots-js). Pass the `GetTrajectoryResponse` from `NovaCellAPIClient.motion.getMotionTrajectory` to the component. +If the Plan Motion or Plan Trajectory endpoint is used, an motion will be generated which afterwards can be fetched from the `listMotions` endpoint. That motion id can be used to fetch the trajectory. + +```tsx +const motions = await apiClient.motion.listMotions() +const trajectory = await apiClient.motion.getMotionTrajectory( + motions[0], + sampleTime, + responsesCoordinateSystem, + ) + ... + +``` + +If the motion is executed using Wandelscript and the `ProgramStateConnection` is used, the trajectory can be fetched from the `getLatestTrajectories` endpoint. A single Wandelscript can contain multiple motions. +The `getLatestTrajectories` endpoint returns the all the latest trajectories of the robot since the last call. If you call the endpoint directly after the motion is finished, you will get the trajectories of the last motion. + +```tsx +const [latestTrajectories, setLatestTrajectories] = useState< + GetTrajectoryResponse[] + >([]) + +useEffect(() => { + autorun(() => { + if (store.executionState === "starting") { + setLatestTrajectories([]) + } + if (store.executionState === "idle") { + getLatestTrajectories(wandelApp.nova.api).then(setLatestTrajectories) + } + }) +}, []) + +... + +// in your render function +{latestTrajectories.map((trajectory, index) => ( + +))} +``` + + \ No newline at end of file diff --git a/stories/TrajectoryRenderer.stories.tsx b/stories/TrajectoryRenderer.stories.tsx new file mode 100644 index 0000000..e1cea62 --- /dev/null +++ b/stories/TrajectoryRenderer.stories.tsx @@ -0,0 +1,3532 @@ +import type { Meta, StoryObj } from "@storybook/react" +import type { GetTrajectoryResponse } from "@wandelbots/wandelbots-js" +import { Vector3 } from "three" +import { TrajectoryRenderer } from "../src/components/3d-viewport/TrajectoryRenderer" +import { Setup } from "../src/Setup" + +export default { + tags: ["!dev"], + title: "3D View/TrajectoryRenderer", + component: TrajectoryRenderer, + decorators: [ + (Story) => ( +
+ + + + + +
+ ), + ], +} satisfies Meta + +type Story = StoryObj + +function TrajectoryRendererScene( + props: React.ComponentProps, +) { + const trajectory: GetTrajectoryResponse = { + trajectory: [ + { + tcp_pose: { + position: { + x: 208.59380793648282, + y: -642.020785615325, + z: 881.3257541405544, + }, + orientation: { + x: 2.1397304358081657, + y: 2.1396749932751384, + z: -0.3571357492296848, + }, + coordinate_system: "", + }, + tcp_velocity: 151.1572319415906, + tcp_acceleration: 488.3379391017951, + tcp_orientation_velocity: 0.008441052689036267, + tcp_orientation_acceleration: 0.016425035067127204, + joint_position: { + joints: [ + 1.644439458847046, -1.6219544410705566, 1.311344861984253, + -1.4863321781158447, -1.6856714487075806, 1.631406307220459, + ], + }, + joint_velocity: { + joints: [ + 0.2322967585363367, 0.11395411853298398, -0.16744686741327897, + 0.08707995848276973, -0.04752491649364199, 0.22986817660344272, + ], + }, + joint_acceleration: { + joints: [ + 0.7370287064047076, 0.36155242587554426, -0.5312736555545872, + 0.2762863741996746, -0.15078655400144747, 0.729323327252196, + ], + }, + joint_torques: { + joints: [], + }, + time: 0, + location_on_trajectory: 0, + }, + { + tcp_pose: { + position: { + x: 216.006505151324, + y: -642.4338012924437, + z: 882.7408901665779, + }, + orientation: { + x: 2.139916702898185, + y: 2.139755365554633, + z: -0.3565399925847878, + }, + coordinate_system: "", + }, + tcp_velocity: 175.57412889668035, + tcp_acceleration: 488.3717583924036, + tcp_orientation_velocity: 0.009262304442392627, + tcp_orientation_acceleration: 0.010334686813464437, + joint_position: { + joints: [ + 1.6560542967738627, -1.6162567351439074, 1.302972518613589, + -1.4819781801917062, -1.6880476945322627, 1.6428997160506311, + ], + }, + joint_velocity: { + joints: [ + 0.26914819385657207, 0.1320317398267612, -0.19401055019100832, + 0.10089427719275346, -0.05506424419371436, 0.2663343429660525, + ], + }, + joint_acceleration: { + joints: [ + 0.7295076184381516, 0.35786292562147687, -0.5258522169281127, + 0.2734669804552278, -0.1492478365445303, 0.7218808696482609, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.05, + location_on_trajectory: 1.038778614869496, + }, + { + tcp_pose: { + position: { + x: 225.82812179648093, + y: -642.8412822381064, + z: 884.5741473246457, + }, + orientation: { + x: 2.1401450515372598, + y: 2.139857263100431, + z: -0.3558333917899331, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99440778083095, + tcp_acceleration: 244.23671554337653, + tcp_orientation_velocity: 0.00947452137038271, + tcp_orientation_acceleration: -0.00996895327648621, + joint_position: { + joints: [ + 1.671354278232703, -1.6087512670878805, 1.291943806965152, + -1.4762427503965694, -1.691177873126952, 1.6580397415170642, + ], + }, + joint_velocity: { + joints: [ + 0.30524752038015185, 0.14974041109513167, -0.22003208910609023, + 0.11442665652829251, -0.06244970014809502, 0.3020562635682688, + ], + }, + joint_acceleration: { + joints: [ + 0.3459991002835449, 0.169731264157269, -0.24940711973480129, + 0.12970300350987338, -0.07078694705648923, 0.3423817998569944, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.1, + location_on_trajectory: 1.0898660502730724, + }, + { + tcp_pose: { + position: { + x: 235.66345112779678, + y: -643.0907246094566, + z: 886.3635229615757, + }, + orientation: { + x: 2.140352010947819, + y: 2.1399531126366345, + z: -0.35521788981305036, + }, + coordinate_system: "", + }, + tcp_velocity: 199.997800451018, + tcp_acceleration: 0.0341270532558724, + tcp_orientation_velocity: 0.008265409114744006, + tcp_orientation_acceleration: -0.024001598451731092, + joint_position: { + joints: [ + 1.686579048811878, -1.6012826940343943, 1.28096930970298, + -1.470535514538877, -1.6942926645470722, 1.673105342407458, + ], + }, + joint_velocity: { + joints: [ + 0.30374810388492657, 0.1490048662424881, -0.21895126216448846, + 0.1138645775437408, -0.06214293889936329, 0.30057252295175196, + ], + }, + joint_acceleration: { + joints: [ + -0.029841942791762888, -0.014639086260048173, 0.021511018360674816, + -0.011186704264520286, 0.00610527606204031, -0.02952995564404648, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.15000000000000002, + location_on_trajectory: 1.1407008545517425, + }, + { + tcp_pose: { + position: { + x: 245.50930119727013, + y: -643.1824350748662, + z: 888.1095575557654, + }, + orientation: { + x: 2.1405367510724616, + y: 2.1400418648872215, + z: -0.35469147405108103, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99782048615654, + tcp_acceleration: 0.00038510827380378043, + tcp_orientation_velocity: 0.007074361525209601, + tcp_orientation_acceleration: -0.023637727108646013, + joint_position: { + joints: [ + 1.7017290886211958, -1.5938507804636317, 1.2700486807487033, + -1.4648562926421953, -1.6973921670168883, 1.6880969938122394, + ], + }, + joint_velocity: { + joints: [ + 0.30226332610097556, 0.14827650246912685, -0.21788098727002275, + 0.11330798610184048, -0.06183917254189099, 0.29910326800386416, + ], + }, + joint_acceleration: { + joints: [ + -0.02950010584086394, -0.014471396755189606, 0.021264611450201035, + -0.011058561505739447, 0.006035340636989727, -0.029191692479836336, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.2, + location_on_trajectory: 1.1912865667073478, + }, + { + tcp_pose: { + position: { + x: 255.36284555659734, + y: -643.1167881070301, + z: 889.8128437402712, + }, + orientation: { + x: 2.1406984817228514, + y: 2.1401225107117847, + z: -0.3542520971646491, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9978389618454, + tcp_acceleration: 0.0003672680119848336, + tcp_orientation_velocity: 0.005901636403879405, + tcp_orientation_acceleration: -0.0232659619632874, + joint_position: { + joints: [ + 1.7168053814219755, -1.5864550437874816, 1.2591812109759777, + -1.459204715928693, -1.7004765818012613, 1.7030156692078444, + ], + }, + joint_velocity: { + joints: [ + 0.3007980933008402, 0.14755772656696914, -0.21682480101946836, + 0.11275872139316685, -0.061539404835664314, 0.29765335370376833, + ], + }, + joint_acceleration: { + joints: [ + -0.029111828145713104, -0.01428092555462251, 0.020984728579055693, + -0.010913009730573877, 0.005955904035582006, -0.028807474093130437, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.25, + location_on_trajectory: 1.2416251083453327, + }, + { + tcp_pose: { + position: { + x: 265.2212929941537, + y: -642.8942078888215, + z: 891.47396394137, + }, + orientation: { + x: 2.140836443977684, + y: 2.140194076847807, + z: -0.35389770390299824, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99785721295774, + tcp_acceleration: 0.0003627812168360832, + tcp_orientation_velocity: 0.00474776532888086, + tcp_orientation_acceleration: -0.02287167552004553, + joint_position: { + joints: [ + 1.7318088979512798, -1.5790950078069348, 1.2483662006467564, + -1.4535804205028786, -1.7035461075004548, 1.7178623291826163, + ], + }, + joint_velocity: { + joints: [ + 0.29935214328640425, 0.1468484099136646, -0.21578251441211718, + 0.11221668512878309, -0.06124358213833279, 0.2962225205945511, + ], + }, + joint_acceleration: { + joints: [ + -0.02872880683806144, -0.014093032896233254, 0.02070863467857758, + -0.010769428391842886, 0.0058775428230403, -0.028428457140148845, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.30000000000000004, + location_on_trajectory: 1.2917206274739563, + }, + { + tcp_pose: { + position: { + x: 275.0818876903432, + y: -642.5151666613933, + z: 893.0934905015613, + }, + orientation: { + x: 2.140949909631686, + y: 2.1402556251909277, + z: -0.3536262325078189, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99787523996707, + tcp_acceleration: 0.0003583057574019222, + tcp_orientation_velocity: 0.003614468851874851, + tcp_orientation_acceleration: -0.02240170264873208, + joint_position: { + joints: [ + 1.746740595750616, -1.5717702027961151, 1.237602959534766, + -1.4479830474158146, -1.7066009400150945, 1.7326379212672995, + ], + }, + joint_velocity: { + joints: [ + 0.29792521261703403, 0.1461484232773458, -0.2147539375516106, + 0.11168177855398256, -0.060951650553360284, 0.29481050798975345, + ], + }, + joint_acceleration: { + joints: [ + -0.02835104360974062, -0.013907719609983774, 0.02043633096844161, + -0.010627818123797735, 0.005800257345578084, -0.028054643295248323, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.35000000000000003, + location_on_trajectory: 1.341576946075206, + }, + { + tcp_pose: { + position: { + x: 284.94190946112286, + y: -641.9801831203202, + z: 894.6719858291641, + }, + orientation: { + x: 2.1410381806566474, + y: 2.140306252092549, + z: -0.35343561604816576, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99789304353348, + tcp_acceleration: 0.0003538382244983041, + tcp_orientation_velocity: 0.0025075950640076525, + tcp_orientation_acceleration: -0.021569369197630917, + joint_position: { + joints: [ + 