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savolla/motion_planning_instructions_results.xml

Created April 26, 2022 06:25
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motion_planning_instructions_results.xml
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<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<!DOCTYPE boost_serialization>
<boost_serialization signature="serialization::archive" version="17">
<archive_type class_id="0" tracking_level="0" version="0">
<instruction class_id="1" tracking_level="0" version="0">
<tx class_id="2" class_name="tesseract_planning::CompositeInstruction" tracking_level="0" version="0">
<base class_id="3" tracking_level="0" version="0"></base>
<impl class_id="4" tracking_level="0" version="0">
<description>Tesseract Composite Instruction</description>
<manipulator_info class_id="5" tracking_level="1" version="0" object_id="_0">
<manipulator>manipulator</manipulator>
<manipulator_ik_solver></manipulator_ik_solver>
<working_frame>part_link</working_frame>
<tcp_frame>st_tool0</tcp_frame>
<tcp_offset class_id="6" tracking_level="0" version="0">
<index>1</index>
<tcp_isometry class_id="7" tracking_level="0" version="0">
<xyz>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
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<xyzw>
<item>0.00000000000000000e+00</item>
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<item>0.00000000000000000e+00</item>
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</xyzw>
</tcp_isometry>
</tcp_offset>
</manipulator_info>
<profile>raster_program</profile>
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<instruction>
<tx class_id="8" class_name="tesseract_planning::MoveInstruction" tracking_level="0" version="0">
<base></base>
<impl class_id="9" tracking_level="0" version="0">
<move_type>3</move_type>
<description>Tesseract Plan Instruction</description>
<profile>FREESPACE_RAIL</profile>
<path_profile></path_profile>
<waypoint class_id="10" tracking_level="0" version="0">
<waypoint class_id="11" tracking_level="0" version="0">
<tx class_id="12" class_name="tesseract_planning::StateWaypoint" tracking_level="0" version="0">
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<impl class_id="14" tracking_level="0" version="0">
<base class_id="15" tracking_level="0" version="0">
<joint_names class_id="16" tracking_level="0" version="0">
<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position class_id="17" tracking_level="0" version="0">
<rows>8</rows>
<data>
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</data>
</position>
<velocity>
<rows>0</rows>
<data></data>
</velocity>
<acceleration>
<rows>0</rows>
<data></data>
</acceleration>
<effort>
<rows>0</rows>
<data></data>
</effort>
<time>0.00000000000000000e+00</time>
</base>
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</tx>
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<tcp_offset>
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<xyz>
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</xyz>
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<item>
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<impl>
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<manipulator>manipulator</manipulator>
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<working_frame>part_link</working_frame>
<tcp_frame>st_tool0</tcp_frame>
<tcp_offset>
<index>1</index>
<tcp_isometry>
<xyz>
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</xyz>
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</xyzw>
</tcp_isometry>
</tcp_offset>
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<profile>FREESPACE_RAIL</profile>
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<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>3</move_type>
<description>Tesseract Plan Instruction</description>
<profile>FREESPACE_RAIL</profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
<joint_names>
<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
<rows>8</rows>
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</data>
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<velocity>
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</data>
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</data>
</acceleration>
<effort>
<rows>0</rows>
<data></data>
</effort>
<time>0.00000000000000000e+00</time>
</base>
</impl>
</tx>
</waypoint>
</waypoint>
<manipulator_info object_id="_3">
<manipulator></manipulator>
<manipulator_ik_solver></manipulator_ik_solver>
<working_frame></working_frame>
<tcp_frame></tcp_frame>
<tcp_offset>
<index>1</index>
<tcp_isometry>
<xyz>
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<item>1.00000000000000000e+00</item>
</xyzw>
</tcp_isometry>
</tcp_offset>
</manipulator_info>
</impl>
</tx>
</instruction>
</start_instruction>
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<item>
<instruction>
<tx class_id_reference="2">
<base></base>
<impl>
<description>from_start_plan</description>
<manipulator_info object_id="_4">
<manipulator></manipulator>
<manipulator_ik_solver></manipulator_ik_solver>
<working_frame></working_frame>
<tcp_frame></tcp_frame>
<tcp_offset>
<index>1</index>
<tcp_isometry>
<xyz>
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<item>0.00000000000000000e+00</item>
</xyz>
<xyzw>
<item>0.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
</xyzw>
</tcp_isometry>
</tcp_offset>
</manipulator_info>
<profile>FREESPACE_RAIL</profile>
<order>0</order>
<start_instruction>
<instruction>
<tx class_id="19" class_name="tesseract_planning::NullInstruction" tracking_level="0" version="0">
<base></base>
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</tx>
</instruction>
</start_instruction>
<container>
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<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>1</move_type>
<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
<joint_names>
<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
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</data>
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</data>
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<effort>
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<data></data>
</effort>
<time>4.46133434489546787e-01</time>
</base>
</impl>
</tx>
</waypoint>
</waypoint>
<manipulator_info object_id="_5">
<manipulator></manipulator>
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<working_frame></working_frame>
<tcp_frame></tcp_frame>
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<index>1</index>
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<xyz>
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</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>1</move_type>
<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
<joint_names>
<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
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<manipulator_info object_id="_6">
