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floweisshardt/gist:c9a97814726d91ce565d7c1b97aa4a59

Created January 15, 2021 10:10
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joint_trajectory
Raw
gistfile1.txt
rostopic echo /arm/joint_trajectory_controller/follow_joint_trajectory/goal
header:
seq: 25
stamp:
secs: 1610641480
nsecs: 472564067
frame_id: ''
goal_id:
stamp:
secs: 1610641480
nsecs: 472564703
id: "/move_group-26-1610641480.472564703"
goal:
trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "/base_footprint"
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint]
points:
-
positions: [0.1927330000000001, -0.6891420082585088, 5.1717406450258645, -1.7499597157611355]
velocities: [0.0, 0.0, 0.0, 0.0]
accelerations: [0.0, 0.0, 0.0, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 0
-
positions: [0.1927330000000001, -0.6834960834005672, 5.129403307544903, -1.713707564278051]
velocities: [0.0, 0.02865196874589343, -0.2448386463493839, 0.21544756173863633]
accelerations: [0.0, 0.09214016732887062, -0.9819996667878549, 0.8971548036099937]
effort: []
time_from_start:
secs: 0
nsecs: 294674675
-
positions: [0.1927330000000001, -0.6790180452589091, 5.088783316696529, -1.6775641519640736]
velocities: [0.0, 0.03708737627873282, -0.39486353147155034, 0.3577914385004657]
accelerations: [0.0, -0.020642996596107493, -0.9545148450228788, 0.9752135234898247]
effort: []
time_from_start:
secs: 0
nsecs: 412072661
-
positions: [0.1927330000000001, -0.6758704137102863, 5.050019633421611, -1.6419465160877735]
velocities: [1.1239806041176952e-15, 0.030656403312424495, -0.4718623063162884, 0.4411992235246044]
accelerations: [2.784856932084283e-14, -0.1331568503576161, -0.6971601735908884, 0.8297022360847705]
effort: []
time_from_start:
secs: 0
nsecs: 499432438
-
positions: [0.19273300000000027, -0.6739974627702131, 5.012978635319936, -1.6067808019601042]
velocities: [-5.106900804438368e-17, 0.017193149696567607, -0.5, 0.48275231604409347]
accelerations: [-6.344589359804181e-14, -0.22323013460782085, 0.0, 0.22259425810174624]
effort: []
time_from_start:
secs: 0
nsecs: 573514434
-
positions: [0.1927330000000001, -0.6733523205890738, 4.977547481611593, -1.5720002876422068]
velocities: [-1.175049612162079e-15, 0.0005985339579769018, -0.4961048949877902, 0.4954091292383438]
accelerations: [3.362921199904015e-14, -0.24342605327833902, 0.11147555886862365, 0.13138795545820517]
effort: []
time_from_start:
secs: 0
nsecs: 644376742
-
positions: [0.1927330000000001, -0.673897143645015, 4.943632731492628, -1.5375487683818452]
velocities: [0.0, -0.016421496730291054, -0.4837111780133899, 0.5]
accelerations: [0.0, -0.24815557557697418, 0.24769545452342165, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 713279780
-
positions: [0.1927330000000001, -0.675601259847522, 4.9111567602852695, -1.503378826836297]
velocities: [0.0, -0.03338286177943737, -0.46677888163989156, 0.5]
accelerations: [0.0, -0.248081650634575, 0.24769157947350287, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 781619663
-
positions: [0.1927330000000001, -0.6784396923785695, 4.880054984652829, -1.4694504952856453]
velocities: [0.0, -0.050216930957699676, -0.449969352479324, 0.5]
accelerations: [0.0, -0.2479609579191471, 0.24762810742341554, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 849476327
-
positions: [0.1927330000000001, -0.682391977401736, 4.850273700265366, -1.4357302481962482]
velocities: [-4.137681626641062e-16, -0.06693780811118977, -0.43326933983655125, 0.5]
accelerations: [-1.2303496539763246e-14, -0.24780678768725983, 0.24752114859399604, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 916916821
-
positions: [0.19273300000000004, -0.6874411964493966, 4.821768370671083, -1.40219023941824]
velocities: [2.0981219804417612e-16, -0.08355781810581052, -0.41666717892288907, 0.5]
accelerations: [3.1001475759767715e-14, -0.247636680810252, 0.24739033620000753, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 983996838
-
positions: [0.19273300000000013, -0.6935731677633047, 4.794502253156444, -1.3688077228680435]
velocities: [6.235803607082823e-16, -0.10008805656542497, -0.40015229204171354, 0.5]
accelerations: [-1.8718934080219285e-14, -0.247472415606938, 0.2472590269443207, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 50761871