1.7616014192129832, -1.5644801654792002, 1.2268908068915954, + -1.4424122426474804, -1.7096412725557908, 1.7473433799815916, + ], + }, + joint_velocity: { + joints: [ + 0.2965170389254302, 0.14545763795266622, -0.21373888131527302, + 0.11115390331640332, -0.06066355640377498, 0.2934170562650263, + ], + }, + joint_acceleration: { + joints: [ + -0.027978514466608935, -0.013724973925555165, 0.020167800152859353, + -0.010488169931921478, 0.005724042694432719, -0.027686008814975523, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.4, + location_on_trajectory: 1.391197156076177, + }, + { + tcp_pose: { + position: { + x: 294.79867396118664, + y: -641.2898208547318, + z: 896.2100025498357, + }, + orientation: { + x: 2.1411005886713315, + y: 2.1403450876729417, + z: -0.3533237836984035, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99791062378952, + tcp_acceleration: 0.0003493749775884681, + tcp_orientation_velocity: 0.0014575319321117601, + tcp_orientation_acceleration: -0.017154073066785312, + joint_position: { + joints: [ + 1.776392299643159, -1.5572244390008485, 1.2162290714032387, + -1.4368676570841743, -1.712667295655472, 1.7619796268938022, + ], + }, + joint_velocity: { + joints: [ + 0.29512736117037314, 0.1447759258847903, -0.21273715753632466, + 0.11063296156079042, -0.06037924628391701, 0.2920419071082559, + ], + }, + joint_acceleration: { + joints: [ + -0.027611190572420237, -0.013544781697150957, 0.01990302144567885, + -0.010350473006438128, 0.005648892969945322, -0.027322525164465435, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.45, + location_on_trajectory: 1.4405825932431695, + }, + { + tcp_pose: { + position: { + x: 304.64953284940543, + y: -640.44468682871, + z: 897.7080836595678, + }, + orientation: { + x: 2.141136494419916, + y: 2.1403712951493823, + z: -0.35328866196213976, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99792798103124, + tcp_acceleration: 0.0003449262257504414, + tcp_orientation_velocity: 0.0007921877573291217, + tcp_orientation_acceleration: -0.003968485874022693, + joint_position: { + joints: [ + 1.7911141553300205, -1.5500025728907212, 1.205617091137963, + -1.4313489464914013, -1.7156791971841825, 1.7765475706924172, + ], + }, + joint_velocity: { + joints: [ + 0.29375591986818816, 0.14410315978295113, -0.21174857917070514, + 0.1101188560157595, -0.06009866710678045, 0.29068480374857975, + ], + }, + joint_acceleration: { + joints: [ + -0.02724903867923677, -0.01336712661479555, 0.019641970880759634, + -0.010214714883828437, 0.005574801370134689, -0.026964159443502157, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.5, + location_on_trajectory: 1.4897377243590202, + }, + { + tcp_pose: { + position: { + x: 314.4918739191094, + y: -639.445429904189, + z: 899.1667626787729, + }, + orientation: { + x: 2.141145287258683, + y: 2.140384070178751, + z: -0.35332817584487924, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9979451164121, + tcp_acceleration: 0.0003405024682479049, + tcp_orientation_velocity: 0.0010606833447094908, + tcp_orientation_acceleration: 0.01205961952037309, + joint_position: { + joints: [ + 1.8057678916299778, -1.5428141230225534, 1.1950542134861681, + -1.4258557714825983, -1.71867716236615, 1.7910481072686602, + ], + }, + joint_velocity: { + joints: [ + 0.29240245730244946, 0.14343921322331074, -0.2107729604482487, + 0.10961149007240757, -0.05982176614690354, 0.2893454911639057, + ], + }, + joint_acceleration: { + joints: [ + -0.02689202156744672, -0.013191990420335075, 0.01938462162900249, + -0.010080881611806277, 0.005501760280268367, -0.026610874821629247, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.55, + location_on_trajectory: 1.5386658429390165, + }, + { + tcp_pose: { + position: { + x: 324.32312119539307, + y: -638.2927394045556, + z: 900.5865638070666, + }, + orientation: { + x: 2.141126384650644, + y: 2.14038264021413, + z: -0.3534402499779972, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99796203127806, + tcp_acceleration: 0.00033610119430704804, + tcp_orientation_velocity: 0.0019981497093664318, + tcp_orientation_acceleration: 0.01959369127574708, + joint_position: { + joints: [ + 1.8203544010602655, -1.53565865156839, 1.184539795093138, + -1.4203877974841606, -1.7216613737988729, 1.8054821198088078, + ], + }, + joint_velocity: { + joints: [ + 0.2910667177114435, 0.14278396074091762, -0.20981011700780489, + 0.10911076785457888, -0.05954849107875361, 0.2880237162664168, + ], + }, + joint_acceleration: { + joints: [ + -0.026540098455948298, -0.013019353108443824, 0.019130944294174227, + -0.009948957902959773, 0.005429761356955804, -0.026262630944092764, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.6000000000000001, + location_on_trajectory: 1.5873698730885122, + }, + { + tcp_pose: { + position: { + x: 334.1407350016307, + y: -636.9873437181512, + z: 901.9680020784087, + }, + orientation: { + x: 2.141079231667792, + y: 2.140366263874865, + z: -0.3536228096964539, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99797872653153, + tcp_acceleration: 0.00033171930056141724, + tcp_orientation_velocity: 0.0030200524722841984, + tcp_orientation_acceleration: 0.020469004217007352, + joint_position: { + joints: [ + 1.834874563401122, -1.5285357269484616, 1.1740732017853877, + -1.4149446946971405, -1.7246320114740255, 1.8198504788953018, + ], + }, + joint_velocity: { + joints: [ + 0.28974844745685463, 0.14213727791246636, -0.20885986601883128, + 0.1086165942821116, -0.05927879001120796, 0.2867192280694964, + ], + }, + joint_acceleration: { + joints: [ + -0.026193225346626832, -0.012849193095587633, 0.018880907161067387, + -0.009818927263882673, 0.0053587955989531375, -0.025919384272676822, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.65, + location_on_trajectory: 1.6358513958178909, + }, + { + tcp_pose: { + position: { + x: 343.9422119972677, + y: -635.5300089408285, + z: 903.3115835163037, + }, + orientation: { + x: 2.141003300500665, + y: 2.1403342303295916, + z: -0.3538737820725037, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99799520320812, + tcp_acceleration: 0.0003273654158419959, + tcp_orientation_velocity: 0.004045050131067166, + tcp_orientation_acceleration: 0.02042197968340587, + joint_position: { + joints: [ + 1.849329245805951, -1.5214449237771435, 1.1636538084912549, + -1.4095261380559494, -1.7275892527999936, 1.8341540426157574, + ], + }, + joint_velocity: { + joints: [ + 0.2884473951767808, 0.14149904143135886, -0.20792202629169815, + 0.10812887512819061, -0.059012611518858296, 0.28543177783914914, + ], + }, + joint_acceleration: { + joints: [ + -0.025851355343387013, -0.012681487376720039, 0.018634476425405392, + -0.0096907721149897, 0.005288853411844486, -0.02558108840151619, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.7000000000000001, + location_on_trajectory: 1.6841146257233695, + }, + { + tcp_pose: { + position: { + x: 353.7250851889534, + y: -633.9215375567012, + z: 904.617805288784, + }, + orientation: { + x: 2.140898089974925, + y: 2.1402858586917377, + z: -0.354191096907534, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9980114630731, + tcp_acceleration: 0.0003230477608440197, + tcp_orientation_velocity: 0.005062250440624785, + tcp_orientation_acceleration: 0.020237195827651207, + joint_position: { + joints: [ + 1.8637193029188002, -1.5143858228053257, 1.1532809991562178, + -1.4041318071843214, -1.7305332726259113, 1.8483936566792167, + ], + }, + joint_velocity: { + joints: [ + 0.28716331192251593, 0.14086912917479436, -0.20699641837629074, + 0.10764751707061262, -0.058749904670023514, 0.2841611192293448, + ], + }, + joint_acceleration: { + joints: [ + -0.02551443898264672, -0.012516211687364779, 0.018391616432247574, + -0.009564473914026735, 0.005219924675948299, -0.02524769438434827, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.75, + location_on_trajectory: 1.7321624042503876, + }, + { + tcp_pose: { + position: { + x: 363.4869239167336, + y: -632.1627671562288, + z: 905.8871558629323, + }, + orientation: { + x: 2.1407631250746473, + y: 2.1402204974270083, + z: -0.3545726876840109, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9980275079842, + tcp_acceleration: 0.00031875662216407336, + tcp_orientation_velocity: 0.006068769713832287, + tcp_orientation_acceleration: 0.020013894739569032, + joint_position: { + joints: [ + 1.8780455769982025, -1.507358010859664, 1.1429541666536258, + -1.3987613863488881, -1.733464243266996, 1.862570154538692, + ], + }, + joint_velocity: { + joints: [ + 0.28589595127851614, 0.14024742026262238, -0.2060828646484734, + 0.10717242773678794, -0.058490619051263466, 0.2829070084007143, + ], + }, + joint_acceleration: { + joints: [ + -0.025182424548320072, -0.012353340657988977, 0.018152289904782553, + -0.009440013275963102, 0.0051519988109705, -0.02491915104567697, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.8, + location_on_trajectory: 1.7799975444668135, + }, + { + tcp_pose: { + position: { + x: 373.22533381703124, + y: -630.2545691907736, + z: 907.1201151586849, + }, + orientation: { + x: 2.1405979564720354, + y: 2.1401375237723936, + z: -0.3550164924793905, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99804333873533, + tcp_acceleration: 0.00029789177290240337, + tcp_orientation_velocity: 0.00706363991458169, + tcp_orientation_acceleration: 0.019777741041744783, + joint_position: { + joints: [ + 1.8923088980466518, -1.5003610807790635, 1.1326727126913705, + -1.3934145644106426, -1.7363823345310376, 1.8766843575192882, + ], + }, + joint_velocity: { + joints: [ + 0.2846450694676839, 0.13963379510899546, -0.20518118938581248, + 0.10670351574301631, -0.058234704788926464, 0.2816692041247771, + ], + }, + joint_acceleration: { + joints: [ + -0.02485528148860828, -0.012192859467873022, 0.0179164793542716, + -0.009317383089956085, 0.005085069584120292, -0.024595428145520744, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.8500000000000001, + location_on_trajectory: 1.82762157338268, + }, + { + tcp_pose: { + position: { + x: 382.9379567640023, + y: -628.1978477627714, + z: 908.3171547017307, + }, + orientation: { + x: 2.140402160063274, + y: 2.140036343166219, + z: -0.3555204548437194, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9980572971615, + tcp_acceleration: 0.009038058863097833, + tcp_orientation_velocity: 0.008046543818006765, + tcp_orientation_acceleration: 0.019538390983538798, + joint_position: { + joints: [ + 1.906510083944971, -1.4933946313487645, 1.1224360477150446, + -1.3880910347745865, -1.7392877137458886, 1.8907370749511696, + ], + }, + joint_velocity: { + joints: [ + 0.2834104231296553, 0.13902813431583508, -0.20429121671304623, + 0.10624068942779233, -0.05798211209285144, 0.28044746558616224, + ], + }, + joint_acceleration: { + joints: [ + -0.02452073639451769, -0.012028661097152064, 0.017672991039985323, + -0.009189735291781355, 0.005016616801567509, -0.024264384437877602, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.9, + location_on_trajectory: 1.875038506832243, + }, + { + tcp_pose: { + position: { + x: 