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plan_of_cartisen_demo.txt
130 lines (130 loc) · 7.28 KB
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plan_of_cartisen_demo.txt
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joint_trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "base_link"
joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
points:
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positions: [0.030263198539614677, 0.6288348436355591, -0.4986205995082855, -1.2374036312103271, 0.9285186529159546, -1.2199809551239014]
velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
accelerations: [0.029661433414055315, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 0
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positions: [0.03145557674771056, 0.6124990523209711, -0.45910473317029704, -1.2445884876188564, 0.9330138682293749, -1.183044763786634]
velocities: [0.007316709838476527, -0.09710488946637515, 0.23700441989288973, -0.0396040309651733, 0.02794879263459861, 0.2228426136348158]
accelerations: [0.03131924852075618, -0.39752013323105967, 0.9828311635829075, -0.14358532350726794, 0.1217472772583589, 0.9318591801648881]
effort: []
time_from_start:
secs: 0
nsecs: 283547580
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positions: [0.03264275820248571, 0.5969483285499017, -0.4210074732859624, -1.2507211020812135, 0.9375726218928342, -1.1471362276546146]
velocities: [0.012083347330517556, -0.15455508995597728, 0.38140502499414364, -0.0569511050004915, 0.046542869117322874, 0.3610771171829242]
accelerations: [0.03312654954088715, -0.3594069620330098, 0.9358414479888177, -0.061688154862818784, 0.13006836941787572, 0.9137826310433759]
effort: []
time_from_start:
secs: 0
nsecs: 397390889
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positions: [0.03382445350013298, 0.5821099211956391, -0.38417963066855254, -1.25588477577228, 0.9421349174010788, -1.112151659081314]
velocities: [0.015189346571664115, -0.1866527464234397, 0.4665678651752053, -0.06021807790540008, 0.058454766218990296, 0.44498406660324963]
accelerations: [0.03704151302583097, -0.3610095502229267, 0.9804905815557372, -0.004717414584459571, 0.13820150292803554, 0.9765654900087435]
effort: []
time_from_start:
secs: 0
nsecs: 483404374
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positions: [0.03500025396750844, 0.5679218495135814, -0.3484981892645587, -1.260152854443352, 0.9466478372547109, -1.07800619687044]
velocities: [0.017831670335022184, -0.21082825443600184, 0.5341511514180649, -0.05818950881114998, 0.06790718020874062, 0.5131554295412912]
accelerations: [0.03606062076561202, -0.3037269274398677, 0.8831249385291745, 0.06698849517484971, 0.12225182715255793, 0.9055765719471723]
effort: []
time_from_start:
secs: 0
nsecs: 554064592
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positions: [0.03617022145199045, 0.5543382211240301, -0.3138520633980718, -1.263595519887498, 0.9510727131530811, -1.0446057336783494]
velocities: [0.02004299310970254, -0.22834637955027054, 0.5866680059963794, -0.05220203578106268, 0.07482985306242124, 0.5676138551020854]
accelerations: [0.03494411326335199, -0.2563885150267105, 0.7996418551847467, 0.1293158404384005, 0.0987958858197628, 0.8407499433528779]
effort: []
time_from_start:
secs: 0
nsecs: 615566936
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positions: [0.037333714799171094, 0.5413112245483174, -0.28015587561522914, -1.2662706349011539, 0.9553655247471889, -1.0118958070803392]
velocities: [0.020359438656836957, -0.2241544378380252, 0.5838792428025026, -0.04090240829759504, 0.07393178693750549, 0.5686665860047811]
accelerations: [-0.024660804968285082, 0.4093030447370177, -0.9159693114637846, 0.2638354578208056, -0.13257373875459616, -0.8233529011121914]
effort: []
time_from_start:
secs: 0
nsecs: 670806059
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positions: [0.038490563881227284, 0.5288058009360898, -0.24732952603390046, -1.2682350221112062, 0.9594941993346887, -0.9798093147371543]
velocities: [0.018893255074821272, -0.20096104663117115, 0.5313394133022291, -0.026976428228344583, 0.06609216493999744, 0.5210634940991397]
accelerations: [-0.024951807510322513, 0.3767982636668387, -0.8640293570437781, 0.20937257588756222, -0.13275057435635634, -0.7889553847422757]
effort: []
time_from_start:
secs: 0
nsecs: 729660732
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positions: [0.03964048290660447, 0.5167904888252227, -0.21530477307231788, -1.2695400436857853, 0.9634286825850696, -0.9482907486836258]
velocities: [0.01721188227952784, -0.1770806198103485, 0.47548781455674355, -0.01523002227959393, 0.05749128306424835, 0.4694837534812486]
accelerations: [-0.027511627795080852, 0.37022889323005387, -0.8816646969854516, 0.16010774959442398, -0.13605221872478954, -0.8224587192714201]
effort: []
time_from_start:
secs: 0
nsecs: 793085355
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positions: [0.040783187998066885, 0.5052381772738359, -0.18402175886701388, -1.2702332502801468, 0.9671421512994387, -0.9172901762366269]
velocities: [0.016335312016692024, -0.16251964292688142, 0.4437109522767886, -0.005848343333019348, 0.05149286022021071, 0.4412183526660404]
accelerations: [0.0012056036714449571, 0.06308258953570785, -0.06707779746348572, 0.11576261868201927, -0.041755735874937194, -0.023058909208739358]
effort: []
time_from_start:
secs: 0
nsecs: 863218868
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positions: [0.041918397371571534, 0.4941254301666743, -0.15342765196408428, -1.2703588913222548, 0.9706105193431758, -0.8867624737882032]
velocities: [0.015181495876969691, -0.14648573077559957, 0.4064617975447735, 0.0015780660891992278, 0.044875753561172446, 0.40687403894339935]
accelerations: [-0.03190423192739771, 0.3690989796309935, -0.9313889009662089, 0.0904599516969753, -0.1377021687297818, -0.8948319956191388]
effort: []
time_from_start:
secs: 0
nsecs: 932534717
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positions: [0.0430458315086565, 0.4834319480002872, -0.12347556232105565, -1.2699583447353668, 0.9738120376722631, -0.8566666918659877]
velocities: [0.012474359541215927, -0.11672380369831709, 0.32950976347639405, 0.006832156147567365, 0.034131382551935645, 0.3321113674982635]
accelerations: [-0.033084568384580376, 0.34867248690682645, -0.9203531406433921, 0.04079361969864914, -0.12222012365941083, -0.9024212195689004]
effort: []
time_from_start:
secs: 1
nsecs: 13148358
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positions: [0.044165213315540464, 0.47314013510544856, -0.0941236649122442, -1.2690704831608763, 0.9767269673753113, -0.826965521867041]
velocities: [0.007736163826718465, -0.07049898151346005, 0.20215517923948573, 0.007063959325895557, 0.019571294724743348, 0.20498468372802514]
accelerations: [-0.03703776534204471, 0.34774968017973007, -0.9792076931311806, -0.018727553968426708, -0.10303756173388862, -0.9859936257092621]
effort: []
time_from_start:
secs: 1
nsecs: 115253139
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positions: [0.045276268279501944, 0.46323474879480453, -0.06533448512534604, -1.2677319896361832, 0.9793373101758313, -0.7976248424520891]
velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
accelerations: [-0.036601985782718234, 0.3263176176467667, -0.9484149600475559, -0.04409459707231773, -0.08599370253654287, -0.9665832615267403]
effort: []
time_from_start:
secs: 1
nsecs: 361647319
multi_dof_joint_trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names: []
points: []