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<tcp_offset>
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<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>1</move_type>
<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
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<impl>
<base>
<joint_names>
<count>8</count>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<tx class_id_reference="8">
<base></base>
<impl>
<move_type>1</move_type>
<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
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<impl>
<base>
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<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
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<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<manipulator_info object_id="_50">
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<xyz>
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</instruction>
</item>
<item>
<instruction>
<tx class_id_reference="8">
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<impl>
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<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
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<impl>
<base>
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<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<tcp_frame></tcp_frame>
<tcp_offset>
<index>1</index>
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<xyz>
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</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
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<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
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<impl>
<base>
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<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<manipulator_info object_id="_52">
<manipulator></manipulator>
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<tcp_frame></tcp_frame>
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<index>1</index>
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</item>
<item>
<instruction>
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<description>from_start_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<position>
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<manipulator_info object_id="_53">
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<item>
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<waypoint>
<waypoint>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
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<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<item>
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<item>rail_joint_2</item>
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<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<item>robot_joint_4</item>
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<item>robot_joint_6</item>
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<item>1.00000000000000000e+00</item>
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</tcp_offset>
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</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>0</move_type>
<description>Tesseract Plan Instruction</description>
<profile>RASTER_RAIL</profile>
<path_profile>RASTER_RAIL</path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
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<count>8</count>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<item>1.26429735405522337e+00</item>
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<velocity>
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<data>
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<item>8.04703179996019924e-01</item>
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<data>
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<item>-1.48715165701809870e-01</item>
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<manipulator_info object_id="_79">
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<tcp_offset>
<index>1</index>
<tcp_isometry>
<xyz>
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<item>0.00000000000000000e+00</item>
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</tcp_offset>
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</impl>
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</instruction>
</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>0</move_type>
<description>Tesseract Plan Instruction</description>
<profile>RASTER_RAIL</profile>
<path_profile>RASTER_RAIL</path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
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<count>8</count>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
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<item>4.93822289038518214e+00</item>
<item>1.30318865544988144e-01</item>
<item>3.79368840165806853e-01</item>
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<item>1.60928515139475437e+00</item>
<item>1.44433332055469066e+00</item>
<item>1.27447589891008417e+00</item>
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</position>
<velocity>
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<item>-7.57451669013352369e-01</item>
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<item>7.83495062490092820e-01</item>
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</effort>
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</impl>
</tx>
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</waypoint>
<manipulator_info object_id="_80">
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<tcp_offset>
<index>1</index>
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<xyz>
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</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>0</move_type>
<description>Tesseract Plan Instruction</description>
<profile>RASTER_RAIL</profile>
<path_profile>RASTER_RAIL</path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
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<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
<rows>8</rows>
<data>
<item>5.67128771430104894e+00</item>
<item>4.82291702169828174e+00</item>
<item>2.36474667778082931e-01</item>
<item>4.13266564073902887e-01</item>
<item>-1.33614336271433320e-01</item>
<item>1.64890601592109820e+00</item>
<item>1.30548712602573791e+00</item>
<item>1.28071874464491575e+00</item>
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</position>
<velocity>
<rows>8</rows>
<data>
<item>-1.16867047849541411e-01</item>
<item>-5.34322717899399113e-01</item>
<item>4.88254770869286148e-01</item>
<item>1.60373411600883753e-01</item>
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<acceleration>
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<data>
<item>4.37585184320350984e-01</item>
<item>1.24985960316419442e+00</item>