392.6224706350364, + y: -625.993538495573, + z: 909.4787377333895, + }, + orientation: { + x: 2.140175336514397, + y: 2.1399163886910197, + z: -0.35608252463247747, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99894714462164, + tcp_acceleration: -347.4005196607184, + tcp_orientation_velocity: 0.00901747901293557, + tcp_orientation_acceleration: 0.000916597803827385, + joint_position: { + joints: [ + 1.9206499403596173, -1.48645826734748, 1.1122435910200659, + -1.3827904954678634, -1.7421805457403228, 1.9047291040779044, + ], + }, + joint_velocity: { + joints: [ + 0.28219299582823215, 0.13843092899928025, -0.20341389028181395, + 0.10578454221383818, -0.05773304310876971, 0.2792427656809893, + ], + }, + joint_acceleration: { + joints: [ + -0.5158919926885775, -0.2503176237403704, 0.29690516024005775, + -0.12160197924284691, 0.10525053002290455, -0.5106214658760378, + ], + }, + joint_torques: { + joints: [], + }, + time: 0.9500000000000001, + location_on_trajectory: 1.9222509396330743, + }, + { + tcp_pose: { + position: { + x: 402.2766718300002, + y: -623.6425822873313, + z: 910.6053410751355, + }, + orientation: { + x: 2.139917108327659, + y: 2.1397771191723294, + z: -0.35670066464976485, + }, + coordinate_system: "", + }, + tcp_velocity: 165.25800533108966, + tcp_acceleration: -456.3749194482959, + tcp_orientation_velocity: 0.008138203598389503, + tcp_orientation_acceleration: -0.049972520190886736, + joint_position: { + joints: [ + 1.934729383527794, -1.4795515384488365, 1.1020946586868632, + -1.3775125805532027, -1.7450610180567656, 1.9186613515192685, + ], + }, + joint_velocity: { + joints: [ + 0.23182122386079757, 0.11399637194179804, -0.17460070068904046, + 0.09408049150350764, -0.047457059090560985, 0.22938531899855846, + ], + }, + joint_acceleration: { + joints: [ + -2.369280314675539, -1.1017775068062905, 0.06223713966637902, + 0.6876886582361168, 0.47826365374170654, -2.347209127976903, + ], + }, + joint_torques: { + joints: [], + }, + time: 1, + location_on_trajectory: 1.9692613117097093, + }, + { + tcp_pose: { + position: { + x: 408.4731276199273, + y: -621.91293434406, + z: 911.7000723609102, + }, + orientation: { + x: 2.139729677164331, + y: 2.139674500289694, + z: -0.35713716965465425, + }, + coordinate_system: "", + }, + tcp_velocity: 154.36145519979206, + tcp_acceleration: 238.44004182412058, + tcp_orientation_velocity: 0.004020226993846897, + tcp_orientation_acceleration: -0.06902114830647228, + joint_position: { + joints: [ + 1.943832062745697, -1.4750586301533002, 1.0947835209511618, + -1.3733824463175126, -1.7469262516493789, 1.9276676359777603, + ], + }, + joint_velocity: { + joints: [ + 0.04526496436067835, 0.028253178318651238, -0.19719017631517605, + 0.17455340803744984, -0.00990667773459907, 0.04452185288329909, + ], + }, + joint_acceleration: { + joints: [ + -3.2787566159663686, -1.4884307099348058, -0.9009039409749919, + 1.8968523795731727, 0.6579758467784907, -3.2498318789625698, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.05, + location_on_trajectory: 2.00314188483789, + }, + { + tcp_pose: { + position: { + x: 404.28149622253994, + y: -620.0227783247625, + z: 919.3323481393592, + }, + orientation: { + x: 2.139763020886756, + y: 2.1396912691464367, + z: -0.357053226712202, + }, + coordinate_system: "", + }, + tcp_velocity: 189.10200951350174, + tcp_acceleration: 456.3605618476395, + tcp_orientation_velocity: 0.0012360887677422678, + tcp_orientation_acceleration: -0.02876190613914949, + joint_position: { + joints: [ + 1.939255879963862, -1.4767262206169713, 1.0823756410553456, + -1.3600572397494577, -1.7460516858302255, 1.9231135368075984, + ], + }, + joint_velocity: { + joints: [ + -0.09605443773583958, -0.03484669905168267, -0.26469109478653974, + 0.28376572946082507, 0.01834052558728814, -0.09559786889769875, + ], + }, + joint_acceleration: { + joints: [ + -1.4588873741142347, -0.646086827918001, -0.8414257815334761, + 1.265896567150857, 0.2910376627940131, -1.44673980394576, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.1, + location_on_trajectory: 2.0431104972580783, + }, + { + tcp_pose: { + position: { + x: 399.63192159305993, + y: -617.7254360501826, + z: 927.8822582354263, + }, + orientation: { + x: 2.139794524989478, + y: 2.139706882480648, + z: -0.35697253011890107, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99751138455605, + tcp_acceleration: 108.9571894417772, + tcp_orientation_velocity: 0.0011440363799319452, + tcp_orientation_acceleration: -0.0022043009688850392, + joint_position: { + joints: [ + 1.9342266189721131, -1.4785433000584685, 1.0683144114725078, + -1.34500587337143, -1.74509219909065, 1.9181078490879904, + ], + }, + joint_velocity: { + joints: [ + -0.10062377305074524, -0.03635550447314891, -0.28133275446852374, + 0.30114306475253566, 0.01919708854480227, -0.10015212751127703, + ], + }, + joint_acceleration: { + joints: [ + -0.04647694328703485, -0.0153710294499739, -0.16861115246940603, + 0.17612201996089577, 0.008715108937718395, -0.046322509526366365, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.1500000000000001, + location_on_trajectory: 2.089444004564327, + }, + { + tcp_pose: { + position: { + x: 394.9657086456161, + y: -615.2711685600601, + z: 936.3793614008501, + }, + orientation: { + x: 2.1398224416682217, + y: 2.1397205953113274, + z: -0.3569001148843018, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99772845767947, + tcp_acceleration: 0.0020501129753824924, + tcp_orientation_velocity: 0.0010156586708537636, + tcp_orientation_acceleration: -0.0025702173911699793, + joint_position: { + joints: [ + 1.9291935026587874, -1.4803617710642862, 1.0542423656084932, + -1.329942933274204, -1.7441319769757453, 1.9130983240564707, + ], + }, + joint_velocity: { + joints: [ + -0.10070213206454307, -0.03638380199668006, -0.28155221003348035, + 0.30137793145691466, 0.019212036481059982, -0.10023011985033539, + ], + }, + joint_acceleration: { + joints: [ + -0.001592204969294022, -0.0005751287249342048, + -0.004455355489614294, 0.004768662811833752, 0.00030374756958592746, + -0.0015847480741038055, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.2000000000000002, + location_on_trajectory: 2.135812963019386, + }, + { + tcp_pose: { + position: { + x: 390.28511032320154, + y: -612.6600173175211, + z: 944.8216129421237, + }, + orientation: { + x: 2.139846801484685, + y: 2.1397324418754247, + z: -0.35683604769820354, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9977163958536, + tcp_acceleration: -0.0002453295294913008, + tcp_orientation_velocity: 0.0008870146408149476, + tcp_orientation_acceleration: -0.002575644975292528, + joint_position: { + joints: [ + 1.9241564057656588, -1.4821816802581365, 1.0401591904691598, + -1.3148680802257386, -1.743170995442544, 1.9080848371029568, + ], + }, + joint_velocity: { + joints: [ + -0.10078299354767464, -0.03641301734564233, -0.28177829001748517, + 0.30161993103371904, 0.019227463301760863, -0.10031060231868741, + ], + }, + joint_acceleration: { + joints: [ + -0.0016419881917006962, -0.0005932522917131985, -0.0045908211280632, + 0.0049140873467679105, 0.00031325986959943085, + -0.0016342918465173128, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.25, + location_on_trajectory: 2.182218804727791, + }, + { + tcp_pose: { + position: { + x: 385.59238622849557, + y: -609.8920618316738, + z: 953.2069855196409, + }, + orientation: { + x: 2.139867634835649, + y: 2.1397424564691394, + z: -0.35678039593710814, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99770392472652, + tcp_acceleration: -0.00025304581043883423, + tcp_orientation_velocity: 0.0007580941733245112, + tcp_orientation_acceleration: -0.0025812014407849255, + joint_position: { + joints: [ + 1.91911520330402, -1.4840030727988505, 1.0260645366067447, + -1.2997809401708322, -1.7422092306455692, 1.903067263824602, + ], + }, + joint_velocity: { + joints: [ + -0.10086633088371313, -0.03644312722585138, -0.2820112921462867, + 0.30186934019159145, 0.019243362468019925, -0.10039354903498712, + ], + }, + joint_acceleration: { + joints: [ + -0.001691018069724935, -0.0006109668718937139, + -0.004727902628269827, 0.00506082162889276, 0.000322613833314139, + -0.0016830919100185844, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.3, + location_on_trajectory: 2.228662358950597, + }, + { + tcp_pose: { + position: { + x: 380.88980663105707, + y: -606.9674279436094, + z: 961.53344691461, + }, + orientation: { + x: 2.139884972099518, + y: 2.1397506735362843, + z: -0.35673322736673074, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99769109127254, + tcp_acceleration: -0.00026025450097222325, + tcp_orientation_velocity: 0.0006288944967364549, + tcp_orientation_acceleration: -0.0025866956921645435, + joint_position: { + joints: [ + 1.9140697726772875, -1.4858259929807216, 1.0119580612545311, + -1.2846811462065795, -1.741246659195742, 1.8980454821994581, + ], + }, + joint_velocity: { + joints: [ + -0.10095209535464714, -0.036474114032831705, -0.28225108028031215, + 0.3021260131966083, 0.019259724685092277, -0.10047891150968927, + ], + }, + joint_acceleration: { + joints: [ + -0.0017390559353236397, -0.0006283230107539945, + -0.004862211276379642, 0.005204587726614913, 0.00033177853719923406, + -0.0017309046119517986, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.35, + location_on_trajectory: 2.275144841465643, + }, + { + tcp_pose: { + position: { + x: 376.17965202746984, + y: -603.8862886935212, + z: 969.7989601551596, + }, + orientation: { + x: 2.1398988436516957, + y: 2.1397571276803036, + z: -0.35669461012883125, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99767789927643, + tcp_acceleration: -0.0002673864926805434, + tcp_orientation_velocity: 0.0004994246041080566, + tcp_orientation_acceleration: -0.0025916676904349247, + joint_position: { + joints: [ + 1.9090199937685552, -1.4876504842021336, 0.9978394285787134, + -1.2695683388511714, -1.74028325817706, 1.893019372673633, + ], + }, + joint_velocity: { + joints: [ + -0.1010402364772455, -0.03650595952692678, -0.28249751327392464, + 0.30238979896425294, 0.01927654032173985, -0.1005666394961823, + ], + }, + joint_acceleration: { + joints: [ + -0.0017860661661006623, -0.0006453078638787852, + -0.0049936467693645304, 0.005345278353725553, + 0.00034074718811047367, -0.0017776944958325365, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.4000000000000001, + location_on_trajectory: 2.3216673273698545, + }, + { + tcp_pose: { + position: { + x: 371.4642126745241, + y: -600.648865203057, + z: 978.0014836741607, + }, + orientation: { + x: 2.139909279880113, + y: 2.139761853676271, + z: -0.3566646127266099, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99766435262327, + tcp_acceleration: -0.000274437878999834, + tcp_orientation_velocity: 0.0003697277276929622, + tcp_orientation_acceleration: -0.0025942990731736342, + joint_position: { + joints: [ + 1.903965749029563, -1.4894765889334143, 0.9837083099271386, + -1.2544421663101541, -1.739319005163568, 1.8879888182498399, + ], + }, + joint_velocity: { + joints: [ + -0.1011307019712572, -0.03653864481921958, -0.2827504449572486, + 0.30266054103198087, 0.019293799403903324, -0.10065668095927252, + ], + }, + joint_acceleration: { + joints: [ + -0.0018320124751469737, -0.000661908320887806, + -0.005122107652961734, 0.005482784911998724, 0.00034951286320736345, + -0.0018234254447935274, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.4500000000000002, + location_on_trajectory: 2.368231106296639, + }, + { + tcp_pose: { + position: { + x: 366.7457880949545, + y: -597.25542757332, + z: 986.138971495647, + }, + orientation: { + x: 2.139916311200912, + y: 2.139764886482865, + z: -0.3566433040085626, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99765045548853, + tcp_acceleration: -0.0002814000751527605, + tcp_orientation_velocity: 0.0002399946967906935, + tcp_orientation_acceleration: -0.0025742046118480263, + joint_position: { + joints: [ + 1.8989069235714295, -1.4913043486840556, 0.9695643840829886, + -1.2393022847479733, -1.7383538782366696, 1.8829537045777058, + ], + }, + joint_velocity: { + joints: [ + -0.1012234377247602, -0.03657215035901556, -0.2830097240392208, + 0.3029380774554528, 0.019311491608060585, -0.10074898204066166, + ], + }, + joint_acceleration: { + joints: [ + -0.0018768578930772354, -0.0006781110246426034, + -0.005247490564657127, 0.005616996760531298, 0.00035806850930922334, + -0.0018680606627108378, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.5, + location_on_trajectory: 2.414837042347526, + }, + { + tcp_pose: { + position: { + x: 362.02668655438765, + y: -593.7062957973578, + z: 994.2093734509658, + }, + orientation: { + x: 2.1399199680742864, + y: 2.139766261254315, + z: -0.3566307531507733, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99763621261576, + tcp_acceleration: -0.0002882616271904223, + tcp_orientation_velocity: 0.00011230726650815992, + tcp_orientation_acceleration: -0.0016915712573415387, + joint_position: { + joints: [ + 1.893843405257087, -1.4931338039693158, 0.9554073375232166, + -1.224148358564609, -1.737387856002762, 1.8779139200457737, + ], + }, + joint_velocity: { + joints: [ + -0.10131838776056493, -0.03660645592168384, -0.2832751940137143, + 0.303222240708034, 0.019329606254834247, -0.1008434870255436, + ], + }, + joint_acceleration: { + joints: [ + -0.0019205647892683846, -0.0006939023790222814, + -0.005369690293448577, 0.005747801279769588, 0.0003664069472937567, + -0.0019115626955090708, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.55, + location_on_trajectory: 2.461486164529664, + }, + { + tcp_pose: { + position: { + x: 357.3092245081806, + y: -590.0018406858649, + z: 1002.2106354257395, + }, + orientation: { + x: 2.1399202810204616, + y: 2.1397660133522987, + z: -0.356627029637601, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9976216293258, + tcp_acceleration: -0.00029501819085453435, + tcp_orientation_velocity: 0.00007083757105653947, + tcp_orientation_acceleration: 0.0004465551777115681, + joint_position: { + joints: [ + 1.888775084795373, -1.494964994276224, 0.9412368646816172, + -1.20898006067717, -1.7364209176111862, 1.8728693558751515, + ], + }, + joint_velocity: { + joints: [ + -0.10141549420368703, -0.036641540596917786, -0.28354669306856567, + 0.3035128575834298, 0.01934813230278996, -0.10094013831021256, + ], + }, + joint_acceleration: { + joints: [ + -0.0019630948929982833, -0.000709268556842168, + -0.005488599838332492, 0.0058750839342813724, + 0.00037452087582323624, -0.001953893451656084, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.6, + location_on_trajectory: 2.5081793783402957, + }, + { + tcp_pose: { + position: { + x: 352.59572601682993, + y: -586.1424848047399, + z: 1010.1406996387435, + }, + orientation: { + x: 2.1399172806358178, + y: 2.139764178357775, + z: -0.3566322032407259, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99760671079667, + tcp_acceleration: -0.0003016673829847602, + tcp_orientation_velocity: 0.00015696278427931678, + tcp_orientation_acceleration: 0.00216583955701495, + joint_position: { + joints: [ + 1.8837018558367182, -1.4967979580290076, 0.92705266821636, + -1.193797072806266, -1.735453042772483, 1.8678199062147525, + ], + }, + joint_velocity: { + joints: [ + -0.10151469724986475, -0.03667738277736806, -0.28382405399754757, + 0.30380974910146213, 0.01936705834241657, -0.10103887637070921, + ], + }, + joint_acceleration: { + joints: [ + -0.0020044093268745105, -0.0007241955117373571, + -0.005604110502461785, 0.005998728373175494, 0.00038240287785248873, + -0.0019950142359248507, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.6500000000000001, + location_on_trajectory: 2.5549181497571265, + }, + { + tcp_pose: { + position: { + x: 347.8885221286794, + y: -582.1287034230276, + z: 1017.9975049537509, + }, + orientation: { + x: 2.1399109976091237, + y: 2.1397607920827393, + z: -0.3566463439965251, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975914625875, + tcp_acceleration: -0.00030819619638577976, + tcp_orientation_velocity: 0.00028742152675803465, + tcp_orientation_acceleration: 0.0026223721193782443, + joint_position: { + joints: [ + 1.8786236150703866, -1.4986327325539608, 0.9128544592818624, + -1.1785990857670237, -1.7344842117769446, 1.8627654682380805, + ], + }, + joint_velocity: { + joints: [ + -0.10161593513637449, -0.03671396014809152, -0.28410710411881185, + 0.3041127304207473, 0.01938637259057521, -0.10113963973380505, + ], + }, + joint_acceleration: { + joints: [ + -0.002044468648467748, -0.0007386689930397049, + -0.005716112009386273, 0.006118616554646746, 0.00039004542857809575, + -0.002034885791026844, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.7000000000000002, + location_on_trajectory: 2.601702932697806, + }, + { + tcp_pose: { + position: { + x: 343.1899502285315, + y: -577.9610254695771, + z: 1025.778987225588, + }, + orientation: { + x: 2.1399014627378907, + y: 2.139755890581882, + z: -0.35666952218174575, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99757589117704, + tcp_acceleration: -0.0003145922775615877, + tcp_orientation_velocity: 0.0004191999962171409, + tcp_orientation_acceleration: 0.0026416601927220277, + joint_position: { + joints: [ + 1.8735402623230808, -1.5004693540438168, 0.8986419578044789, + -1.1633857997641912, -1.7335144055134255, 1.857705942241372, + ], + }, + joint_velocity: { + joints: [ + -0.10171914411471153, -0.03675124967667203, -0.2843956651984862, + 0.3044216107569268, 0.01940606288527438, -0.1012423649498119, + ], + }, + joint_acceleration: { + joints: [ + -0.0020832328842400353, -0.0007526745582567283, + -0.005824492597155125, 0.006234628847161536, 0.0003974409017000474, + -0.002073468330696662, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.75, + location_on_trajectory: 2.648534782999139, + }, + { + tcp_pose: { + position: { + x: 338.50235335099353, + y: -573.6400344967533, + z: 1033.4830796813387, + }, + orientation: { + x: 2.1398887069448165, + y: 2.1397495101641413, + z: -0.35670180828743975, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99756000335975, + tcp_acceleration: -0.00032085078345289703, + tcp_orientation_velocity: 0.0005515875460302371, + tcp_orientation_acceleration: 0.0026527232492358703, + joint_position: { + joints: [ + 1.8684517006589154, -1.502307857521628, 0.8844148927620138, + -1.148156924691331, -1.7325436054884171, 1.8526412317430994, + ], + }, + joint_velocity: { + joints: [ + -0.10182425842479849, -0.036789227603917195, -0.28468955337852736, + 0.3047361933054635, 0.019426116680745214, -0.10134698656687471, + ], + }, + joint_acceleration: { + joints: [ + -0.002120661570812336, -0.0007661975879527654, + -0.005929139134457357, 0.006346644153214504, 0.00040458157761727416, + -0.002110721581047857, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.8, + location_on_trajectory: 2.695414539686203, + }, + { + tcp_pose: { + position: { + x: 333.82807945726546, + y: -569.1663696493341, + z: 1041.1077133378224, + }, + orientation: { + x: 2.1398727612943196, + y: 2.139741687404115, + z: -0.3567432729911383, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975438060987, + tcp_acceleration: -0.00032696697189749075, + tcp_orientation_velocity: 0.0006844723211407281, + tcp_orientation_acceleration: 0.002662370023597065, + joint_position: { + joints: [ + 1.863357836480601, -1.5041482768042085, 0.8701730024666261, + -1.1329121804336448, -1.731571793845351, 1.8475712435846845, + ], + }, + joint_velocity: { + joints: [ + -0.10193121027179276, -0.03682786943546731, -0.28498857911193193, + 0.30505627517224826, 0.019446521043036107, -0.10145343710791668, + ], + }, + joint_acceleration: { + joints: [ + -0.0021567138083433673, -0.0007792233049253021, + -0.006029937269946823, 0.0064545400690452165, + 0.00041145965350430875, -0.0021466048340634796, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.85, + location_on_trajectory: 2.7423433144526648, + }, + { + tcp_pose: { + position: { + x: 329.1694806741735, + y: -564.5407266366238, + z: 1048.650817456373, + }, + orientation: { + x: 2.1398536570091347, + y: 2.1397324591533264, + z: -0.35679398712723265, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99752730666256, + tcp_acceleration: -0.0003329274321117734, + tcp_orientation_velocity: 0.0008178245483899438, + tcp_orientation_acceleration: 0.0026716415843142625, + joint_position: { + joints: [ + 1.8582585796317361, -1.5059906444651747, 0.8559160348508206, + -1.1176512971741062, -1.7305989533841135, 1.8424958880323077, + ], + }, + joint_velocity: { + joints: [ + -0.10203992980563283, -0.036867149934409725, -0.28529254710552204, + 0.305381647312368, 0.019467262646095645, -0.10156164705028106, + ], + }, + joint_acceleration: { + joints: [ + -0.002191348320093182, -0.0007917367958584769, + -0.006126771598309317, 0.006558193063106448, 0.000418067254437798, + -0.0021810770065155954, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.9000000000000001, + location_on_trajectory: 2.789321792334981, + }, + { + tcp_pose: { + position: { + x: 324.5289124942522, + y: -559.7638587056579, + z: 1056.1103200359926, + }, + orientation: { + x: 2.1398314254869613, + y: 2.139721862551321, + z: -0.35685402165553975, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99751051335548, + tcp_acceleration: -0.0003614446256960951, + tcp_orientation_velocity: 0.0009516364795721546, + tcp_orientation_acceleration: 0.002680835251232027, + joint_position: { + joints: [ + 1.8531538435000376, -1.5078349917976495, 0.8416437477560739, + -1.102374015702408, -1.7296250675807414, 1.8374150788796564, + ], + }, + joint_velocity: { + joints: [ + -0.10215034510380208, -0.036907043115053155, -0.28560125627176286, + 0.3057120944785589, 0.019488327768479887, -0.10167154480856824, + ], + }, + joint_acceleration: { + joints: [ + -0.0022244987379238554, -0.0008037233579116798, + -0.006219487729763893, 0.006657445534430382, 0.0004243923916069653, + -0.0022140718271666834, + ], + }, + joint_torques: { + joints: [], + }, + time: 1.9500000000000002, + location_on_trajectory: 2.83635058619936, + }, + { + tcp_pose: { + position: { + x: 319.90873293572656, + y: -554.8365776132456, + z: 1063.4841483458529, + }, + orientation: { + x: 2.1398060983171474, + y: 2.1397099350365716, + z: -0.3569234476280378, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9974911622, + tcp_acceleration: -0.11651582757252744, + tcp_orientation_velocity: 0.001085908073513146, + tcp_orientation_acceleration: 0.0026837627434346447, + joint_position: { + joints: [ + 1.848043545121356, -1.50968134877668, 0.8273559092236443, + -1.0870800877262503, -1.7286501206072655, 1.8323287335514509, + ], + }, + joint_velocity: { + joints: [ + -0.10226237967942521, -0.03694752227020089, -0.28591449587849843, + 0.30604739186581104, 0.01950970188525634, -0.10178305423299773, + ], + }, + joint_acceleration: { + joints: [ + -0.002127311756880827, -0.0008173541491621187, + -0.006111548606939627, 0.0065821589284298316, 0.0004093870874073698, + -0.0021162148599461455, + ], + }, + joint_torques: { + joints: [], + }, + time: 2, + location_on_trajectory: 2.883430623020303, + }, + { + tcp_pose: { + position: { + x: 315.3113018286989, + y: -549.7597546453263, + z: 1070.7702293270427, + }, + orientation: { + x: 2.1397777073019806, + y: 2.1396967143588412, + z: -0.35700233613659427, + }, + coordinate_system: "", + }, + tcp_velocity: 199.98585893059823, + tcp_acceleration: -515.7718569130888, + tcp_orientation_velocity: 0.0012200127539156193, + tcp_orientation_acceleration: 0.01967018449207139, + joint_position: { + joints: [ + 1.8429276055320951, -1.5115297440246696, 0.813052298168224, + -1.0717692765158269, -1.7276740973922158, 1.8272367734563566, + ], + }, + joint_velocity: { + joints: [ + -0.10236307627949016, -0.03698877852996937, -0.2862124111324568, + 0.3063703103714019, 0.019529266477220624, -0.10188316629456286, + ], + }, + joint_acceleration: { + joints: [ + 0.6274297449777559, -0.008377122863946755, 0.9643797748434831, + -0.8381685885228694, -0.10264885881390236, 0.6299166237636349, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.0500000000000003, + location_on_trajectory: 2.9305628047727903, + }, + { + tcp_pose: { + position: { + x: 310.7398401532201, + y: -544.5345949451058, + z: 1077.965622540567, + }, + orientation: { + x: 2.1397463091489155, + y: 2.1396822474913413, + z: -0.3570906660070849, + }, + coordinate_system: "", + }, + tcp_velocity: 148.42030547089107, + tcp_acceleration: -514.3621395363441, + tcp_orientation_velocity: 0.003052926522720287, + tcp_orientation_acceleration: 0.12544857468038492, + joint_position: { + joints: [ + 1.837807237493407, -1.513380226629677, 0.7987346681103986, + -1.05644305668911, -1.7266971939595435, 1.8221404169219946, + ], + }, + joint_velocity: { + joints: [ + -0.039519405181649564, -0.03778523455659557, -0.18947651839415003, + 0.22223053301352402, 0.009244816003866096, -0.03879139185663419, + ], + }, + joint_acceleration: { + joints: [ + 2.6782289186905244, -0.2760838180907673, 3.309014133427743, + -2.5149510054144186, -0.42072993697230937, 2.6943935045005216, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.1, + location_on_trajectory: 2.9777476157816025, + }, + { + tcp_pose: { + position: { + x: 310.396147485924, + y: -540.6286654275884, + z: 1080.80874154524, + }, + orientation: { + x: 2.1398330555688685, + y: 2.1397104607184714, + z: -0.35673756542640733, + }, + coordinate_system: "", + }, + tcp_velocity: 148.549644976964, + tcp_acceleration: 516.9502602052754, + tcp_orientation_velocity: 0.013764870221954066, + tcp_orientation_acceleration: 0.19057971224775969, + joint_position: { + joints: [ + 1.8389756650139302, -1.515308267480329, 0.7941046463288091, + -1.0495462232144745, -1.7267496157918292, 1.8233576342706932, + ], + }, + joint_velocity: { + joints: [ + 0.16545981558956133, -0.064597160339046, 0.04468900221031631, + 0.05487520982996092, -0.02254372722001017, 0.1675561841554883, + ], + }, + joint_acceleration: { + joints: [ + 3.4707629705832814, -0.5284073280413999, 3.7148947350815216, + -2.504582179623177, -0.5328533684746389, 3.4956507152821463, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.15, + location_on_trajectory: 3.006029270539767, + }, + { + tcp_pose: { + position: { + x: 318.0535208886755, + y: -534.5731549325393, + z: 1078.5887241052556, + }, + orientation: { + x: 2.140268729488931, + y: 2.1398671064256924, + z: -0.3550885239611838, + }, + coordinate_system: "", + }, + tcp_velocity: 200.11533149141866, + tcp_acceleration: 514.4809863607057, + tcp_orientation_velocity: 0.022110897747496274, + tcp_orientation_acceleration: 0.07158862110838642, + joint_position: { + joints: [ + 1.854353219052363, -1.5198399426635816, 0.8032035683314303, + -1.050955535706114, -1.7289515666815445, 1.8388960353375434, + ], + }, + joint_velocity: { + joints: [ + 0.30755689187667884, -0.09062596736073561, 0.18201295511400245, + -0.028227684948793883, -0.044040520843597844, 0.3107736796715807, + ], + }, + joint_acceleration: { + joints: [ + 1.4228502653706983, -0.2607493510866194, 1.3746627675708645, + -0.8316107088626831, -0.21524378431887442, 1.4340719788933116, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.2, + location_on_trajectory: 3.031642222371217, + }, + { + tcp_pose: { + position: { + x: 325.5959740397539, + y: -528.40160034541, + z: 1076.3479517285734, + }, + orientation: { + x: 2.1406959124426974, + y: 2.1400300677450668, + z: -0.35353611047396216, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99774361303463, + tcp_acceleration: -1.175935153270301, + tcp_orientation_velocity: 0.020923732332792714, + tcp_orientation_acceleration: -0.02363274061316719, + joint_position: { + joints: [ + 1.869731354201598, -1.5243708642164027, 0.8123059418402093, + -1.052368991709354, -1.731153667876189, 1.8544350022378513, + ], + }, + joint_velocity: { + joints: [ + 0.3077448421266313, -0.09067209544770796, 0.18215527896740286, + -0.028285861056307458, -0.04406810565189763, 0.3109633820448196, + ], + }, + joint_acceleration: { + joints: [ + 0.00554417639304638, -0.0015410184912578715, 0.0035923719438724047, + -0.0009185932215105544, -0.0008006179980757359, + 0.005600024506247076, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.25, + location_on_trajectory: 3.057303168818847, + }, + { + tcp_pose: { + position: { + x: 333.02943381611703, + y: -522.1068998921482, + z: 1074.0856160315134, + }, + orientation: { + x: 2.1411138624710837, + y: 2.1401983111523393, + z: -0.35207846359958456, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99773797609163, + tcp_acceleration: -0.00011404049473640034, + tcp_orientation_velocity: 0.019747623686179553, + tcp_orientation_acceleration: -0.023551269401820472, + joint_position: { + joints: [ + 1.8851277032650262, -1.5289071522083524, 0.8214190962281706, + -1.0537841218117447, -1.7333583772467342, 1.8699923735420254, + ], + }, + joint_velocity: { + joints: [ + 0.3081113095159835, -0.0907800692098614, 0.1823721923083897, + -0.02831954427094494, -0.04412058264340542, 0.3113336821222054, + ], + }, + joint_acceleration: { + joints: [ + 0.007373254771692032, -0.002172411670064987, 0.004364255735833652, + -0.0006777002126590042, -0.001055827178553236, 0.007450367730754685, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.3000000000000003, + location_on_trajectory: 3.0829944129881843, + }, + { + tcp_pose: { + position: { + x: 340.35165869098347, + y: -515.6908025748664, + z: 1071.801660422153, + }, + orientation: { + x: 2.1415212987439727, + y: 2.1403706117094203, + z: -0.35071571592359396, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99773220898516, + tcp_acceleration: -0.0001161459124432439, + tcp_orientation_velocity: 0.018568605392610665, + tcp_orientation_acceleration: -0.023607760594005225, + joint_position: { + joints: [ + 1.9005424851531965, -1.5334488711373888, 0.8305431610710483, + -1.0552009461364484, -1.7355657261405295, 1.8855683704500719, + ], + }, + joint_velocity: { + joints: [ + 0.3084821676038005, -0.09088933661471446, 0.18259170454098622, + -0.028353631077573358, -0.04417368836975295, 0.31170841881789507, + ], + }, + joint_acceleration: { + joints: [ + 0.007461319686208327, -0.002198358514493568, 0.0044163819241438374, + -0.0006857948817495789, -0.0010684378061842628, + 0.007539353667751485, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.35, + location_on_trajectory: 3.108716374245491, + }, + { + tcp_pose: { + position: { + x: 347.5604298428938, + y: -509.1551002150597, + z: 1069.4960276546435, + }, + orientation: { + x: 2.1419169308953845, + y: 2.1405457365247433, + z: -0.3494479401269905, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99772636150038, + tcp_acceleration: -0.00011763532057784676, + tcp_orientation_velocity: 0.01738684762677903, + tcp_orientation_acceleration: -0.023660148037723656, + joint_position: { + joints: [ + 1.9159759200254063, -1.5379960858698238, 0.8396782666822692, + -1.056619484919502, -1.7377757460837095, 1.901163215423815, + ], + }, + joint_velocity: { + joints: [ + 0.3088574414846043, -0.09099990506131075, 0.18281383050080408, + -0.028388123759119897, -0.044227426424023844, 0.31208761748898056, + ], + }, + joint_acceleration: { + joints: [ + 0.007549889070249109, -0.002224454056580364, 0.004468806495824536, + -0.0006939356366654486, -0.0010811206677472504, + 0.007628849351717919, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.4000000000000004, + location_on_trajectory: 3.134469451365835, + }, + { + tcp_pose: { + position: { + x: 354.6535519349076, + y: -502.50162733129724, + z: 1067.1686598267186, + }, + orientation: { + x: 2.142299459478505, + y: 2.1407224451370825, + z: -0.3482751478578191, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9977204454531, + tcp_acceleration: -0.0001190125203720531, + tcp_orientation_velocity: 0.016202590588838297, + tcp_orientation_acceleration: -0.02370674523526116, + joint_position: { + joints: [ + 1.931428229301657, -1.54254886164352, 0.8488245441211287, + -1.0580397585123604, -1.739988468782932, 1.91677713219897, + ], + }, + joint_velocity: { + joints: [ + 0.3092371565108254, -0.0911117820203725, 0.18303858519056868, + -0.028423024641239903, -0.04428180043652768, 0.31247130375306686, + ], + }, + joint_acceleration: { + joints: [ + 0.0076389684526390325, -0.0022506998718086002, + 0.0045215329026349225, -0.0007021232215631581, + -0.001093876558622146, 0.007718860368055608, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.45, + location_on_trajectory: 3.1602541168291527, + }, + { + tcp_pose: { + position: { + x: 361.628853899738, + y: -495.73226100440485, + z: 1064.8194983773883, + }, + orientation: { + x: 2.1426675764478778, + y: 2.1408994899249407, + z: -0.3471972886041976, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99771446024835, + tcp_acceleration: -0.00012040239624866434, + tcp_orientation_velocity: 0.01501617310325292, + tcp_orientation_acceleration: -0.023745143347796493, + joint_position: { + joints: [ + 1.9468996356764887, -1.547107264071861, 0.857982125201326, + -1.059461787383626, -1.7422039261273623, 1.9324103457991215, + ], + }, + joint_velocity: { + joints: [ + 0.3096213383298682, -0.09122497504849161, 0.18326598379106757, + -0.028458336081276212, -0.04433681407988606, 0.3128595035257861, + ], + }, + joint_acceleration: { + joints: [ + 0.007728563916006841, -0.0022770977420498418, 0.0045745647796499546, + -0.0007103582412280867, -0.00110670635071551, 0.007809392862809232, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.5, + location_on_trajectory: 3.1860706297783574, + }, + { + tcp_pose: { + position: { + x: 368.4841897306968, + y: -488.848920730125, + z: 1062.4484840845985, + }, + orientation: { + x: 2.143019965669205, + y: 2.1410756165419955, + z: -0.3462142485707871, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99770840521347, + tcp_acceleration: -0.00012180548765172705, + tcp_orientation_velocity: 0.013828076254058646, + tcp_orientation_acceleration: -0.023771810157208834, + joint_position: { + joints: [ + 1.9623903631346438, -1.551671359148369, 0.8671511425002355, + -1.060885592120488, -1.7444221501909205, 1.9480630825515486, + ], + }, + joint_velocity: { + joints: [ + 0.3100100129024261, -0.09133949179457748, 0.18349604166853367, + -0.028494060465362712, -0.04439247107159923, 0.3132522430393478, + ], + }, + joint_acceleration: { + joints: [ + 0.007818681726834413, -0.002303649513590853, 0.004627905836040998, + -0.0007186412716020379, -0.0011196109413802436, + 0.007900453168030445, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.5500000000000003, + location_on_trajectory: 3.2119193366305847, + }, + { + tcp_pose: { + position: { + x: 375.21743927758854, + y: -481.85356825998315, + z: 1060.0555570629192, + }, + orientation: { + x: 2.143355303457125, + y: 2.1412495643790037, + z: -0.3453258495609216, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99770227969958, + tcp_acceleration: -0.00012322130942266074, + tcp_orientation_velocity: 0.012638992087532035, + tcp_orientation_acceleration: -0.023781404769498412, + joint_position: { + joints: [ + 1.9779006369667314, -1.5562412132513188, 0.8763317293681794, + -1.0623111934301623, -1.7466431732345222, 1.9637355701030563, + ], + }, + joint_velocity: { + joints: [ + 0.31040320650255165, -0.0914553399998507, 0.18372877437467167, + -0.028530200208436416, -0.04444877517402408, 0.31364954884258917, + ], + }, + joint_acceleration: { + joints: [ + 0.007909328151334265, -0.002330357032698236, 0.0046815597807392485, + -0.0007269728886205578, -0.0011325912278259398, + 0.007992047615323898, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.6, + location_on_trajectory: 3.2378005935131795, + }, + { + tcp_pose: { + position: { + x: 381.8265090474931, + y: -474.74820743015147, + z: 1057.6406567612703, + }, + orientation: { + x: 2.1436722591413573, + y: 2.14142006705262, + z: -0.3445318478664418, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99769608308253, + tcp_acceleration: -0.0001246496279350139, + tcp_orientation_velocity: 0.011449935777108802, + tcp_orientation_acceleration: -0.02376555447736985, + joint_position: { + joints: [ + 1.993430683784899, -1.5608168931483541, 0.8855240199377027, + -1.0637386121413317, -1.748867027708323, 1.9794280374358075, + ], + }, + joint_velocity: { + joints: [ + 0.3108009457175595, -0.0915725274978473, 0.1839641976466076, + -0.028566757754224768, -0.04450573019438182, 0.3140514478008802, + ], + }, + joint_acceleration: { + joints: [ + 0.00800050945179153, -0.002357222144548502, 0.004735530320440491, + -0.0007353536679145783, -0.0011456481068947827, + 0.008084182532566701, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.6500000000000004, + location_on_trajectory: 3.26371499007901, + }, + { + tcp_pose: { + position: { + x: 388.3093330103686, + y: -467.5348839780727, + z: 1055.2037219606887, + }, + orientation: { + x: 2.1439694956615507, + y: 2.1415858529214638, + z: -0.34383193316740596, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9976898147368, + tcp_acceleration: -0.0001260910153177979, + tcp_orientation_velocity: 0.010262436639795048, + tcp_orientation_acceleration: -0.02371055805235878, + joint_position: { + joints: [ + 2.0089807315384873, -1.5653984660011036, 0.8947281491328402, + -1.0651678692055848, -1.7510937462539604, 1.9951407148831444, + ], + }, + joint_velocity: { + joints: [ + 0.3112032574477308, -0.09169106221430555, 0.18420232740671572, + -0.028603735575227874, -0.04456333998471356, 0.31445796709584584, + ], + }, + joint_acceleration: { + joints: [ + 0.008092231883294361, -0.0023842466918555603, 0.004789821157524816, + -0.0007437841843538377, -0.0011587824742420635, + 0.008176864240261346, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.7, + location_on_trajectory: 3.2896627283758404, + }, + { + tcp_pose: { + position: { + x: 394.66387340942146, + y: -460.2156853466328, + z: 1052.7446907721385, + }, + orientation: { + x: 2.144245670191144, + y: 2.141745645629792, + z: -0.34322572744385266, + }, + coordinate_system: "", + }, + tcp_velocity: 199.997683473981, + tcp_acceleration: -0.0001275463861816205, + tcp_orientation_velocity: 0.009078879971872933, + tcp_orientation_acceleration: -0.023592809236121812, + joint_position: { + joints: [ + 2.024551009529672, -1.5699859993697847, 0.9039442526783742, + -1.0665989856988545, -1.7533233617067943, 2.010873834145392, + ], + }, + joint_velocity: { + joints: [ + 0.31161016890588894, -0.09181095216703286, 0.18444317976236008, + -0.02864113617266015, -0.04462160844180603, 0.3148691342249063, + ], + }, + joint_acceleration: { + joints: [ + 0.008184501692096162, -0.0024114325151107486, 0.004844435989218017, + -0.0007522650120371504, -0.0011719952242674597, 0.00827009905003117, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.75, + location_on_trajectory: 3.315644178124859, + }, + { + tcp_pose: { + position: { + x: 400.88812157615865, + y: -452.792740475627, + z: 1050.2635006343735, + }, + orientation: { + x: 2.144499434790484, + y: 2.141898164679078, + z: -0.3427127839019247, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99767706009817, + tcp_acceleration: -0.00012901550690003194, + tcp_orientation_velocity: 0.007903155716182865, + tcp_orientation_acceleration: -0.02336902298137387, + joint_position: { + joints: [ + 2.0401417484290763, -1.5745795612178068, 0.9131724671090762, + -1.0680319828228508, -1.755555907098141, 2.026627628305635, + ], + }, + joint_velocity: { + joints: [ + 0.3120217076169404, -0.09193220546581662, 0.18468677100563752, + -0.02867896207643159, -0.04468053950714031, 0.31528497700084895, + ], + }, + joint_acceleration: { + joints: [ + 0.008277325115679794, -0.002438781452251957, 0.004899378507550174, + -0.0007607967243528073, -0.0011852872502160483, 0.00836389326455133, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.8000000000000003, + location_on_trajectory: 3.3416596923270725, + }, + { + tcp_pose: { + position: { + x: 406.9800987500684, + y: -445.26821958029404, + z: 1047.7600883118482, + }, + orientation: { + x: 2.144729437089401, + y: 2.1420421260277194, + z: -0.3422925859166773, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9976705724303, + tcp_acceleration: -0.00013049768767814374, + tcp_orientation_velocity: 0.006741977673735544, + tcp_orientation_acceleration: -0.022953654489715373, + joint_position: { + joints: [ + 2.055753180291366, -1.5791792199163663, 0.922412929778938, + -1.0694668819064976, -1.7577914156575083, 2.042402331845477, + ], + }, + joint_velocity: { + joints: [ + 0.3124379014174569, -0.09205483031225806, 0.1849331176131151, + -0.028717215845095432, -0.044740137166827634, 0.31570552355136144, + ], + }, + joint_acceleration: { + joints: [ + 0.008370708379201723, -0.002466295337244515, 0.0049546523970822555, + -0.0007693798934393919, -0.0011986594435686715, + 0.008458253173992951, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.85, + location_on_trajectory: 3.3677099049753343, + }, + { + tcp_pose: { + position: { + x: 412.9378569028447, + y: -437.6443339166623, + z: 1045.2343898926824, + }, + orientation: { + x: 2.144934320999393, + y: 2.142176242719118, + z: -0.34196454599398285, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9976640103294, + tcp_acceleration: -0.00013199366122762502, + tcp_orientation_velocity: 0.005607790267211326, + tcp_orientation_acceleration: -0.02216242570668273, + joint_position: { + joints: [ + 2.071385538570822, -1.5837850442490327, 0.9316657788703877, + -1.0709037044073604, -1.7600299208148238, 2.058198180660771, + ], + }, + joint_velocity: { + joints: [ + 0.3128587784548606, -0.09217883499954108, 0.18518223624534574, + -0.02875590006577553, -0.044800405451497174, 0.31613080231824825, + ], + }, + joint_acceleration: { + joints: [ + 0.008464657689857817, -0.0024939759989669997, 0.005010261331947481, + -0.0007780150898430143, -0.001212112693151703, 0.008553185050677585, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.9000000000000004, + location_on_trajectory: 3.3937949872053714, + }, + { + tcp_pose: { + position: { + x: 418.75947956706347, + y: -429.9233355334735, + z: 1042.6863407866967, + }, + orientation: { + x: 2.1451127274555075, + y: 2.1422992255382307, + z: -0.34172800475399717, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9976573730642, + tcp_acceleration: -0.00013350430663194903, + tcp_orientation_velocity: 0.004525735103067269, + tcp_orientation_acceleration: -0.02056584682699902, + joint_position: { + joints: [ + 2.087039058136852, -1.5883971034163205, 0.9409311534034726, + -1.0723424719130752, -1.762271456202658, 2.074015412077302, + ], + }, + joint_velocity: { + joints: [ + 0.3132843671864427, -0.09230422791215476, 0.18543414374630984, + -0.028795017354079733, -0.044861348436142805, 0.3165608420564292, + ], + }, + joint_acceleration: { + joints: [ + 0.008559179236078438, -0.002521825260726205, 0.005066208975146332, + -0.0007867028823049821, -0.0012256478849836982, + 0.008648695147561756, + ], + }, + joint_torques: { + joints: [], + }, + time: 2.95, + location_on_trajectory: 3.4199153409480885, + }, + { + tcp_pose: { + position: { + x: 424.4430826692387, + y: -422.1075170104291, + z: 1040.1158757235062, + }, + orientation: { + x: 2.14526329518795, + y: 2.1424097836967433, + z: -0.3415822299387019, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99765065989874, + tcp_acceleration: -0.00013502939026466254, + tcp_orientation_velocity: 0.003551205584511431, + tcp_orientation_acceleration: -0.017181007958113306, + joint_position: { + joints: [ + 2.102713975289466, -1.593015467040248, 0.9502091932450186, + -1.0737832061427683, -1.764516055658438, 2.089854264866414, + ], + }, + joint_velocity: { + joints: [ + 0.31371469637846844, -0.0924310175256137, 0.18568885714286038, + -0.028834570354006026, -0.044922970239995544, 0.3169956718330044, + ], + }, + joint_acceleration: { + joints: [ + 0.008654279186512397, -0.0025498449399655155, 0.0051224989778414455, + -0.0007954438377964771, -0.0012392659024953307, + 0.008744789697864845, + ], + }, + joint_torques: { + joints: [], + }, + time: 3, + location_on_trajectory: 3.446071328487354, + }, + { + tcp_pose: { + position: { + x: 429.98681536715833, + y: -414.1992111824881, + z: 