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positions: [0.19273300000000013, -0.7007757569866434, 4.768445279354129, -1.3355646123354208]
velocities: [0.0, -0.1165388732778253, -0.38371474094515257, 0.5]
accelerations: [0.0, -0.24734005768946557, 0.2471544945272403, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 117248092
-
positions: [0.19273300000000013, -0.7090382788379546, 4.743573130400517, -1.302447147461792]
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accelerations: [0.0, -0.24727006719060568, 0.24710813898737943, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 183483022
-
positions: [0.19273300000000013, -0.7183509693991686, 4.719866461914612, -1.2694456407637613]
velocities: [-8.438562612398014e-16, -0.14924249902234604, -0.35103264866379613, 0.5]
accelerations: [-2.5612979711711117e-14, -0.24729746902007685, 0.24715572687414983, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 249486036
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positions: [0.19273300000000002, -0.7287045145057552, 4.697310245148903, -1.2365542860502818]
velocities: [-1.0555158405246834e-15, -0.1655160583358633, -0.33476784456407305, 0.5]
accelerations: [1.925238704534736e-14, -0.24746208975424638, 0.24733767897010006, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 315268745
-
positions: [0.192733, -0.7400896240993212, 4.675893198720442, -1.2037710124212255]
velocities: [8.501892923006695e-16, -0.18175245086472303, -0.31853911946981645, 0.5]
accelerations: [3.891134940863616e-14, -0.24780887113934835, 0.24769942147822843, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 380835292
-
positions: [0.19273300000000013, -0.7524966457439403, 4.655607291301363, -1.171097370768501]
velocities: [2.0937686468033545e-16, -0.19796435591578235, -0.30233394263113045, 0.5]
accelerations: [-5.869217959630142e-14, -0.24838827652877113, 0.24829181877031764, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 446182576
-
positions: [0.19273300000000002, -0.7659152131105634, 4.636447300158494, -1.1385384416883642]
velocities: [-8.524720069052161e-16, -0.21416603402770526, -0.2861381760592389, 0.5]
accelerations: [2.6232080894293828e-14, -0.24925680780304016, 0.24917171009976607, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 511300434
-
positions: [0.19273300000000002, -0.7803339272785705, 4.618410413893841, -1.106102755180025]
velocities: [8.592913397980628e-16, -0.23037369859325796, -0.26993570715337145, 0.5]
accelerations: [2.6547463938240212e-14, -0.2504776570109777, 0.25040257653432085, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 576171807
-
positions: [0.19273300000000013, -0.7957400703144552, 4.601495870449522, -1.0738022136405845]
velocities: [1.0751187141293615e-15, -0.24660589796099425, -0.2537080698617019, 0.5]
accelerations: [-1.9967619296817955e-14, -0.25212152503763713, 0.25205537025070307, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 640772890
-
positions: [0.19273300000000015, -0.812119351841939, 4.585704623610162, -1.0416520106118625]
velocities: [8.66725547208163e-16, -0.2628839129589222, -0.23743404971943258, 0.5]
accelerations: [1.3568047244415386e-14, -0.2542676449665404, 0.2542095459688283, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 705073296
-
positions: [0.19273300000000024, -0.8294556902531948, 4.5710390329976125, -1.0096705385795854]
velocities: [-1.5317439137998047e-15, -0.2792321752207523, -0.22108926764514292, 0.5]
accelerations: [-8.886369552765482e-14, -0.25700506112997273, 0.2569543436994147, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 769036240
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positions: [0.19273299999999996, -0.8477310308564534, 4.557502574015136, -0.9778792799657074]
velocities: [-1.5233982385525903e-15, -0.29567871226452125, -0.20464573660185523, 0.5]
accelerations: [8.969486526881156e-14, -0.26043421626573837, 0.2603903831329078, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 832618757
-
positions: [0.19273300000000004, -0.8669252036043203, 4.545099565402532, -0.9463026762993146]
velocities: [6.592438481240785e-16, -0.2956373054436653, -0.17875362215607607, 0.47408092937945123]
accelerations: [-1.9816231972167123e-14, 0.2492791500250057, 0.530299143558332, -0.7791021749862512]
effort: []
time_from_start:
secs: 1
nsecs: 895771965