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<item>4.76767345443036228e-01</item>
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<effort>
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</waypoint>
<manipulator_info object_id="_81">
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<tcp_frame></tcp_frame>
<tcp_offset>
<index>1</index>
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<xyz>
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</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
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<move_type>0</move_type>
<description>Tesseract Plan Instruction</description>
<profile>RASTER_RAIL</profile>
<path_profile>RASTER_RAIL</path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
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<count>8</count>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
<rows>8</rows>
<data>
<item>5.65125399441000287e+00</item>
<item>4.70859804335569443e+00</item>
<item>3.40592503189086293e-01</item>
<item>4.48446448874772696e-01</item>
<item>-1.84746008843098358e-01</item>
<item>1.68745560471640488e+00</item>
<item>1.16375981330147260e+00</item>
<item>1.28299681720430847e+00</item>
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<velocity>
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<acceleration>
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<item>1.21256300559531207e-02</item>
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<effort>
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</waypoint>
<manipulator_info object_id="_82">
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<index>1</index>
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<xyz>
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<item>
<instruction>
<tx class_id_reference="2">
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<impl>
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<tcp_frame>st_tool0</tcp_frame>
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<index>1</index>
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<xyz>
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<tx class_id_reference="8">
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<impl>
<move_type>3</move_type>
<description>Tesseract Plan Instruction</description>
<profile>RASTER_RAIL</profile>
<path_profile>RASTER_RAIL</path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
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<base>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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<item>1.15256667137145996e+00</item>
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<start_instruction>
<instruction>
<tx class_id_reference="19">
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<waypoint>
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<base>
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<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
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</waypoint>
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<index>1</index>
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<xyz>
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</impl>
</tx>
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<item>
<instruction>
<tx class_id_reference="8">
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<item>robot_joint_6</item>
</joint_names>
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</data>
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</data>
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<data>
<item>1.24657331228083357e+00</item>
<item>1.03881109356734158e+00</item>
<item>7.62829777266253034e-02</item>
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<item>3.23439146444639614e-01</item>
<item>2.39459808859340956e-01</item>
</data>
</acceleration>
<effort>
<rows>0</rows>
<data></data>
</effort>
<time>6.30647576481003558e+00</time>
</base>
</impl>
</tx>
</waypoint>
</waypoint>
<manipulator_info object_id="_135">
<manipulator></manipulator>
<manipulator_ik_solver></manipulator_ik_solver>
<working_frame></working_frame>
<tcp_frame></tcp_frame>
<tcp_offset>
<index>1</index>
<tcp_isometry>
<xyz>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
</xyz>
<xyzw>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
</xyzw>
</tcp_isometry>
</tcp_offset>
</manipulator_info>
</impl>
</tx>
</instruction>
</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>1</move_type>
<description>to_end_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
<joint_names>
<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
<rows>8</rows>
<data>
<item>1.56521739130434767e+00</item>
<item>1.30434782608695654e+00</item>
<item>9.57821270693903354e-02</item>
<item>1.05458106683648148e-01</item>
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<item>2.48518562250904741e-07</item>
<item>4.06115366064983885e-01</item>
<item>3.00669566444728698e-01</item>
</data>
</position>
<velocity>
<rows>8</rows>
<data>
<item>-6.79866664125856612e-01</item>
<item>-5.66555553438213400e-01</item>
<item>-4.16038536086539290e-02</item>
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<item>4.42177155345538642e-02</item>
<item>-1.07946338208059973e-07</item>
<item>-1.76399968918544064e-01</item>
<item>-1.30598609674659388e-01</item>
</data>
</velocity>
<acceleration>
<rows>8</rows>
<data>
<item>-1.18492049101825092e+00</item>
<item>-9.87433742515193669e-01</item>
<item>-7.25101865519515582e-02</item>
<item>-7.98352179369217069e-02</item>
<item>7.70658130006640352e-02</item>
<item>-1.88136637406067879e-07</item>
<item>-3.07442545451643290e-01</item>
<item>-2.27616644362128973e-01</item>
</data>
</acceleration>
<effort>
<rows>0</rows>
<data></data>
</effort>
<time>6.43923110396695719e+00</time>
</base>
</impl>
</tx>
</waypoint>
</waypoint>
<manipulator_info object_id="_136">
<manipulator></manipulator>
<manipulator_ik_solver></manipulator_ik_solver>
<working_frame></working_frame>
<tcp_frame></tcp_frame>
<tcp_offset>
<index>1</index>
<tcp_isometry>
<xyz>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
</xyz>
<xyzw>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
</xyzw>
</tcp_isometry>
</tcp_offset>
</manipulator_info>
</impl>
</tx>
</instruction>
</item>
<item>
<instruction>
<tx class_id_reference="8">
<base></base>
<impl>
<move_type>1</move_type>
<description>to_end_plan</description>
<profile></profile>
<path_profile></path_profile>
<waypoint>
<waypoint>
<tx class_id_reference="12">
<base></base>
<impl>
<base>
<joint_names>
<count>8</count>
<item_version>0</item_version>
<item>rail_joint_1</item>
<item>rail_joint_2</item>
<item>robot_joint_1</item>
<item>robot_joint_2</item>
<item>robot_joint_3</item>
<item>robot_joint_4</item>
<item>robot_joint_5</item>
<item>robot_joint_6</item>
</joint_names>
<position>
<rows>8</rows>
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