1037.5229287506847, + }, + orientation: { + x: 2.1453846615233854, + y: 2.1425066255468725, + z: -0.34152641544610945, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99764387012516, + tcp_acceleration: -0.00013656850796905917, + tcp_orientation_velocity: 0.0028076343072559367, + tcp_orientation_acceleration: -0.010498866094948971, + joint_position: { + joints: [ + 2.118410527774699, -1.5976402051688818, 0.9595000391177586, + -1.0752259289484758, -1.7667637532266576, 2.1057149792606022, + ], + }, + joint_velocity: { + joints: [ + 0.31414979510509394, -0.09255921240615131, 0.185946393644094, + -0.02887456173785938, -0.04498527502639234, 0.3174353210262157, + ], + }, + joint_acceleration: { + joints: [ + 0.008749963685739097, -0.0025780368472227955, 0.00517913497712907, + -0.0008042385211792783, -0.001252967625675615, 0.008841474910470373, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.0500000000000003, + location_on_trajectory: 3.472263558769092, + }, + { + tcp_pose: { + position: { + x: 435.38886089140817, + y: -406.2007908499701, + z: 1034.9074332320097, + }, + orientation: { + x: 2.1454754632158486, + y: 2.1425884593237874, + z: -0.34155968039374335, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99763700304794, + tcp_acceleration: -0.00013812224324283293, + tcp_orientation_velocity: 0.002501318975016533, + tcp_orientation_acceleration: -0.00043425956621975754, + joint_position: { + joints: [ + 2.1341289547999756, -1.6022713882808632, 0.968803832609428, + -1.0766706623165543, -1.7690145831610773, 2.1215977969690356, + ], + }, + joint_velocity: { + joints: [ + 0.31458969274704235, -0.09268882121033598, 0.18620677064057328, + -0.028914994206123954, -0.045048267002563105, 0.31787981932405146, + ], + }, + joint_acceleration: { + joints: [ + 0.008846238848869694, -0.0026064027841776727, 0.0052361205924777955, + -0.0008130874944889392, -0.0012667539300625908, + 0.008938756964349528, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.1, + location_on_trajectory: 3.4984922808667696, + }, + { + tcp_pose: { + position: { + x: 440.6474373909772, + y: -398.11466847418666, + z: 1032.2693218457837, + }, + orientation: { + x: 2.145534337307072, + y: 2.142653993916583, + z: -0.34168106821406546, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99763005790084, + tcp_acceleration: -0.00013969149932790956, + tcp_orientation_velocity: 0.002764208350633961, + tcp_orientation_acceleration: 0.009895794634519825, + joint_position: { + joints: [ + 2.149869497049403, -1.6069090872899154, 0.978120716181816, + -1.0781174283690882, -1.7712685799269139, 2.1375029611930074, + ], + }, + joint_velocity: { + joints: [ + 0.3150344189899809, -0.09281985268456908, 0.18647000570334177, + -0.028955870487308275, -0.0451119504193986, 0.31832919672265064, + ], + }, + joint_acceleration: { + joints: [ + 0.008943110759021536, -0.002634944543049298, 0.005293459424457465, + -0.0008219913167696941, -0.0012806256866968585, 0.00903664200647968, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.1500000000000004, + location_on_trajectory: 3.524757813880632, + }, + { + tcp_pose: { + position: { + x: 445.7607987828331, + y: -389.943295858346, + z: 1029.6085265832442, + }, + orientation: { + x: 2.1455599220160315, + y: 2.1427019396676528, + z: -0.34188954578455377, + }, + coordinate_system: "", + }, + tcp_velocity: 199.997623033898, + tcp_acceleration: -0.00014127576832834217, + tcp_orientation_velocity: 0.0034908984384685164, + tcp_orientation_acceleration: 0.0171097869293983, + joint_position: { + joints: [ + 2.1656323966989737, -1.6115533735493202, 0.9874508331797622, + -1.0795662493652851, -1.7735257782030172, 2.1534307166413007, + ], + }, + joint_velocity: { + joints: [ + 0.3154840038229445, -0.0929523156646409, 0.18673611658301903, + -0.028997193337800924, -0.04517632957123279, 0.31878348352469943, + ], + }, + joint_acceleration: { + joints: [ + 0.009040585466735284, -0.0026636639065991214, 0.005351155054544884, + -0.0008309505441728178, -0.0012945837621014579, + 0.009135136150373346, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.2, + location_on_trajectory: 3.5510606322587517, + }, + { + tcp_pose: { + position: { + x: 450.7272356053662, + y: -381.6891638134254, + z: 1026.9249787470653, + }, + orientation: { + x: 2.145550857657364, + y: 2.1427310092002556, + z: -0.34218400259518644, + }, + coordinate_system: "", + }, + tcp_velocity: 199.997615930324, + tcp_acceleration: -0.00014287462335005316, + tcp_orientation_velocity: 0.004475187043573785, + tcp_orientation_acceleration: 0.02094470862966499, + joint_position: { + joints: [ + 2.1814178974316976, -1.6162043188563795, 0.9967943278401178, + -1.0810171477028683, -1.7757862128840372, 2.1693813095454773, + ], + }, + joint_velocity: { + joints: [ + 0.31593847753665444, -0.09308621907522899, 0.18700512120879625, + -0.029038965541725557, -0.04524140879560874, 0.319242710337688, + ], + }, + joint_acceleration: { + joints: [ + 0.009138668983940659, -0.0026925626461296566, 0.005409211041187962, + -0.0008399657293698882, -0.0013086290172139431, + 0.009234245470932092, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.25, + location_on_trajectory: 3.5774013172141554, + }, + { + tcp_pose: { + position: { + x: 455.54507587557276, + y: -373.35480180875606, + z: 1024.2186089499553, + }, + orientation: { + x: 2.145505787588299, + y: 2.1427399182739992, + z: -0.3425632499560913, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99760874643567, + tcp_acceleration: -0.00014448905858444036, + tcp_orientation_velocity: 0.005585369301435017, + tcp_orientation_acceleration: 0.022863689175343194, + joint_position: { + joints: [ + 2.197226244452639, -1.620861995456843, 1.0061513453006419, + -1.0824701459194577, -1.778049919082578, 2.1853549876750695, + ], + }, + joint_velocity: { + joints: [ + 0.31639787072133857, -0.09322157192925387, 0.18727703768713783, + -0.029081189910737913, -0.045307192472954186, 0.31970690807179264, + ], + }, + joint_acceleration: { + joints: [ + 0.009237367277536981, -0.0027216425197318346, 0.0054676309162005, + -0.0008490374207470445, -0.0013227623063105643, + 0.009333975997760638, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.3000000000000003, + location_on_trajectory: 3.60378006306481, + }, + { + tcp_pose: { + position: { + x: 460.2126859498478, + y: -364.94277760702624, + z: 1021.4893471133609, + }, + orientation: { + x: 2.1454233591836274, + y: 2.1427273866678807, + z: -0.3430260202481588, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99760148141814, + tcp_acceleration: -0.00014611996448365958, + tcp_orientation_velocity: 0.006761555961108106, + tcp_orientation_acceleration: 0.02391348840008047, + joint_position: { + joints: [ + 2.2130576845038314, -1.625526476049305, 1.0155220316088316, + -1.083925266693942, -1.7803169321313326, 2.2013520003526565, + ], + }, + joint_velocity: { + joints: [ + 0.31686221426440814, -0.09335838332720217, 0.1875518843004163, + -0.02912386928380026, -0.0453736850262398, 0.32017610793746404, + ], + }, + joint_acceleration: { + joints: [ + 0.009336686267680241, -0.002750905271597934, 0.005526418183710019, + -0.0008581661623541229, -0.0013369844771959894, + 0.009434333712521328, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.35, + location_on_trajectory: 3.630197287730085, + }, + { + tcp_pose: { + position: { + x: 464.72847138826313, + y: -356.45569688341146, + z: 1018.7371224662817, + }, + orientation: { + x: 2.145302224838164, + y: 2.142692139090494, + z: -0.34357096621944155, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99759413443923, + tcp_acceleration: -0.00014776680046679744, + tcp_orientation_velocity: 0.007976718141443066, + tcp_orientation_acceleration: 0.024560389465362965, + joint_position: { + joints: [ + 2.22891246587908, -1.6301978337895633, 1.0249065337306835, + -1.0853825328478377, -1.782587287585202, 2.217372598468816, + ], + }, + joint_velocity: { + joints: [ + 0.3173315393481066, -0.09349666245641367, 0.18782967950550883, + -0.029167006526973325, -0.045440890920673785, 0.3206503414430448, + ], + }, + joint_acceleration: { + joints: [ + 0.009436631825257549, -0.0027803526315081624, 0.005585576318653524, + -0.0008673524938508987, -0.0013512963707127527, + 0.009535324547519366, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.4000000000000004, + location_on_trajectory: 3.6566533886120616, + }, + { + tcp_pose: { + position: { + x: 469.090877822189, + y: -347.8962028285313, + z: 1015.9618635442014, + }, + orientation: { + x: 2.145141042996085, + y: 2.142632906116861, + z: -0.3441966603301603, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975867047381, + tcp_acceleration: -0.0001494289335823856, + tcp_orientation_velocity: 0.009217594907644405, + tcp_orientation_acceleration: 0.02500372966161957, + joint_position: { + joints: [ + 2.244790838438642, -1.6348761422949463, 1.0343049995593825, + -1.0868419673466394, -1.7848610212234, 2.233417034496961, + ], + }, + joint_velocity: { + joints: [ + 0.3178058774469339, -0.09363641859035299, 0.18811044193228166, + -0.02921060453318535, -0.045508814663311074, 0.321129640392216, + ], + }, + joint_acceleration: { + joints: [ + 0.009537209765664335, -0.0028099863129460545, 0.005645108763263649, + -0.0008765969498281155, -0.001365698819455479, 0.00963695437898874, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.45, + location_on_trajectory: 3.6831490286984088, + }, + { + tcp_pose: { + position: { + x: 473.29839182510744, + y: -339.26697573492885, + z: 1013.16349818814, + }, + orientation: { + x: 2.1449384792064174, + y: 2.1425484251513445, + z: -0.34490159414914284, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99757919154587, + tcp_acceleration: -0.00015110735802181794, + tcp_orientation_velocity: 0.010477091107605014, + tcp_orientation_acceleration: 0.02533531535239299, + joint_position: { + joints: [ + 2.2606930536237733, -1.6395614756485986, 1.0437175779239116, + -1.0883035933011562, -1.787138169051533, 2.2494855625080374, + ], + }, + joint_velocity: { + joints: [ + 0.318285260324673, -0.09377766108770827, 0.1883941903818352, + -0.029254666221956136, -0.04557746080261933, 0.32161403688094364, + ], + }, + joint_acceleration: { + joints: [ + 0.009638425840949308, -0.002839808010630937, 0.005705018922355637, + -0.0008859000589764985, -0.001380192647036023, 0.009739229019508624, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.5, + location_on_trajectory: 3.709684441259959, + }, + { + tcp_pose: { + position: { + x: 477.34954178646944, + y: -330.5707325667867, + z: 1010.3419535438414, + }, + orientation: { + x: 2.144693207203902, + y: 2.1424374414159746, + z: -0.3456841778045223, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975715940023, + tcp_acceleration: -0.00015280314755727873, + tcp_orientation_velocity: 0.011751126442883706, + tcp_orientation_acceleration: 0.025601255336075237, + joint_position: { + joints: [ + 2.2766193644711095, -1.644253908403717, 1.053144418597566, + -1.089767433968835, -1.789418767303662, 2.2655784381850554, + ], + }, + joint_velocity: { + joints: [ + 0.3187697200310288, -0.09392039939141608, 0.18868094382451722, + -0.029299194539083, -0.04564683392801468, 0.32210356329416684, + ], + }, + joint_acceleration: { + joints: [ + 0.009740285736903323, -0.0028698193997644924, 0.005765310161232046, + -0.0008952623437474472, -0.0013947786677848116, + 0.009842154214378942, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.5500000000000003, + location_on_trajectory: 3.7362599596418122, + }, + { + tcp_pose: { + position: { + x: 481.2428987884228, + y: -321.8102265125483, + z: 1007.4971560610998, + }, + orientation: { + x: 2.1444039100143346, + y: 2.1422987089634558, + z: -0.3465427394915239, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975639112311, + tcp_acceleration: -0.0001545157488180847, + tcp_orientation_velocity: 0.01303721664121254, + tcp_orientation_acceleration: 0.02582654336489225, + joint_position: { + joints: [ + 2.292570025626876, -1.6489535155877402, 1.0625856723063634, + -1.0912335127550645, -1.7917028524443346, 2.281695918837454, + ], + }, + joint_velocity: { + joints: [ + 0.31925928889836336, -0.09406464302768472, 0.1889707213979584, + -0.02934419245633088, -0.045716938669397814, 0.32259825230238154, + ], + }, + joint_acceleration: { + joints: [ + 0.009842795071213209, -0.002900022135476907, 0.005825985804830397, + -0.0009046843205906533, -0.0014094576861634054, + 0.009945735639327316, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.6, + location_on_trajectory: 3.7628760326816697, + }, + { + tcp_pose: { + position: { + x: 484.9770774852561, + y: -312.98824652013144, + z: 1004.629031493228, + }, + orientation: { + x: 2.144069281083393, + y: 2.1421309917140534, + z: -0.34747552504011764, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975561424274, + tcp_acceleration: -0.00015624441658701458, + tcp_orientation_velocity: 0.014333780779372933, + tcp_orientation_acceleration: 0.026025618501867742, + joint_position: { + joints: [ + 2.308545293360946, -1.6536603727064856, 1.0720414907373619, + -1.092701853214468, -1.7939904611706017, 2.2978382634152936, + ], + }, + joint_velocity: { + joints: [ + 0.31975399953815015, -0.09421040160496377, 0.18926354240500026, + -0.029389662971142066, -0.04578777969663102, 0.32309813685809957, + ], + }, + joint_acceleration: { + joints: [ + 0.009945959384408112, -0.0029304178503150565, 0.005887049132832773, + -0.0009141664988123597, -0.0014242304954079758, + 0.010049978893148506, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.6500000000000004, + location_on_trajectory: 3.789533414625042, + }, + { + tcp_pose: { + position: { + x: 488.55073698536984, + y: -304.1076168144108, + z: 1001.7375048966841, + }, + orientation: { + x: 2.1436880254279416, + y: 2.141933064515419, + z: -0.3484806975453219, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99754828678945, + tcp_acceleration: -0.0001579902573212172, + tcp_orientation_velocity: 0.015639778491399317, + tcp_orientation_acceleration: 0.026207275172360288, + joint_position: { + joints: [ + 2.324545425580691, -1.6583745557482366, 1.0815120265468634, + -1.0941724790521787, -1.7962816304139977, 2.314005732523264, + ], + }, + joint_velocity: { + joints: [ + 0.32025388483680417, -0.09435768481271622, 0.18955942631124167, + -0.029435609106212117, -0.04585936171893861, 0.3236032501916964, + ], + }, + joint_acceleration: { + joints: [ + 0.010049784131638298, -0.002961008151447519, 0.005948503374164658, + -0.0009237093796521411, -0.0014390978767320258, + 0.010154889488234212, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.7, + location_on_trajectory: 3.8162321939123824, + }, + { + tcp_pose: { + position: { + x: 491.96258173558715, + y: -295.1711963966557, + z: 998.8225006308597, + }, + orientation: { + x: 2.1432588608086087, + y: 2.14170371422443, + z: -0.34955633706288664, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99754034340168, + tcp_acceleration: -0.00015975444711102668, + tcp_orientation_velocity: 0.016954508296608953, + tcp_orientation_acceleration: 0.026377112103066005, + joint_position: { + joints: [ + 2.340570681844626, -1.6630961411877572, 1.090997433368486, + -1.0956454141250893, -1.7985763973424955, 2.330198588434463, + ], + }, + joint_velocity: { + joints: [ + 0.320758977951314, -0.09450650242010852, 0.18985839274241673, + -0.02948203390910728, -0.04593168948430422, 0.324113625806923, + ], + }, + joint_acceleration: { + joints: [ + 0.010154274679838307, -0.002991794620106622, 0.006010351705434952, + -0.0009333134565623477, -0.0014540605987025516, 0.01026047284760855, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.75, + location_on_trajectory: 3.8429728064140147, + }, + { + tcp_pose: { + position: { + x: 495.2113624076092, + y: -286.1818785255838, + z: 995.8839423580421, + }, + orientation: { + x: 2.142780518922422, + y: 2.1414417408099187, + z: -0.3507004403730513, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99753231134474, + tcp_acceleration: -0.00016153621800185633, + tcp_orientation_velocity: 0.01827748970170592, + tcp_orientation_acceleration: 0.02653882963514897, + joint_position: { + joints: [ + 2.3566213233758226, -1.6678252059902474, 1.100497865821105, + -1.0971206824430895, -1.8008747993624281, 2.3464170951039565, + ], + }, + joint_velocity: { + joints: [ + 0.321269312304788, -0.09465686427472689, 0.19016046148178517, + -0.029528940451868352, -0.04600476777880887, 0.32462929747645725, + ], + }, + joint_acceleration: { + joints: [ + 0.010259436302995075, -0.0030227788103687177, 0.006072597248496509, + -0.0009429792142245921, -0.001469119416563912, 0.010366734300504268, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.8000000000000003, + location_on_trajectory: 3.8697557227776174, + }, + { + tcp_pose: { + position: { + x: 498.2958767864157, + y: -277.1425901796809, + z: 992.9217530435527, + }, + orientation: { + x: 2.142251746614167, + y: 2.1411459584751893, + z: -0.35191092081501407, + }, + coordinate_system: "", + }, + tcp_velocity: 199.99752418977988, + tcp_acceleration: -0.00016351203839803916, + tcp_orientation_velocity: 0.019608391260123852, + tcp_orientation_acceleration: 0.0266949532709698, + joint_position: { + joints: [ + 2.372697613075105, -1.6725618276152299, 1.1100134795166645, + -1.0985983081702761, -1.8031768741203764, 2.362661518182109, + ], + }, + joint_velocity: { + joints: [ + 0.3217849215816135, -0.0948087803011454, 0.19046565246726638, + -0.02957633183052974, -0.04607860142596061, 0.3251502992369734, + ], + }, + joint_acceleration: { + joints: [ + 0.01036527388702523, -0.003053962161780885, 0.006135242895233256, + -0.0009527071016313107, -0.001484275029994818, 0.01047367878368454, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.85, + location_on_trajectory: 3.8965816731403273, + }, + { + tcp_pose: { + position: { + x: 501.2149706603873, + y: -268.0562915004574, + z: 989.9358549560792, + }, + orientation: { + x: 2.141671307105042, + y: 2.14081519679905, + z: -0.3531856081946903, + }, + coordinate_system: "", + }, + tcp_velocity: 199.9975159601409, + tcp_acceleration: -0.00010804311870060692, + tcp_orientation_velocity: 0.020946985028802902, + tcp_orientation_acceleration: 0.02684726232164728, + joint_position: { + joints: [ + 2.388799815533984, -1.677306084020362, 1.1195444310678317, + -1.1000783156261424, -1.8054826595050242, 2.378932125027654, + ], + }, + joint_velocity: { + joints: [ + 0.3223058396934905, -0.09496226049090498, 0.1907739857713085, + -0.029624211162031483, -0.04615319528180835, 0.3256766653548257, + ], + }, + joint_acceleration: { + joints: [ + 0.010471885687804985, -0.0030853736236388625, 0.0061983468034959525, + -0.0009625061499831519, -0.0014995415087225281, + 0.010581405580604155, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.9000000000000004, + location_on_trajectory: 3.923450779919092, + }, + { + tcp_pose: { + position: { + x: 503.9675387124528, + y: -258.92597521791987, + z: 986.9261696687412, + }, + orientation: { + x: 2.1410379812372162, + y: 2.1404483018941396, + z: -0.3545222487680146, + }, + coordinate_system: "", + }, + tcp_velocity: 199.997513385468, + tcp_acceleration: -159.93686218836643, + tcp_orientation_velocity: 0.022293117492288583, + tcp_orientation_acceleration: 0.007087000204164103, + joint_position: { + joints: [ + 2.404928197044454, -1.6820580536643204, 1.1290908780937954, + -1.1015607292864793, -1.8077921936485573, 2.3952291847175915, + ], + }, + joint_velocity: { + joints: [ + 0.322832110150394, -0.09511731766350928, 0.19108548714761597, + -0.029672582445528055, -0.046228555576832864, 0.32620843979503383, + ], + }, + joint_acceleration: { + joints: [ + -0.24841221752421738, 0.07319068662272248, -0.14703608503178558, + 0.022832400412474637, 0.035571858073367005, -0.2510102290224179, + ], + }, + joint_torques: { + joints: [], + }, + time: 3.95, + location_on_trajectory: 3.950363489496172, + }, + { + tcp_pose: { + position: { + x: 506.55252555816367, + y: -249.75466552166048, + z: 983.8926178832245, + }, + orientation: { + x: 2.14035056869106, + y: 2.1400441375564747, + z: -0.35591850538531833, + }, + coordinate_system: "", + }, + tcp_velocity: 184.00382974130432, + tcp_acceleration: -319.8736886003212, + tcp_orientation_velocity: 0.02165568504921931, + tcp_orientation_acceleration: -0.01949800553891573, + joint_position: { + joints: [ + 2.4210830265490233, -1.6868178157867129, 1.1386529797825933, + -1.1030455738706952, -1.8101055150627074, 2.411552969007157, + ], + }, + joint_velocity: { + joints: [ + 0.2974646179410689, -0.08764319182863275, 0.17607037726813, + -0.027340971120784027, -0.04259600947447166, 0.300575642452584, + ], + }, + joint_acceleration: { + joints: [ + -0.5099946435964271, 0.1502617645409386, -0.30186766387314734, + 0.046875318882788924, 0.07302964910893604, -0.5153284068117915, + ], + }, + joint_torques: { + joints: [], + }, + time: 4, + location_on_trajectory: 3.977320250921939, + }, + { + tcp_pose: { + position: { + x: 508.5938079352904, + y: -242.02078561250434, + z: 981.3257541419582, + }, + orientation: { + x: 2.1397304357942772, + y: 2.1396749932826498, + z: -0.35713574922317215, + }, + coordinate_system: "", + }, + tcp_velocity: 168.010144525436, + tcp_acceleration: -319.87370431736736, + tcp_orientation_velocity: 0.020343316938397017, + tcp_orientation_acceleration: -0.026247362216445965, + joint_position: { + joints: [ + 2.434674658838561, -1.6908223728471836, 1.1466979158206083, + -1.1042948263985577, -1.8120517945960044, 2.42528674896285, + ], + }, + joint_velocity: { + joints: [ + 0.27183264579075145, -0.08009114120941548, 0.16089872076030134, + -0.02498505055724918, -0.038925590665939286, 0.27467559911385486, + ], + }, + joint_acceleration: { + joints: [ + -0.5126394430063503, 0.1510410123843461, -0.30343313015657397, + 0.04711841127069713, 0.07340837617064776, -0.5180008667745847, + ], + }, + joint_torques: { + joints: [], + }, + time: 4.05, + location_on_trajectory: 4, + }, + ], + } + + return +} + +export const TrajectoryRendererSt = { + args: {}, + render: (args) => , + name: "Default", +} satisfies Story