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,
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+ },
+ joint_torques: {
+ joints: [],
+ },
+ time: 3.6,
+ location_on_trajectory: 3.7628760326816697,
+ },
+ {
+ tcp_pose: {
+ position: {
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+ y: -312.98824652013144,
+ z: 1004.629031493228,
+ },
+ orientation: {
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+ 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: {
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+ joint_acceleration: {
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+ },
+ joint_torques: {
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+ time: 3.6500000000000004,
+ location_on_trajectory: 3.789533414625042,
+ },
+ {
+ tcp_pose: {
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+ y: -304.1076168144108,
+ z: 1001.7375048966841,
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+ orientation: {
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+ },
+ coordinate_system: "",
+ },
+ tcp_velocity: 199.99754828678945,
+ tcp_acceleration: -0.0001579902573212172,
+ tcp_orientation_velocity: 0.015639778491399317,
+ tcp_orientation_acceleration: 0.026207275172360288,
+ joint_position: {
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+ },
+ joint_torques: {
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+ time: 3.7,
+ location_on_trajectory: 3.8162321939123824,
+ },
+ {
+ tcp_pose: {
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+ orientation: {
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+ },
+ coordinate_system: "",
+ },
+ tcp_velocity: 199.99754034340168,
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+ },
+ time: 3.75,
+ location_on_trajectory: 3.8429728064140147,
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+ {
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+ coordinate_system: "",
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+ joint_torques: {
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+ },
+ {
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+ },
+ coordinate_system: "",
+ },
+ tcp_velocity: 199.99752418977988,
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+ tcp_orientation_velocity: 0.019608391260123852,
+ tcp_orientation_acceleration: 0.0266949532709698,
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+ ],
+ },
+ joint_torques: {
+ joints: [],
+ },
+ time: 3.85,
+ location_on_trajectory: 3.8965816731403273,
+ },
+ {
+ tcp_pose: {
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+ },
+ coordinate_system: "",
+ },
+ tcp_velocity: 199.9975159601409,
+ tcp_acceleration: -0.00010804311870060692,
+ tcp_orientation_velocity: 0.020946985028802902,
+ tcp_orientation_acceleration: 0.02684726232164728,
+ joint_position: {
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+ },
+ joint_velocity: {
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+ ],
+ },
+ joint_torques: {
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+ },
+ time: 3.9000000000000004,
+ location_on_trajectory: 3.923450779919092,
+ },
+ {
+ tcp_pose: {
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+ 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: {
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+ ],
+ },
+ joint_velocity: {
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+ ],
+ },
+ joint_torques: {
+ joints: [],
+ },
+ time: 3.95,
+ location_on_trajectory: 3.950363489496172,
+ },
+ {
+ tcp_pose: {
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+ y: -249.75466552166048,
+ z: 983.8926178832245,
+ },
+ orientation: {
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+ 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: [
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+ ],
+ },
+ joint_velocity: {
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+ -0.027340971120784027, -0.04259600947447166, 0.300575642452584,
+ ],
+ },
+ joint_acceleration: {
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+ ],
+ },
+ joint_torques: {
+ joints: [],
+ },
+ time: 4,
+ location_on_trajectory: 3.977320250921939,
+ },
+ {
+ tcp_pose: {
+ position: {
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+ y: -242.02078561250434,
+ z: 981.3257541419582,
+ },
+ orientation: {
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+ 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: [
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+ 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