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positions: [0.19273300000000004, -0.8870158231400342, 4.533834913107026, -0.9149679715421871]
velocities: [0.0, -0.27188061547334375, -0.14245728499456872, 0.4140653877151103]
accelerations: [0.0, 0.40782616684063155, 0.4919751655356213, -0.8992304593266306]
effort: []
time_from_start:
secs: 1
nsecs: 965690241
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positions: [0.19273300000000004, -0.9079782336948866, 4.523713870017348, -0.8839050265743272]
velocities: [5.330468050483357e-16, -0.23291078936766543, -0.10497860890851154, 0.3376660102885968]
accelerations: [1.1470116359659034e-14, 0.5058054195888717, 0.40506101544205153, -0.91027514650909]
effort: []
time_from_start:
secs: 2
nsecs: 47441520
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positions: [0.19273300000000015, -0.9297855009144133, 4.5147418118174265, -0.8531461030168246]
velocities: [5.330468050483357e-16, -0.16507149122589207, -0.06393885996144305, 0.22885837043529966]
accelerations: [-7.314256915142776e-15, 0.6083222556595766, 0.3048320983253527, -0.9125515847201778]
effort: []
time_from_start:
secs: 2
nsecs: 151580877
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positions: [0.19273300000000015, -0.952408451993371, 4.506924029788029, -0.8227256158520816]
velocities: [-0.017932091275097147, -0.060369680642139364, -0.02086192103705493, 0.08117793332415746]
accelerations: [-0.21953649264110892, 0.7390726618591413, 0.25539966401052494, -0.9938065221468428]
effort: []
time_from_start:
secs: 2
nsecs: 338952639
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positions: [0.18773516031324525, -0.9524085976843454, 4.506923964478349, -0.8227253051353624]
velocities: [-0.04230430871293745, -1.0929098897777786e-06, -9.85222244076946e-07, 3.840927478062829e-06]
accelerations: [-0.10647898235730781, -7.84368360728896e-07, -8.540705326564698e-06, 2.6639790134799372e-05]
effort: []
time_from_start:
secs: 2
nsecs: 478307264
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positions: [0.18273516124663577, -0.9524087146567055, 4.506923810431424, -0.8227247458745605]
velocities: [0.0, 0.0, 0.0, 0.0]
accelerations: [0.95040814996018, 2.22343010284314e-05, 2.928149614872468e-05, -0.00010630522465898474]
effort: []
time_from_start:
secs: 2
nsecs: 580883057
path_tolerance: []
goal_tolerance: []
goal_time_tolerance:
secs: 0
nsecs: 0
---
header:
seq: 26
stamp:
secs: 1610641485
nsecs: 245343673
frame_id: ''
goal_id:
stamp:
secs: 1610641485
nsecs: 245344261
id: "/move_group-27-1610641485.245344261"
goal:
trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "/base_footprint"
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint]
points:
-
positions: [0.18273516124663577, -0.9524087146567055, 4.506923810431424, -0.8227247458745605]
velocities: [0.0, 0.0, 0.0, 0.0]
accelerations: [0.8884663479984164, 0.0, 0.0, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 0
-
positions: [0.19272868030730372, -0.9524086291743724, 4.506923614827607, -0.8227242663683705]
velocities: [0.0333150282723739, 0.06167983649226314, 0.020913576046939247, -0.08201110452070519]
accelerations: [-0.39901185416529117, 0.7387470237966118, 0.25050241922964633, -0.9823045007479747]
effort: []
time_from_start:
secs: 0
nsecs: 149987038
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positions: [0.19272883458204307, -0.9297130362921915, 4.51461920915374, -0.8529016407603552]
velocities: [1.1785082253647058e-06, 0.16899452927772055, 0.06509399280440292, -0.233445445490303]
accelerations: [4.7618016508220715e-06, 0.6392000934087455, 0.3258725595562922, -0.9723431855730753]
effort: []
time_from_start:
secs: 0
nsecs: 333966917
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positions: [0.19272898885678216, -0.9079069620725478, 4.523596401787886, -0.8836723094120746]
velocities: [1.7309851887639529e-06, 0.23933754592657935, 0.10797364112950478, -0.3471866546503782]
accelerations: [4.696913601191892e-06, 0.5460889389802848, 0.4335125073788141, -0.9795896774139418]
effort: []
time_from_start:
secs: 0
nsecs: 435565383
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positions: [0.19272914313152134, -0.886947047900438, 4.533724323047042, -0.9147502171872632]
velocities: [2.0966380927345902e-06, 0.2784923030170114, 0.1459806401055338, -0.424338868232855]
accelerations: [4.140301820999112e-06, 0.3905872863930551, 0.4972620635903788, -0.8876057594934631]
effort: []
time_from_start:
secs: 0
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positions: [0.1927292974062605, -0.8668592427147026, 4.544995946492815, -0.9460998340257708]
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accelerations: [2.9136727798875243e-06, 0.16395018618984517, 0.48636987886287425, -0.650143268102178]
effort: []
time_from_start:
secs: 0
nsecs: 583518654
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positions: [0.1927294516809996, -0.8476681441524808, 4.557405932633925, -0.977691142362275]
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accelerations: [-2.595490580660991e-07, -0.2601805782501063, 0.26016758677088414, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 646701271
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positions: [0.19272960595573874, -0.8293960870731562, 4.570949310059556, -1.0094967865627507]
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accelerations: [-2.2548382916673295e-07, -0.25674015715628445, 0.2567411818149855, 0.0]
effort: []
time_from_start:
secs: 0
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positions: [0.1927297602304779, -0.8120631874784899, 4.585621696459797, -1.041492219649652]
velocities: [2.4045828050536553e-06, 0.2627172189707052, 0.23743721762749248, -0.5]
accelerations: [-1.9651364213088153e-07, -0.2539935147573425, 0.2540079456427215, 0.0]
effort: []
time_from_start:
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accelerations: [-1.7233469781316465e-07, -0.2518398306613458, 0.251867284415423, 0.0]
effort: []
time_from_start:
secs: 0
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positions: [0.19273006877995638, -0.7802848732590184, 4.618340461031977, -1.1059692091320008]
velocities: [2.3822225166223805e-06, 0.23023006618097536, 0.2699279093473621, -0.5]
accelerations: [-1.5270271331839728e-07, -0.25018975518183606, 0.25023008365602084, 0.0]
effort: []
time_from_start:
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positions: [0.1927302230546954, -0.7658697055799913, 4.6363834010256015, -1.1384169801527084]
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accelerations: [-1.3742245396033348e-07, -0.24896381066521117, 0.24901711524162715, 0.0]
effort: []
time_from_start:
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positions: [0.19273037732943443, -0.7524545893945375, 4.6555490713303, -1.1709871652338155]
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accelerations: [-1.2634140357483834e-07, -0.24809111103711115, 0.24815776038880774, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 33293317
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positions: [0.19273053160417356, -0.7400508509801745, 4.675840214969366, -1.2036711245506873]
velocities: [2.3561916418617426e-06, 0.18164970161778493, 0.31852003531288586, -0.5]
accelerations: [-1.193420055338675e-07, -0.24750832972843345, 0.24758898898781917, 0.0]
effort: []
time_from_start:
secs: 1
nsecs: 98661235
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effort: []
time_from_start:
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path_tolerance: []
goal_tolerance: []
goal_time_tolerance:
secs: 0
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---
header:
seq: 27
stamp:
secs: 1610641488
nsecs: 824198509
frame_id: ''
goal_id:
stamp:
secs: 1610641488
nsecs: 824199117
id: "/move_group-28-1610641488.824199117"
goal:
trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "/base_footprint"
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint]
points:
-
positions: [0.19273900000000002, -0.6868917804148884, 5.154096907479414, -1.7346129303870843]
velocities: [0.0, 0.0, 0.0, 0.0]
accelerations: [0.994252941097635, 0.0, 0.0, 0.0]
effort: []
time_from_start:
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nsecs: 0
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positions: [0.565984, -0.54019, 4.91416, -1.63603]
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accelerations: [-0.994252941097635, -0.3907853464661609, 0.6391458048715425, -0.26260597859149315]
effort: []
time_from_start:
secs: 0
nsecs: 866490000
path_tolerance: []
goal_tolerance: []
goal_time_tolerance:
secs: 0
nsecs: 0
---
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